IOIO: code cleanup

chrisws · chrisws · commit 969eda4acd51 · 2024-01-24T19:46:22.000+10:30
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/AnalogInputImpl.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/AnalogInputImpl.java
@@ -7,7 +7,7 @@
 
 public class AnalogInputImpl extends IOTask implements AnalogInput {
   private static final String TAG = "AnalogInput";
-  private static final IOLock<AnalogInput> lock = new IOLock<>();
+  private final IOLock<AnalogInput> lock = new IOLock<>();
   private AnalogInput input = null;
 
   public AnalogInputImpl() {
@@ -16,7 +16,7 @@ public AnalogInputImpl() {
   }
 
   @Override
-  public int available() throws ConnectionLostException {
+  public int available() {
     return lock.invokeInt(AnalogInput::available);
   }
 
@@ -58,12 +58,12 @@ public float getVoltageSync() {
   }
 
   @Override
-  public void loop() throws InterruptedException, ConnectionLostException {
+  public void loop() {
     lock.process(input);
   }
 
   @Override
-  public float read() throws InterruptedException, ConnectionLostException {
+  public float read() {
     return lock.invoke(AnalogInput::read);
   }
 
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/CapSenseImpl.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/CapSenseImpl.java
@@ -7,7 +7,7 @@
 
 public class CapSenseImpl extends IOTask implements CapSense {
   private static final String TAG = "CapSense";
-  private static final IOLock<CapSense> lock = new IOLock<>();
+  private final IOLock<CapSense> lock = new IOLock<>();
   private CapSense capSense;
 
   public CapSenseImpl() {
@@ -23,22 +23,22 @@ public void close() {
   }
 
   @Override
-  public void loop() throws ConnectionLostException, InterruptedException {
+  public void loop() {
     lock.process(capSense);
   }
 
   @Override
-  public float read() throws InterruptedException, ConnectionLostException {
+  public float read() {
     return lock.invoke(CapSense::read);
   }
 
   @Override
-  public float readSync() throws InterruptedException, ConnectionLostException {
+  public float readSync() {
     return lock.invoke(CapSense::readSync);
   }
 
   @Override
-  public void setFilterCoef(float t) throws ConnectionLostException {
+  public void setFilterCoef(float t) {
     throw new UnsupportedOperationException();
   }
 
@@ -54,23 +54,31 @@ public void setup(IOIO ioio) {
   }
 
   @Override
-  public void waitOver(float threshold) throws ConnectionLostException, InterruptedException {
-
+  public void waitOver(float threshold) {
+    lock.invoke((i) -> {
+      capSense.waitOver(threshold);
+    });
   }
 
   @Override
-  public void waitOverSync(float threshold) throws ConnectionLostException, InterruptedException {
-
+  public void waitOverSync(float threshold) {
+    lock.invoke((i) -> {
+      capSense.waitOverSync(threshold);
+    });
   }
 
   @Override
-  public void waitUnder(float threshold) throws ConnectionLostException, InterruptedException {
-
+  public void waitUnder(float threshold) {
+    lock.invoke((i) -> {
+      capSense.waitUnder(threshold);
+    });
   }
 
   @Override
-  public void waitUnderSync(float threshold) throws ConnectionLostException, InterruptedException {
-
+  public void waitUnderSync(float threshold) {
+    lock.invoke((i) -> {
+      capSense.waitUnderSync(threshold);
+    });
   }
 }
 
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/DigitalInputImpl.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/DigitalInputImpl.java
@@ -44,7 +44,7 @@ public void setup(IOIO ioio) {
   }
 
   @Override
-  public void waitForValue(boolean value) throws InterruptedException, ConnectionLostException {
+  public void waitForValue(boolean value) {
     throw new UnsupportedOperationException();
   }
 }
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/DigitalOutputImpl.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/DigitalOutputImpl.java
@@ -25,7 +25,7 @@ public void close() {
   }
 
   @Override
-  public void loop() throws InterruptedException, ConnectionLostException {
+  public void loop() throws ConnectionLostException {
     output.write(value.get());
   }
 
@@ -41,7 +41,7 @@ public void setup(IOIO ioio) {
   }
 
   @Override
-  public void write(boolean value) throws ConnectionLostException {
+  public void write(boolean value) {
     this.value.set(value);
   }
 }
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/Function.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/Function.java
@@ -1,9 +1,8 @@
 package net.sourceforge.smallbasic.ioio;
 
 import ioio.lib.api.exception.ConnectionLostException;
-import ioio.lib.api.exception.IncompatibilityException;
 
 @FunctionalInterface
 public interface Function<T, I> {
-  T apply(I i) throws ConnectionLostException, InterruptedException, IncompatibilityException;
+  T apply(I i) throws ConnectionLostException, InterruptedException;
 }
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOIOImpl.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOIOImpl.java
@@ -1,14 +1,13 @@
 package net.sourceforge.smallbasic.ioio;
 
+import java.io.IOException;
+
 import ioio.lib.api.IOIO;
-import ioio.lib.api.exception.ConnectionLostException;
 import ioio.lib.spi.Log;
 
-import java.io.IOException;
-
 public class IOIOImpl extends IOTask {
   private static final String TAG = "IOIOImpl";
-  private static final IOLock<IOIO> lock = new IOLock<>();
+  private final IOLock<IOIO> lock = new IOLock<>();
   private IOIO ioio;
 
   public IOIOImpl() throws IOException {
@@ -38,7 +37,7 @@ public void hardReset() {
   }
 
   @Override
-  public void loop() throws InterruptedException, ConnectionLostException {
+  public void loop() {
     lock.process(ioio);
   }
 
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOLock.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOLock.java
@@ -1,13 +1,13 @@
 package net.sourceforge.smallbasic.ioio;
 
-import ioio.lib.api.exception.ConnectionLostException;
-import ioio.lib.api.exception.IncompatibilityException;
-
 import java.util.concurrent.CountDownLatch;
 import java.util.concurrent.atomic.AtomicReference;
 import java.util.concurrent.locks.ReadWriteLock;
 import java.util.concurrent.locks.ReentrantReadWriteLock;
 
+import ioio.lib.api.exception.ConnectionLostException;
+import ioio.lib.api.exception.IncompatibilityException;
+
 public class IOLock<I> {
   private final ReadWriteLock lock = new ReentrantReadWriteLock();
   private Consumer<I> consumer;
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOService.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOService.java
@@ -1,15 +1,15 @@
 package net.sourceforge.smallbasic.ioio;
 
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.List;
+
 import ioio.lib.api.IOIO;
 import ioio.lib.api.exception.ConnectionLostException;
 import ioio.lib.spi.Log;
 import ioio.lib.util.IOIOLooper;
 import ioio.lib.util.IOIOLooperProvider;
 
-import java.io.IOException;
-import java.util.ArrayList;
-import java.util.List;
-
 public class IOService implements IOIOLooperProvider  {
   private static final String TAG = "IOService";
   private static final int MAX_PINS = 43;
@@ -94,7 +94,7 @@ public void loop() throws ConnectionLostException, InterruptedException {
     }
 
     @Override
-    public void setup(IOIO ioio) throws ConnectionLostException, InterruptedException {
+    public void setup(IOIO ioio) {
       this.ioio = ioio;
       for (IOTask next: ioTasks) {
         next.setup(ioio);
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOTask.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/IOTask.java
@@ -1,11 +1,11 @@
 package net.sourceforge.smallbasic.ioio;
 
-import ioio.lib.api.IOIO;
-import ioio.lib.api.exception.ConnectionLostException;
-
 import java.io.Closeable;
 import java.io.IOException;
 
+import ioio.lib.api.IOIO;
+import ioio.lib.api.exception.ConnectionLostException;
+
 /**
  * IOTask - setup() and loop() are invoked in the looper thread
  * whereas specific task methods are invoked from the SB thread
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/PulseInputImpl.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/PulseInputImpl.java
@@ -8,7 +8,7 @@
 public class PulseInputImpl extends IOTask implements PulseInput {
   private static final String TAG = "PulseInput";
   private static final PulseInput.PulseMode pulseMode = PulseInput.PulseMode.NEGATIVE;
-  private static final IOLock<PulseInput> lock = new IOLock<>();
+  private final IOLock<PulseInput> lock = new IOLock<>();
   private PulseInput input;
 
   public PulseInputImpl() {
@@ -24,32 +24,32 @@ public void close() {
   }
 
   @Override
-  public float getDuration() throws InterruptedException, ConnectionLostException {
+  public float getDuration() {
     return lock.invoke(PulseInput::getDuration);
   }
 
   @Override
-  public float getDurationBuffered() throws InterruptedException, ConnectionLostException {
+  public float getDurationBuffered() {
     return lock.invoke(PulseInput::getDurationBuffered);
   }
 
   @Override
-  public float getDurationSync() throws InterruptedException, ConnectionLostException {
+  public float getDurationSync() {
     return lock.invoke(PulseInput::getDurationSync);
   }
 
   @Override
-  public float getFrequency() throws InterruptedException, ConnectionLostException {
+  public float getFrequency() {
     return lock.invoke(PulseInput::getFrequency);
   }
 
   @Override
-  public float getFrequencySync() throws InterruptedException, ConnectionLostException {
+  public float getFrequencySync() {
     return lock.invoke(PulseInput::getFrequencySync);
   }
 
   @Override
-  public void loop() throws InterruptedException, ConnectionLostException {
+  public void loop() {
     lock.process(input);
   }
 
@@ -65,7 +65,7 @@ public void setup(IOIO ioio) {
   }
 
   @Override
-  public float waitPulseGetDuration() throws InterruptedException, ConnectionLostException {
-    throw new UnsupportedOperationException();
+  public float waitPulseGetDuration() {
+    return lock.invoke(PulseInput::getDurationBuffered);
   }
 }
diff --git a/ioio/src/main/java/net/sourceforge/smallbasic/ioio/PwmOutputImpl.java b/ioio/src/main/java/net/sourceforge/smallbasic/ioio/PwmOutputImpl.java
@@ -1,15 +1,19 @@
 package net.sourceforge.smallbasic.ioio;
 
+import java.io.IOException;
+import java.util.concurrent.atomic.AtomicReference;
+
 import ioio.lib.api.IOIO;
 import ioio.lib.api.PwmOutput;
 import ioio.lib.api.exception.ConnectionLostException;
 import ioio.lib.spi.Log;
 
-import java.io.IOException;
-
 public class PwmOutputImpl extends IOTask implements PwmOutput {
   private static final String TAG = "PulseInput";
+  private static final float UNSET = -1f;
   private PwmOutput output;
+  private final AtomicReference<Float> dutyCycle = new AtomicReference<>(UNSET);
+  private final AtomicReference<Float> pulseWidth = new AtomicReference<>(UNSET);
   private int freqHz;
 
   public PwmOutputImpl() {
@@ -25,8 +29,13 @@ public void close() {
   }
 
   @Override
-  public void loop() throws ConnectionLostException, InterruptedException {
-
+  public void loop() throws ConnectionLostException {
+    if (dutyCycle.get() != UNSET) {
+      output.setDutyCycle(dutyCycle.get());
+    }
+    if (pulseWidth.get() != UNSET) {
+      output.setPulseWidth(pulseWidth.get());
+    }
   }
 
   public void open(int pin, int freqHz) throws IOException {
@@ -35,18 +44,18 @@ public void open(int pin, int freqHz) throws IOException {
   }
 
   @Override
-  public void setDutyCycle(float dutyCycle) throws ConnectionLostException {
-
+  public void setDutyCycle(float dutyCycle) {
+    this.dutyCycle.set(dutyCycle);
   }
 
   @Override
-  public void setPulseWidth(int pulseWidthUs) throws ConnectionLostException {
-
+  public void setPulseWidth(int pulseWidthUs) {
+    this.pulseWidth.set((float) pulseWidthUs);
   }
 
   @Override
-  public void setPulseWidth(float pulseWidthUs) throws ConnectionLostException {
-
+  public void setPulseWidth(float pulseWidthUs) {
+    this.pulseWidth.set(pulseWidthUs);
   }
 
   @Override

Original file line number	Diff line number	Diff line change
`@@ -7,7 +7,7 @@`
`7`	`7`
`8`	`8`	`public class AnalogInputImpl extends IOTask implements AnalogInput {`
`9`	`9`	`private static final String TAG = "AnalogInput";`
`10`		`- private static final IOLock<AnalogInput> lock = new IOLock<>();`
	`10`	`+ private final IOLock<AnalogInput> lock = new IOLock<>();`
`11`	`11`	`private AnalogInput input = null;`
`12`	`12`
`13`	`13`	`public AnalogInputImpl() {`
`@@ -16,7 +16,7 @@ public AnalogInputImpl() {`
`16`	`16`	`}`
`17`	`17`
`18`	`18`	`@Override`
`19`		`- public int available() throws ConnectionLostException {`
	`19`	`+ public int available() {`
`20`	`20`	`return lock.invokeInt(AnalogInput::available);`
`21`	`21`	`}`
`22`	`22`
`@@ -58,12 +58,12 @@ public float getVoltageSync() {`
`58`	`58`	`}`
`59`	`59`
`60`	`60`	`@Override`
`61`		`- public void loop() throws InterruptedException, ConnectionLostException {`
	`61`	`+ public void loop() {`
`62`	`62`	`lock.process(input);`
`63`	`63`	`}`
`64`	`64`
`65`	`65`	`@Override`
`66`		`- public float read() throws InterruptedException, ConnectionLostException {`
	`66`	`+ public float read() {`
`67`	`67`	`return lock.invoke(AnalogInput::read);`
`68`	`68`	`}`
`69`	`69`
Original file line number	Diff line number	Diff line change
`@@ -44,7 +44,7 @@ public void setup(IOIO ioio) {`
`44`	`44`	`}`
`45`	`45`
`46`	`46`	`@Override`
`47`		`- public void waitForValue(boolean value) throws InterruptedException, ConnectionLostException {`
	`47`	`+ public void waitForValue(boolean value) {`
`48`	`48`	`throw new UnsupportedOperationException();`
`49`	`49`	`}`
`50`	`50`	`}`
Original file line number	Diff line number	Diff line change
`@@ -25,7 +25,7 @@ public void close() {`
`25`	`25`	`}`
`26`	`26`
`27`	`27`	`@Override`
`28`		`- public void loop() throws InterruptedException, ConnectionLostException {`
	`28`	`+ public void loop() throws ConnectionLostException {`
`29`	`29`	`output.write(value.get());`
`30`	`30`	`}`
`31`	`31`
`@@ -41,7 +41,7 @@ public void setup(IOIO ioio) {`
`41`	`41`	`}`
`42`	`42`
`43`	`43`	`@Override`
`44`		`- public void write(boolean value) throws ConnectionLostException {`
	`44`	`+ public void write(boolean value) {`
`45`	`45`	`this.value.set(value);`
`46`	`46`	`}`
`47`	`47`	`}`
Original file line number	Diff line number	Diff line change
`@@ -1,9 +1,8 @@`
`1`	`1`	`package net.sourceforge.smallbasic.ioio;`
`2`	`2`
`3`	`3`	`import ioio.lib.api.exception.ConnectionLostException;`
`4`		`-import ioio.lib.api.exception.IncompatibilityException;`
`5`	`4`
`6`	`5`	`@FunctionalInterface`
`7`	`6`	`public interface Function<T, I> {`
`8`		`- T apply(I i) throws ConnectionLostException, InterruptedException, IncompatibilityException;`
	`7`	`+ T apply(I i) throws ConnectionLostException, InterruptedException;`
`9`	`8`	`}`
Original file line number	Diff line number	Diff line change
`@@ -8,7 +8,7 @@`
`8`	`8`	`public class PulseInputImpl extends IOTask implements PulseInput {`
`9`	`9`	`private static final String TAG = "PulseInput";`
`10`	`10`	`private static final PulseInput.PulseMode pulseMode = PulseInput.PulseMode.NEGATIVE;`
`11`		`- private static final IOLock<PulseInput> lock = new IOLock<>();`
	`11`	`+ private final IOLock<PulseInput> lock = new IOLock<>();`
`12`	`12`	`private PulseInput input;`
`13`	`13`
`14`	`14`	`public PulseInputImpl() {`
`@@ -24,32 +24,32 @@ public void close() {`
`24`	`24`	`}`
`25`	`25`
`26`	`26`	`@Override`
`27`		`- public float getDuration() throws InterruptedException, ConnectionLostException {`
	`27`	`+ public float getDuration() {`
`28`	`28`	`return lock.invoke(PulseInput::getDuration);`
`29`	`29`	`}`
`30`	`30`
`31`	`31`	`@Override`
`32`		`- public float getDurationBuffered() throws InterruptedException, ConnectionLostException {`
	`32`	`+ public float getDurationBuffered() {`
`33`	`33`	`return lock.invoke(PulseInput::getDurationBuffered);`
`34`	`34`	`}`
`35`	`35`
`36`	`36`	`@Override`
`37`		`- public float getDurationSync() throws InterruptedException, ConnectionLostException {`
	`37`	`+ public float getDurationSync() {`
`38`	`38`	`return lock.invoke(PulseInput::getDurationSync);`
`39`	`39`	`}`
`40`	`40`
`41`	`41`	`@Override`
`42`		`- public float getFrequency() throws InterruptedException, ConnectionLostException {`
	`42`	`+ public float getFrequency() {`
`43`	`43`	`return lock.invoke(PulseInput::getFrequency);`
`44`	`44`	`}`
`45`	`45`
`46`	`46`	`@Override`
`47`		`- public float getFrequencySync() throws InterruptedException, ConnectionLostException {`
	`47`	`+ public float getFrequencySync() {`
`48`	`48`	`return lock.invoke(PulseInput::getFrequencySync);`
`49`	`49`	`}`
`50`	`50`
`51`	`51`	`@Override`
`52`		`- public void loop() throws InterruptedException, ConnectionLostException {`
	`52`	`+ public void loop() {`
`53`	`53`	`lock.process(input);`
`54`	`54`	`}`
`55`	`55`
`@@ -65,7 +65,7 @@ public void setup(IOIO ioio) {`
`65`	`65`	`}`
`66`	`66`
`67`	`67`	`@Override`
`68`		`- public float waitPulseGetDuration() throws InterruptedException, ConnectionLostException {`
`69`		`- throw new UnsupportedOperationException();`
	`68`	`+ public float waitPulseGetDuration() {`
	`69`	`+ return lock.invoke(PulseInput::getDurationBuffered);`
`70`	`70`	`}`
`71`	`71`	`}`