Controllers (Broken)

wash/src/wash/control/ControllerSpin.java

@@ -25,7 +25,16 @@ public final class ControllerSpin extends ActorThread<WashingMessage> {
 
     /** Recursive listener method */
     public void listener() {
-        m = poll(60000 / Settings.SPEEDUP).orElse(new WashingMessage(this, Order.NOOP));
+        if(isInterrupted()) {
+            spin.interrupt();
+            return;
+        }
+
+        try {
+            m = take();
+        } catch (Exception e) {
+            System.exit(1);
+        }
 
         switch (m.order()) {
             case Order.SPIN_OFF -> spin.setMode(WashingIO.Spin.IDLE);
@@ -52,7 +61,7 @@ public final class ControllerSpin extends ActorThread<WashingMessage> {
             changed = true;
         }
 
-        private void loop() {
+        private void loop() throws InterruptedException {
             io.setSpinMode(spinMode);
 
             if (changed) {
@@ -60,13 +69,17 @@ public final class ControllerSpin extends ActorThread<WashingMessage> {
                 changed = false;
             }
 
-            usleep(60000 / Settings.SPEEDUP);
+            Thread.sleep(60000 / Settings.SPEEDUP);
             loop();
         }
 
         @Override
         public void run() {
-            loop();
+            try {
+                loop();
+            } catch (InterruptedException e) {
+                return;
+            }
         }
     }
 }

wash/src/wash/control/ControllerTemp.java

@@ -23,24 +23,27 @@ public final class ControllerTemp extends ActorThread<WashingMessage> {
         heater.start();
 
         while (true) {
-            m = poll(60000 / Settings.SPEEDUP).orElse(new WashingMessage(this, Order.NOOP));
+            try {
+                m = take();
+            } catch (Exception e) {
+                System.exit(1);
+            }
 
             switch (m.order()) {
                 case Order.TEMP_SET_40 -> heater.setTarget(40);
                 case Order.TEMP_SET_60 -> heater.setTarget(60);
-                case Order.TEMP_IDLE -> heater.setTarget(0);
+                case Order.TEMP_IDLE -> heater.setTarget(0); // TODO: Error
                 default -> {
                     continue;
                 }
             }
-
         }
     }
 
     /**
      * Heater class that extends Thread and controls the temperature
      * of the washing machine.
-     * 
+     *
      * Note that the heater has access to local variables in the
      * TemperatureController class.
      */
@@ -61,30 +64,36 @@ public final class ControllerTemp extends ActorThread<WashingMessage> {
         @Override
         public void run() {
             double current;
-            while (!isInterrupted()) {
+            try {
-                current = io.getTemperature();
+                while (!isInterrupted()) {
+                    current = io.getTemperature();
 
-                if (io.getWaterLevel() == 0) {
+                    if (io.getWaterLevel() == 0) {
-                    io.heat(false);
+                        io.heat(false);
-                    usleep(60000 / Settings.SPEEDUP);
+                        sleep(60000 / Settings.SPEEDUP);
-                    continue;
-                }
-
-                if (current < target) {
-                    io.heat(true);
-                }
-
-                else if (current >= target) {
-                    io.heat(false);
-                    if(!hovering) {
-                        sendAck();
-                        hovering = true;
-                        usleep(60000 / Settings.SPEEDUP);
                         continue;
                     }
-                }
 
-                usleep(60000 / Settings.SPEEDUP);
+                    if (current < target) {
+                        io.heat(true);
+                    }
+
+                    else if (current >= target) {
+                        io.heat(false);
+
+                        if (!hovering) {
+                            sendAck();
+                            hovering = true;
+                            sleep(60000 / Settings.SPEEDUP);
+                            continue;
+                        }
+                    }
+
+                    sleep(60000 / Settings.SPEEDUP);
+                }
+            } catch (InterruptedException e) {
+                io.heat(false);
+                Thread.currentThread().interrupt();
             }
         }
     }

wash/src/wash/control/ControllerWater.java

@@ -3,8 +3,6 @@ package wash.control;
 import actor.ActorThread;
 import wash.control.WashingMessage.Order;
 import wash.io.WashingIO;
-import java.util.LinkedList;
-import java.util.Queue;
 
 public class ControllerWater extends ActorThread<WashingMessage> {
 
@@ -26,9 +24,13 @@ public class ControllerWater extends ActorThread<WashingMessage> {
     public void run() {
         waterpid.start();
         while (true) {
-            m = poll(60000 / Settings.SPEEDUP).orElse(new WashingMessage(this, Order.NOOP));
+            // m = poll(60000 / Settings.SPEEDUP).orElse(new WashingMessage(this, Order.NOOP));
+            try {
+                m = take();
+            } catch (Exception e) {
+                System.exit(1);
+            }
 
-            // io.getWaterLevel();
             switch (m.order()) {
                 case Order.WATER_DRAIN -> waterpid.setTarget(0);
                 case Order.WATER_FILL -> waterpid.setTarget(20);
@@ -40,6 +42,7 @@ public class ControllerWater extends ActorThread<WashingMessage> {
         }
     }
 
+    /** A pid controller that is not actually a pid controller */
     public final class WaterPid extends Thread {
         private double target;
         private final double tolerance; // Acceptable range around target