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Reworked spin controller

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Imbus 2024-11-15 10:56:04 +01:00
parent 20fa65c926
commit 81ee61c779
1 changed files with 45 additions and 61 deletions
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106
wash/src/wash/control/ControllerSpin.java
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@ -1,13 +1,17 @@
package wash.control;
import actor.ActorThread;
import wash.io.WashingIO;
import wash.control.WashingMessage.Order;
import wash.io.WashingIO;
import wash.io.WashingIO.Spin;
public final class ControllerSpin extends ActorThread<WashingMessage> {
private WashingIO io;
private Spin spin = new Spin();
private WashingMessage m;
private WashingMessage temp;
private boolean ackSent = true;
private Order spinState = Order.SPIN_OFF;
long start = System.currentTimeMillis();
public ControllerSpin(WashingIO io) {
this.io = io;
@ -15,70 +19,50 @@ public final class ControllerSpin extends ActorThread<WashingMessage> {
protected void sendAck() {
m.sendAck(this);
ackSent = true;
}
@Override
public void run() {
spin.start();
listener(); // Drop into a recursive listener method
}
/** Recursive listener method */
public void listener() {
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);
case Order.SPIN_FAST -> spin.setMode(WashingIO.Spin.FAST);
case Order.SPIN_SLOW -> spin.setMode(WashingIO.Spin.LEFT);
default -> {
listener();
}
}
listener();
}
private final class Spin extends Thread {
private WashingIO.Spin spinMode;
boolean changed = false;
public Spin() {
spinMode = WashingIO.Spin.IDLE;
}
public synchronized void setMode(WashingIO.Spin m) {
spinMode = m;
changed = true;
}
private void loop() throws InterruptedException {
io.setSpinMode(spinMode);
if (changed) {
sendAck();
changed = false;
}
Thread.sleep(60000 / Settings.SPEEDUP);
loop();
}
@Override
public void run() {
long elapsed; // "Virtual" seconds elapsed, used for modulo ops in spin direction
while (true) {
try {
loop();
} catch (InterruptedException e) {
return;
temp = receiveWithTimeout(10000 / Settings.SPEEDUP);
elapsed = ((System.currentTimeMillis() - start) * (Settings.SPEEDUP) / 1000 * 60);
// If there is a new message, swap
if (temp != null) {
m = temp;
ackSent = false; // We have a new order
}
// If this message is not the same as last time
if (m != null && m.order() != spinState) {
spinState = m.order();
}
switch (spinState) {
case Order.SPIN_OFF -> {
io.setSpinMode(Spin.IDLE);
}
case Order.SPIN_FAST -> {
io.setSpinMode(Spin.FAST);
}
case Order.SPIN_SLOW -> {
if (elapsed % 2 == 0)
io.setSpinMode(Spin.RIGHT);
else
io.setSpinMode(Spin.LEFT);
}
default -> {
continue;
}
}
if (m != null && !ackSent)
sendAck();
} catch (Exception e) {
System.out.println(e);
}
}
}