SpinController

wash/src/wash/control/SpinController.java

@@ -2,41 +2,71 @@ package wash.control;
 
 import actor.ActorThread;
 import wash.io.WashingIO;
-import wash.io.WashingIO.Spin;
+import wash.control.WashingMessage.Order;
 
-public class SpinController extends ActorThread<WashingMessage> {
+public final class SpinController extends ActorThread<WashingMessage> {
-
+    private WashingIO io;
-    // TODO: add attributes
+    private Spin spin = new Spin();
+    private WashingMessage m;
 
     public SpinController(WashingIO io) {
-        // TODO
+        this.io = io;
+    }
+
+    protected void sendAck() {
+        m.sendAck(this);
     }
 
     @Override
     public void run() {
-
+        spin.start();
-        // this is to demonstrate how to control the barrel spin:
+        listener(); // Drop into a recursive listener method
-        // io.setSpinMode(Spin.IDLE);
-
-        try {
-
-            // ... TODO ...
-
-            while (true) {
-                // wait for up to a (simulated) minute for a WashingMessage
-                WashingMessage m = receiveWithTimeout(60000 / Settings.SPEEDUP);
-
-                // if m is null, it means a minute passed and no message was received
-                if (m != null) {
-                    System.out.println("got " + m);
     }
 
-                // ... TODO ...
+    /** Recursive listener method */
+    public void listener() {
+        m = poll(60000 / Settings.SPEEDUP).orElse(new WashingMessage(this, Order.NOOP));
+
+        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();
             }
-        } catch (InterruptedException unexpected) {
+        }
-            // we don't expect this thread to be interrupted,
+
-            // so throw an error if it happens anyway
+        listener();
-            throw new Error(unexpected);
+    }
+
+    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() {
+            io.setSpinMode(spinMode);
+
+            if (changed) {
+                sendAck();
+                changed = false;
+            }
+
+            usleep(60000 / Settings.SPEEDUP);
+            loop();
+        }
+
+        @Override
+        public void run() {
+            loop();
         }
     }
 }