Correctly implemented programs

wash/src/wash/control/ControllerSpin.java

@@ -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);
             }
         }
     }

wash/src/wash/control/ControllerTemp.java

@@ -24,7 +24,7 @@ public final class ControllerTemp extends ActorThread<WashingMessage> {
     public void run() {
         while (true) {
             try {
-                temp = receiveWithTimeout(10000 / Settings.SPEEDUP);
+                temp = receiveWithTimeout(30000 / Settings.SPEEDUP);
 
                 // If there is a new message, swap
                 if (temp != null) {
@@ -39,7 +39,7 @@ public final class ControllerTemp extends ActorThread<WashingMessage> {
 
                 switch (heaterState) {
                     case Order.TEMP_SET_40 -> {
-                        if (io.getTemperature() <= 39) {
+                        if (io.getTemperature() <= 38.5) {
                             io.heat(true);
                         } else {
                             io.heat(false);
@@ -48,7 +48,7 @@ public final class ControllerTemp extends ActorThread<WashingMessage> {
                         }
                     }
                     case Order.TEMP_SET_60 -> {
-                        if (io.getTemperature() <= 59) {
+                        if (io.getTemperature() <= 58.5) {
                             io.heat(true);
                         } else {
                             io.heat(false);

wash/src/wash/control/ControllerWater.java

@@ -46,13 +46,14 @@ public class ControllerWater extends ActorThread<WashingMessage> {
                     case Order.WATER_DRAIN -> {
                         io.drain(true);
                         io.fill(false);
+                        // WARNING: Float comparison
                         if (io.getWaterLevel() == 0 && !ackSent)
                             sendAck();
                     }
                     case Order.WATER_FILL -> {
                         io.drain(false);
 
-                        if (io.getWaterLevel() < 19)
+                        if (io.getWaterLevel() < 10)
                             io.fill(true);
                         else {
                             io.fill(false);
@@ -64,6 +65,9 @@ public class ControllerWater extends ActorThread<WashingMessage> {
                     case Order.WATER_IDLE -> {
                         io.drain(false);
                         io.fill(false);
+                        if (!ackSent) {
+                            sendAck();
+                        }
                     }
                     default -> {
                         continue;

wash/src/wash/program/WashingProgram1.java

@@ -47,16 +47,23 @@ public final class WashingProgram1 extends ActorThread<WashingMessage> {
             temp.send(new WashingMessage(this, TEMP_SET_40));
             receive();
 
+            spin.send(new WashingMessage(this, SPIN_SLOW));
+            receive();
+
             // Keep the temperature for 30 min
             Thread.sleep(30 * 60000 / Settings.SPEEDUP);
 
             // Drain
             temp.send(new WashingMessage(this, TEMP_IDLE));
             receive();
+            spin.send(new WashingMessage(this, SPIN_OFF));
+            receive();
             water.send(new WashingMessage(this, WATER_DRAIN));
             receive();
 
             // Rinse 5*2 minutes in cold water
+            spin.send(new WashingMessage(this, SPIN_SLOW));
+            receive();
             for(int a = 0; a < 5; a++) {
                 water.send(new WashingMessage(this, WATER_FILL));
                 receive();
@@ -70,7 +77,7 @@ public final class WashingProgram1 extends ActorThread<WashingMessage> {
             // Centrifuge for five minutes
             spin.send(new WashingMessage(this, SPIN_FAST));
             receive();
-            Thread.sleep(5 * 60000 / Settings.SPEEDUP);
+            Thread.sleep(10 * 60000 / Settings.SPEEDUP);
 
             spin.send(new WashingMessage(this, SPIN_OFF));
             receive();
@@ -81,6 +88,9 @@ public final class WashingProgram1 extends ActorThread<WashingMessage> {
             water.send(new WashingMessage(this, WATER_DRAIN));
             receive();
 
+            water.send(new WashingMessage(this, WATER_IDLE));
+            receive();
+
             // Now that the barrel has stopped, it is safe to open the hatch.
             io.lock(false);
 

wash/src/wash/program/WashingProgram2.java

@@ -48,6 +48,9 @@ public final class WashingProgram2 extends ActorThread<WashingMessage> {
             temp.send(new WashingMessage(this, TEMP_SET_40));
             receive();
 
+            spin.send(new WashingMessage(this, SPIN_SLOW));
+            receive();
+
             // Keep the temperature for 20 min
             Thread.sleep(20 * 60000 / Settings.SPEEDUP);
 
@@ -72,7 +75,7 @@ public final class WashingProgram2 extends ActorThread<WashingMessage> {
             receive();
 
             // Rinse 5*2 minutes in cold water
-            for(int a = 0; a < 5; a++) {
+            for(int a = 0; a <= 5; a++) {
                 water.send(new WashingMessage(this, WATER_FILL));
                 receive();
 
@@ -90,10 +93,10 @@ public final class WashingProgram2 extends ActorThread<WashingMessage> {
             spin.send(new WashingMessage(this, SPIN_OFF));
             receive();
 
-            temp.send(new WashingMessage(this, TEMP_IDLE));
+            water.send(new WashingMessage(this, WATER_DRAIN));
             receive();
 
-            water.send(new WashingMessage(this, WATER_DRAIN));
+            water.send(new WashingMessage(this, WATER_IDLE));
             receive();
 
             // Now that the barrel has stopped, it is safe to open the hatch.