Deprecate take

wash/src/actor/ActorThread.java

@@ -25,12 +25,12 @@ public abstract class ActorThread<M> extends Thread {
      * milliseconds if none available. Returns null if no message is obtained
      * within 'timeout' milliseconds.
      */
-    @Deprecated
     protected M receiveWithTimeout(long timeout) throws InterruptedException {
         return q.poll(timeout, TimeUnit.MILLISECONDS);
     }
 
     /** Wait for a message continuously */
+    @Deprecated
     protected M take() throws InterruptedException {
         return q.take();
     }

wash/src/wash/control/ControllerTemp.java

@@ -6,94 +6,67 @@ import wash.control.WashingMessage.Order;
 
 public final class ControllerTemp extends ActorThread<WashingMessage> {
     private WashingIO io;
-    private Heater heater;
     private WashingMessage m;
+    private WashingMessage temp;
+    private boolean ackSent = true;
+    private Order heaterState = Order.TEMP_IDLE;
 
     public ControllerTemp(WashingIO io) {
         this.io = io;
-        heater = new Heater(0);
     }
 
     protected void sendAck() {
         m.sendAck(this);
+        ackSent = true;
     }
 
     @Override
     public void run() {
-        heater.start();
-
         while (true) {
             try {
-                m = take();
+                temp = receiveWithTimeout(10000 / Settings.SPEEDUP);
-            } catch (Exception e) {
+
-                System.exit(1);
+                // If there is a new message, swap
+                if (temp != null) {
+                    m = temp;
+                    ackSent = false; // We have a new order
                 }
 
-            switch (m.order()) {
+                // If this message is not the same as last time
-                case Order.TEMP_SET_40 -> heater.setTarget(40);
+                if (m != null && m.order() != heaterState) {
-                case Order.TEMP_SET_60 -> heater.setTarget(60);
+                    heaterState = m.order();
-                case Order.TEMP_IDLE -> heater.setTarget(0); // TODO: Error
+                }
+
+                switch (heaterState) {
+                    case Order.TEMP_SET_40 -> {
+                        if (io.getTemperature() <= 39) {
+                            io.heat(true);
+                        } else {
+                            io.heat(false);
+                            if (!ackSent)
+                                sendAck();
+                        }
+                    }
+                    case Order.TEMP_SET_60 -> {
+                        if (io.getTemperature() <= 59) {
+                            io.heat(true);
+                        } else {
+                            io.heat(false);
+                            if (!ackSent)
+                                sendAck();
+                        }
+                    }
+                    case Order.TEMP_IDLE -> {
+                        io.heat(false);
+                        if (!ackSent)
+                            sendAck();
+                    }
                     default -> {
                         continue;
                     }
                 }
-        }
+            } catch (Exception e) {
-    }
+                System.out.println("Exception: " + e);
-
-    /**
-     * 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.
-     */
-    class Heater extends Thread {
-        double target;
-        boolean hovering;
-
-        Heater(double target) {
-            this.target = target;
-            this.hovering = true; // No acks before actual setpoint is acquired
-        }
-
-        synchronized public void setTarget(double target) {
-            this.target = target;
-            this.hovering = false;
-        }
-
-        @Override
-        public void run() {
-            double current;
-            try {
-                while (!isInterrupted()) {
-                    current = io.getTemperature();
-
-                    if (io.getWaterLevel() == 0) {
-                        io.heat(false);
-                        sleep(60000 / Settings.SPEEDUP);
-                        continue;
-                    }
-
-                    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

@@ -1,5 +1,7 @@
 package wash.control;
 
+import static wash.control.WashingMessage.Order.WATER_IDLE;
+
 import actor.ActorThread;
 import wash.control.WashingMessage.Order;
 import wash.io.WashingIO;
@@ -8,98 +10,67 @@ public class ControllerWater extends ActorThread<WashingMessage> {
 
     WashingMessage.Order o;
     WashingMessage m;
+    WashingMessage temp;
     WashingIO io;
-    WaterPid waterpid;
+
+    Order waterState = WATER_IDLE;
+    boolean ackSent = true;
 
     public ControllerWater(WashingIO io) {
         this.io = io;
-        this.waterpid = new WaterPid(0, 1);
     }
 
     public void sendAck() {
+        ackSent = true;
         m.sendAck(this);
     }
 
     @Override
     public void run() {
-        waterpid.start();
         while (true) {
-            // m = poll(60000 / Settings.SPEEDUP).orElse(new WashingMessage(this, Order.NOOP));
             try {
-                m = take();
+                temp = receiveWithTimeout(10000 / Settings.SPEEDUP);
-            } catch (Exception e) {
+
-                System.exit(1);
+                // If there is a new message, swap
+                if (temp != null) {
+                    m = temp;
+                    ackSent = false; // We have a new order
                 }
 
-            switch (m.order()) {
+                // If this message is not the same as last time
-                case Order.WATER_DRAIN -> waterpid.setTarget(0);
+                if (m != null && m.order() != waterState) {
-                case Order.WATER_FILL -> waterpid.setTarget(20);
+                    waterState = m.order();
-                case Order.WATER_IDLE -> waterpid.setIdle();
+                }
+
+                switch (waterState) {
+                    case Order.WATER_DRAIN -> {
+                        io.drain(true);
+                        io.fill(false);
+                        if (io.getWaterLevel() == 0 && !ackSent)
+                            sendAck();
+                    }
+                    case Order.WATER_FILL -> {
+                        io.drain(false);
+
+                        if (io.getWaterLevel() < 19)
+                            io.fill(true);
+                        else {
+                            io.fill(false);
+                            if (!ackSent) {
+                                sendAck();
+                            }
+                        }
+                    }
+                    case Order.WATER_IDLE -> {
+                        io.drain(false);
+                        io.fill(false);
+                    }
                     default -> {
                         continue;
                     }
                 }
-        }
+            } catch (Exception e) {
-    }
+                System.out.println("Exception: " + e);
-
-    /** 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
-        private boolean hover = false; // Indicates if we're close enough to the target
-        private boolean hasAcknowledged = true; // Tracks if ack has been sent
-
-        public WaterPid(double targetLiter, double tolerance) {
-            this.target = targetLiter;
-            this.tolerance = tolerance;
-        }
-
-        /** Set the target level */
-        public synchronized void setTarget(double targetLiter) {
-            this.target = targetLiter;
-            this.hover = false;
-            this.hasAcknowledged = false; // Reset ack when target changes
-        }
-
-        /** Just coast at current level */
-        public synchronized void setIdle() {
-            this.setTarget(io.getWaterLevel());
-        }
-
-        /** Main control loop */
-        @Override
-        public void run() {
-            while (!isInterrupted()) {
-                double currentLevel = io.getWaterLevel(); // Get current water level
-                double error = target - currentLevel;
-                hover = Math.abs(error) <= tolerance;
-
-                // Open or close drain/fill based on current water level
-                if (!hover) {
-                    if (error > 0) {
-                        io.fill(true); // Open tap to increase water level
-                        io.drain(false); // Ensure drain is closed
-                    } else {
-                        io.drain(true); // Open drain to decrease water level
-                        io.fill(false); // Ensure tap is closed
-                    }
-                } else {
-                    // Stop adjustments if hovering near target
-                    io.fill(false);
-                    io.drain(false);
-
-                    // Send acknowledgment if target is reached for the first time
-                    if (!hasAcknowledged) {
-                        sendAck();
-                        hasAcknowledged = true;
-                    }
-                }
-
-                try {
-                    Thread.sleep(100);
-                } catch (InterruptedException e) {
-                    Thread.currentThread().interrupt();
-                }
             }
         }
     }

wash/src/wash/control/Settings.java

@@ -3,5 +3,5 @@ package wash.control;
 public interface Settings {
     // simulation speed-up factor: 50 means the simulation is 50 times faster than
     // real time. Modify this as you wish.
-    int SPEEDUP = 50;
+    int SPEEDUP = 400;
 }

wash/src/wash/control/Wash.java

@@ -32,7 +32,7 @@ public class Wash {
             // if the user presses button 0, and a program has been started, stop it
 
             switch (n) {
-                case 0 -> t = new WashingProgramStop(io, temp, water, spin);
+                case 0 -> t.interrupt();
                 case 1 -> t = new WashingProgram1(io, temp, water, spin);
                 case 2 -> t = new WashingProgram2(io, temp, water, spin);
                 case 3 -> t = new WashingProgram3(io, temp, water, spin);
@@ -42,6 +42,7 @@ public class Wash {
                 }
             }
 
+            if (!t.isInterrupted())
                 t.start();
         }
 

wash/src/wash/program/WashingProgram1.java

@@ -39,19 +39,39 @@ public final class WashingProgram1 extends ActorThread<WashingMessage> {
             // Lock the hatch
             io.lock(true);
 
+            // Let water into the machine
             water.send(new WashingMessage(this, WATER_FILL));
             receive();
 
-            // Instruct SpinController to rotate barrel slowly, back and forth
+            // Heat to 40 C
-            // Expect an acknowledgment in response.
+            temp.send(new WashingMessage(this, TEMP_SET_40));
-            spin.send(new WashingMessage(this, SPIN_SLOW));
             receive();
 
-            // Spin for five simulated minutes (one minute == 60000 milliseconds)
+            // Keep the temperature for 30 min
+            Thread.sleep(30 * 60000 / Settings.SPEEDUP);
+
+            // Drain
+            temp.send(new WashingMessage(this, TEMP_IDLE));
+            receive();
+            water.send(new WashingMessage(this, WATER_DRAIN));
+            receive();
+
+            // Rinse 5*2 minutes in cold water
+            for(int a = 0; a < 5; a++) {
+                water.send(new WashingMessage(this, WATER_FILL));
+                receive();
+
+                Thread.sleep(2 * 60000 / Settings.SPEEDUP);
+
+                water.send(new WashingMessage(this, WATER_DRAIN));
+                receive();
+            }
+
+            // Centrifuge for five minutes
+            spin.send(new WashingMessage(this, SPIN_FAST));
+            receive();
             Thread.sleep(5 * 60000 / Settings.SPEEDUP);
 
-            // Instruct SpinController to stop spin barrel spin.
-            // Expect an acknowledgment in response.
             spin.send(new WashingMessage(this, SPIN_OFF));
             receive();
 

wash/src/wash/program/WashingProgram2.java

@@ -40,9 +40,62 @@ public final class WashingProgram2 extends ActorThread<WashingMessage> {
             // Lock the hatch
             io.lock(true);
 
-            // Spin for five simulated minutes (one minute == 60000 milliseconds)
+            // Let water into the machine
+            water.send(new WashingMessage(this, WATER_FILL));
+            receive();
+
+            // Heat to 40 C
+            temp.send(new WashingMessage(this, TEMP_SET_40));
+            receive();
+
+            // Keep the temperature for 20 min
+            Thread.sleep(20 * 60000 / Settings.SPEEDUP);
+
+            // Drain
+            temp.send(new WashingMessage(this, TEMP_IDLE));
+            receive();
+            water.send(new WashingMessage(this, WATER_DRAIN));
+            receive();
+
+            // Let water into the machine
+            water.send(new WashingMessage(this, WATER_FILL));
+            receive();
+            // Heat to 60 C
+            temp.send(new WashingMessage(this, TEMP_SET_60));
+            receive();
+
+            // Keep the temperature for 20 min
+            Thread.sleep(30 * 60000 / Settings.SPEEDUP);
+
+            // Kill the heat
+            temp.send(new WashingMessage(this, TEMP_IDLE));
+            receive();
+
+            // Rinse 5*2 minutes in cold water
+            for(int a = 0; a < 5; a++) {
+                water.send(new WashingMessage(this, WATER_FILL));
+                receive();
+
+                Thread.sleep(2 * 60000 / Settings.SPEEDUP);
+
+                water.send(new WashingMessage(this, WATER_DRAIN));
+                receive();
+            }
+
+            // Centrifuge for five minutes
+            spin.send(new WashingMessage(this, SPIN_FAST));
+            receive();
             Thread.sleep(5 * 60000 / Settings.SPEEDUP);
 
+            spin.send(new WashingMessage(this, SPIN_OFF));
+            receive();
+
+            temp.send(new WashingMessage(this, TEMP_IDLE));
+            receive();
+
+            water.send(new WashingMessage(this, WATER_DRAIN));
+            receive();
+
             // Now that the barrel has stopped, it is safe to open the hatch.
             io.lock(false);
             System.out.println("WashingProgram2 Finished...");

wash/src/wash/program/WashingProgram3.java

@@ -41,17 +41,16 @@ public final class WashingProgram3 extends ActorThread<WashingMessage> {
             io.lock(true);
             
             // Switch off heating
-            // temp.send(new WashingMessage(this, TEMP_IDLE));
+            temp.send(new WashingMessage(this, TEMP_IDLE));
-            // System.out.println(receive());
+            receive();
-            // temp.send(new WashingMessage(this, TEMP_SET_40));
-            // System.out.println(receive());
 
-            temp.send(new WashingMessage(this, WATER_FILL));
+            // Spin off just to be sure
-            System.out.println(receive());
+            spin.send(new WashingMessage(this, SPIN_OFF));
-            temp.send(new WashingMessage(this, WATER_DRAIN));
+            receive();
-            System.out.println(receive());
 
-            // Thread.sleep(5 * 60000 / Settings.SPEEDUP);
+            // Drain water
+            water.send(new WashingMessage(this, WATER_DRAIN));
+            receive();
 
             // Unlock hatch
             io.lock(false);

wash/src/wash/program/WashingProgramStop.java

@@ -1,80 +0,0 @@
-package wash.program;
-
-import actor.ActorThread;
-import wash.control.WashingMessage;
-import wash.io.WashingIO;
-
-import static wash.control.WashingMessage.Order.*;
-
-/**
- * Program 3 for washing machine. This also serves as an example of how washing
- * programs can be structured.
- * 
- * This short program stops all regulation of temperature and water levels,
- * stops the barrel from spinning, and drains the machine of water.
- * 
- * It can be used after an emergency stop (program 0) or a power failure.
- */
-public final class WashingProgramStop extends ActorThread<WashingMessage> {
-
-    private WashingIO io;
-    private ActorThread<WashingMessage> temp;
-    private ActorThread<WashingMessage> water;
-    private ActorThread<WashingMessage> spin;
-    
-    public WashingProgramStop(WashingIO io,
-                           ActorThread<WashingMessage> temp,
-                           ActorThread<WashingMessage> water,
-                           ActorThread<WashingMessage> spin) 
-    {
-        this.io = io;
-        this.temp = temp;
-        this.water = water;
-        this.spin = spin;
-    }
-    
-    @Override
-    public void run() {
-        try {
-            System.out.println("WashingProgramStop Starting...");
-            
-            // Switch off heating
-            temp.send(new WashingMessage(this, TEMP_IDLE));
-            
-            // Wait for temperature controller to acknowledge 
-            WashingMessage ack1 = receive();
-            System.out.println("got " + ack1);
-
-            // Drain barrel, which may take some time. To ensure the barrel
-            // is drained before we continue, an acknowledgment is required.
-            water.send(new WashingMessage(this, WATER_DRAIN));
-            WashingMessage ack2 = receive();  // wait for acknowledgment
-            System.out.println("got " + ack2);
-
-            // Now that the barrel is drained, we can turn off water regulation.
-            water.send(new WashingMessage(this, WATER_IDLE));
-            WashingMessage ack3 = receive();  // wait for acknowledgment
-            System.out.println("got " + ack3);
-
-            // Switch off spin. We expect an acknowledgment, to ensure
-            // the hatch isn't opened while the barrel is spinning.
-            spin.send(new WashingMessage(this, SPIN_OFF));
-            WashingMessage ack4 = receive();  // wait for acknowledgment
-            System.out.println("got " + ack4);
-
-            // Unlock hatch
-            io.lock(false);
-            
-            System.out.println("WashingProgramStop Finished...");
-        } catch (InterruptedException e) {
-            System.out.println("WashingProgramStop Interrupted...");
-            // If we end up here, it means the program was interrupt()'ed:
-            // set all controllers to idle
-
-            temp.send(new WashingMessage(this, TEMP_IDLE));
-            water.send(new WashingMessage(this, WATER_IDLE));
-            spin.send(new WashingMessage(this, SPIN_OFF));
-            System.out.println("washing stop program terminated");
-        }
-    }
-}