pybricks.common.Motor: Share code with DCMotor.

We can save on code size by sharing everything and setting a
reduced static table size for the DCMotor. This also works well
conceptually since Motor is inherited from DMotor.

Further savings are obtained by using a single obj type, and a common
make_new implementation that returns early for the DCMotor.

Also fixes the missing close() method on Motor(). Fixes pybricks/support#904

Author: laurensvalk

bricks/_common/sources.mk

@@ -28,7 +28,6 @@ PYBRICKS_PYBRICKS_SRC_C = $(addprefix pybricks/,\
 	common/pb_type_colorlight_external.c \
 	common/pb_type_colorlight_internal.c \
 	common/pb_type_control.c \
-	common/pb_type_dcmotor.c \
 	common/pb_type_device.c \
 	common/pb_type_imu.c \
 	common/pb_type_keypad.c \

pybricks/common.h

@@ -23,6 +23,7 @@
 #include <pybricks/pupdevices.h>
 #include <pybricks/tools.h>
 #include <pybricks/tools/pb_type_awaitable.h>
+#include <pybricks/common/pb_type_device.h>
 
 void pb_package_pybricks_init(bool import_all);
 void pb_package_pybricks_deinit(void);
@@ -99,12 +100,11 @@ mp_obj_t pb_type_MotorModel_obj_make_new(pbio_observer_t *observer);
 mp_obj_t common_Logger_obj_make_new(pbio_log_t *log, uint8_t num_values);
 #endif
 
-typedef struct _common_Motor_obj_t common_Motor_obj_t;
-
-// pybricks._common.Motor()
-struct _common_Motor_obj_t {
-    mp_obj_base_t base;
+// pybricks.common.DCMotor and pybricks.common.Motor
+typedef struct {
+    pb_type_device_obj_base_t device_base;
     pbio_servo_t *srv;
+    pbio_port_id_t port;
     #if PYBRICKS_PY_COMMON_MOTOR_MODEL
     mp_obj_t model;
     #endif
@@ -114,28 +114,11 @@ struct _common_Motor_obj_t {
     #if PYBRICKS_PY_COMMON_LOGGER
     mp_obj_t logger;
     #endif
-    pbio_port_id_t port;
-    mp_obj_t awaitables;
-};
+} pb_type_Motor_obj_t;
 
 extern const mp_obj_type_t pb_type_Motor;
-
-// pybricks._common.DCMotor()
-typedef struct _common_DCMotor_obj_t {
-    mp_obj_base_t base;
-    pbio_dcmotor_t *dcmotor;
-    pbio_port_id_t port;
-} common_DCMotor_obj_t;
-
 extern const mp_obj_type_t pb_type_DCMotor;
 
-// Nonstatic objects shared between Motor and DCMotor
-void common_DCMotor_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind);
-MP_DECLARE_CONST_FUN_OBJ_KW(common_DCMotor_duty_obj);
-MP_DECLARE_CONST_FUN_OBJ_1(common_DCMotor_stop_obj);
-MP_DECLARE_CONST_FUN_OBJ_1(common_DCMotor_brake_obj);
-MP_DECLARE_CONST_FUN_OBJ_KW(common_DCMotor_dc_settings_obj);
-
 #endif // PYBRICKS_PY_COMMON_MOTORS
 
 #if PYBRICKS_PY_COMMON_SPEAKER

pybricks/common/pb_type_dcmotor.c

@@ -104,18 +104,19 @@ mp_obj_t pb_type_device_set_data(pb_type_device_obj_base_t *sensor, uint8_t mode
         PB_TYPE_AWAITABLE_OPT_RAISE_ON_BUSY);
 }
 
-void pb_type_device_init_class(pb_type_device_obj_base_t *self, mp_obj_t port_in, pbdrv_legodev_type_id_t valid_id) {
+pbdrv_legodev_type_id_t pb_type_device_init_class(pb_type_device_obj_base_t *self, mp_obj_t port_in, pbdrv_legodev_type_id_t valid_id) {
 
     pb_module_tools_assert_blocking();
 
     pbio_port_id_t port = pb_type_enum_get_value(port_in, &pb_enum_type_Port);
     pbio_error_t err;
-    while ((err = pbdrv_legodev_get_device(port, &valid_id, &self->legodev)) == PBIO_ERROR_AGAIN) {
+    pbdrv_legodev_type_id_t actual_id = valid_id;
+    while ((err = pbdrv_legodev_get_device(port, &actual_id, &self->legodev)) == PBIO_ERROR_AGAIN) {
         mp_hal_delay_ms(50);
     }
     pb_assert(err);
-
     self->awaitables = mp_obj_new_list(0, NULL);
+    return actual_id;
 }
 
 #endif // PYBRICKS_PY_PUPDEVICES

pybricks/common/pb_type_device.c

@@ -42,7 +42,7 @@ extern const mp_obj_type_t pb_type_device_method;
 
 mp_obj_t pb_type_device_method_call(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args);
 mp_obj_t pb_type_pupdevices_method(mp_obj_t self_in, size_t n_args, size_t n_kw, const mp_obj_t *args);
-void pb_type_device_init_class(pb_type_device_obj_base_t *self, mp_obj_t port_in, pbdrv_legodev_type_id_t valid_id);
+pbdrv_legodev_type_id_t pb_type_device_init_class(pb_type_device_obj_base_t *self, mp_obj_t port_in, pbdrv_legodev_type_id_t valid_id);
 mp_obj_t pb_type_device_set_data(pb_type_device_obj_base_t *sensor, uint8_t mode, const void *data, uint8_t size);
 void *pb_type_device_get_data(mp_obj_t self_in, uint8_t mode);