pbio/port: Reset power to port on disconnect.

We used to turn power off only at the end of active sensor processes as well as at the end of a program. In general, we want to turn power off whenever something is disconnected, which is what we do here.

The goal here is to be able to turn off 9V to a sensor if a user has switched it on and then unplugs the device.

Author: laurensvalk

lib/pbio/src/port.c

@@ -125,6 +125,7 @@ static pbio_error_t pbio_port_process_lego_dcm_thread(pbio_os_state_t *state, vo
     for (;;) {
         // Run passive device connection manager until smart device is detected.
         pbdrv_ioport_p5p6_set_mode(port->pdata->pins, PBDRV_IOPORT_P5P6_MODE_GPIO_ADC);
+        pbio_port_p1p2_set_power(port, PBIO_PORT_POWER_REQUIREMENTS_NONE);
         PBIO_OS_AWAIT(state, &port->child1, err = pbio_port_dcm_thread(&port->child1, &port->timer, port->connection_manager, port->pdata->pins));
 
         // Active device detected. Check type to decide next steps.
@@ -145,7 +146,6 @@ static pbio_error_t pbio_port_process_lego_dcm_thread(pbio_os_state_t *state, vo
                 pbio_port_lump_data_recv_thread(&port->child1, port->lump_dev, port->uart_dev),
                 pbio_port_lump_data_send_thread(&port->child2, port->lump_dev, port->uart_dev, &port->timer)
                 );
-            pbio_port_p1p2_set_power(port, PBIO_PORT_POWER_REQUIREMENTS_NONE);
         }
     }
 

lib/pbio/src/port_dcm_pup.c

@@ -74,6 +74,8 @@ static const lego_device_type_id_t legodev_pup_type_id_lookup[3][3] = {
  * Thread that detects the device type. It monitors the ID1 and ID2 pins
  * on the port to see when devices are connected or disconnected.
  *
+ * It ends once a LEGO UART device is connected or nothing is connected.
+ *
  * @param [in]  state       The process thread state.
  * @param [in]  timer       The timer to use for timing.
  * @param [in]  dcm         The device connection manager.
@@ -86,8 +88,10 @@ pbio_error_t pbio_port_dcm_thread(pbio_os_state_t *state, pbio_os_timer_t *timer
     dcm->prev_type_id = LEGO_DEVICE_TYPE_ID_NONE;
     dcm->dev_id_match_count = 0;
 
-    // Keep running until a UART device is definitively found.
-    while (dcm->dev_id_match_count < AFFIRMATIVE_MATCH_COUNT || dcm->prev_type_id != LEGO_DEVICE_TYPE_ID_LPF2_UNKNOWN_UART) {
+    // Repeat until we definitively have a UART device or no device is
+    // detected. So it stays here as long as a passive motor device is
+    // attached.
+    while (dcm->dev_id_match_count < AFFIRMATIVE_MATCH_COUNT || (dcm->prev_type_id != LEGO_DEVICE_TYPE_ID_LPF2_UNKNOWN_UART && dcm->prev_type_id != LEGO_DEVICE_TYPE_ID_NONE)) {
 
         dcm->type_id = LEGO_DEVICE_TYPE_ID_NONE;
         dcm->dev_id1_group = DEV_ID_GROUP_OPEN;