pybricks/tools/awaitable: Refactor cancel_all.

This does not need the object itself. Also fix enum names.

It will also be used for operations other than cancel, so rename it.

Author: laurensvalk

pybricks/common/pb_type_motor.c

@@ -157,7 +157,7 @@ STATIC mp_obj_t await_or_wait(common_Motor_obj_t *self) {
         common_Motor_test_completion,
         pb_type_awaitable_return_none,
         common_Motor_cancel,
-        PB_TYPE_AWAITABLE_CANCEL_LINKED);
+        PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
 }
 
 // pybricks._common.Motor.angle
@@ -184,7 +184,7 @@ STATIC mp_obj_t common_Motor_reset_angle(size_t n_args, const mp_obj_t *pos_args
 
     // Set the new angle
     pb_assert(pbio_servo_reset_angle(self->srv, reset_angle, reset_to_abs));
-    pb_type_awaitable_cancel_all(MP_OBJ_FROM_PTR(self), self->awaitables, PB_TYPE_AWAITABLE_CANCEL_LINKED);
+    pb_type_awaitable_update_all(self->awaitables, PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
     return mp_const_none;
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(common_Motor_reset_angle_obj, 1, common_Motor_reset_angle);
@@ -209,7 +209,7 @@ STATIC mp_obj_t common_Motor_run(size_t n_args, const mp_obj_t *pos_args, mp_map
 
     mp_int_t speed = pb_obj_get_int(speed_in);
     pb_assert(pbio_servo_run_forever(self->srv, speed));
-    pb_type_awaitable_cancel_all(MP_OBJ_FROM_PTR(self), self->awaitables, PB_TYPE_AWAITABLE_CANCEL_LINKED);
+    pb_type_awaitable_update_all(self->awaitables, PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
     return mp_const_none;
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(common_Motor_run_obj, 1, common_Motor_run);
@@ -218,7 +218,7 @@ STATIC MP_DEFINE_CONST_FUN_OBJ_KW(common_Motor_run_obj, 1, common_Motor_run);
 STATIC mp_obj_t common_Motor_hold(mp_obj_t self_in) {
     common_Motor_obj_t *self = MP_OBJ_TO_PTR(self_in);
     pb_assert(pbio_servo_stop(self->srv, PBIO_CONTROL_ON_COMPLETION_HOLD));
-    pb_type_awaitable_cancel_all(self_in, self->awaitables, PB_TYPE_AWAITABLE_CANCEL_LINKED);
+    pb_type_awaitable_update_all(self->awaitables, PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
     return mp_const_none;
 }
 MP_DEFINE_CONST_FUN_OBJ_1(common_Motor_hold_obj, common_Motor_hold);
@@ -291,7 +291,7 @@ STATIC mp_obj_t common_Motor_run_until_stalled(size_t n_args, const mp_obj_t *po
         common_Motor_test_completion,
         common_Motor_stall_return_value,
         common_Motor_cancel,
-        PB_TYPE_AWAITABLE_CANCEL_LINKED);
+        PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(common_Motor_run_until_stalled_obj, 1, common_Motor_run_until_stalled);
 
@@ -353,7 +353,7 @@ STATIC mp_obj_t common_Motor_track_target(size_t n_args, const mp_obj_t *pos_arg
 
     mp_int_t target_angle = pb_obj_get_int(target_angle_in);
     pb_assert(pbio_servo_track_target(self->srv, target_angle));
-    pb_type_awaitable_cancel_all(MP_OBJ_FROM_PTR(self), self->awaitables, PB_TYPE_AWAITABLE_CANCEL_LINKED);
+    pb_type_awaitable_update_all(self->awaitables, PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
     return mp_const_none;
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(common_Motor_track_target_obj, 1, common_Motor_track_target);

pybricks/common/pb_type_speaker.c

@@ -172,7 +172,7 @@ STATIC mp_obj_t pb_type_Speaker_beep(size_t n_args, const mp_obj_t *pos_args, mp
         pb_type_Speaker_beep_test_completion,
         pb_type_awaitable_return_none,
         pb_type_Speaker_cancel,
-        PB_TYPE_AWAITABLE_CANCEL_LINKED | PB_TYPE_AWAITABLE_CANCEL_LINKED_CALLBACK);
+        PB_TYPE_AWAITABLE_OPT_CANCEL_ALL | PB_TYPE_AWAITABLE_OPT_CANCEL_HARDWARE);
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pb_type_Speaker_beep_obj, 1, pb_type_Speaker_beep);
 
@@ -388,7 +388,7 @@ STATIC mp_obj_t pb_type_Speaker_play_notes(size_t n_args, const mp_obj_t *pos_ar
         pb_type_Speaker_notes_test_completion,
         pb_type_awaitable_return_none,
         pb_type_Speaker_cancel,
-        PB_TYPE_AWAITABLE_CANCEL_LINKED | PB_TYPE_AWAITABLE_CANCEL_LINKED_CALLBACK);
+        PB_TYPE_AWAITABLE_OPT_CANCEL_ALL | PB_TYPE_AWAITABLE_OPT_CANCEL_HARDWARE);
 }
 STATIC MP_DEFINE_CONST_FUN_OBJ_KW(pb_type_Speaker_play_notes_obj, 1, pb_type_Speaker_play_notes);
 

pybricks/robotics/pb_type_drivebase.c

@@ -119,7 +119,7 @@ STATIC mp_obj_t await_or_wait(pb_type_DriveBase_obj_t *self) {
         pb_type_DriveBase_test_completion,
         pb_type_awaitable_return_none,
         pb_type_DriveBase_cancel,
-        PB_TYPE_AWAITABLE_CANCEL_LINKED);
+        PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
 }
 
 // pybricks.robotics.DriveBase.straight
@@ -203,7 +203,7 @@ STATIC mp_obj_t pb_type_DriveBase_drive(size_t n_args, const mp_obj_t *pos_args,
     mp_int_t turn_rate = pb_obj_get_int(turn_rate_in);
 
     // Cancel awaitables but not hardware. Drive forever will handle this.
-    pb_type_awaitable_cancel_all(MP_OBJ_FROM_PTR(self), self->awaitables, PB_TYPE_AWAITABLE_CANCEL_LINKED);
+    pb_type_awaitable_update_all(self->awaitables, PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
 
     pb_assert(pbio_drivebase_drive_forever(self->db, speed, turn_rate));
     return mp_const_none;
@@ -215,7 +215,7 @@ STATIC mp_obj_t pb_type_DriveBase_stop(mp_obj_t self_in) {
 
     // Cancel awaitables.
     pb_type_DriveBase_obj_t *self = MP_OBJ_TO_PTR(self_in);
-    pb_type_awaitable_cancel_all(self_in, self->awaitables, PB_TYPE_AWAITABLE_CANCEL_LINKED);
+    pb_type_awaitable_update_all(self->awaitables, PB_TYPE_AWAITABLE_OPT_CANCEL_ALL);
 
     // Stop hardware.
     pb_type_DriveBase_cancel(self_in);

pybricks/tools/pb_type_awaitable.c

@@ -132,16 +132,12 @@ STATIC bool pb_type_awaitable_completed(mp_obj_t self_in, uint32_t start_time) {
 }
 
 /**
- * Cancels all awaitables associated with an object.
+ * Checks and updates all awaitables associated with an object.
  *
- * This is normally used by the function that makes a new awaitable, but it can
- * also be called independently to cancel without starting a new awaitable.
- *
- * @param [in] obj                   The object whose method we want to wait for completion.
  * @param [in] awaitables_in         List of awaitables associated with @p obj.
- * @param [in] options               Controls awaitable behavior.
+ * @param [in] options               Controls update behavior.
  */
-void pb_type_awaitable_cancel_all(mp_obj_t obj, mp_obj_t awaitables_in, pb_type_awaitable_opt_t options) {
+void pb_type_awaitable_update_all(mp_obj_t awaitables_in, pb_type_awaitable_opt_t options) {
 
     // Exit if nothing to do.
     if (!pb_module_tools_run_loop_is_active() || options == PB_TYPE_AWAITABLE_OPT_NONE) {
@@ -155,12 +151,12 @@ void pb_type_awaitable_cancel_all(mp_obj_t obj, mp_obj_t awaitables_in, pb_type_
         // Only cancel awaitables that are in use.
         if (awaitable->test_completion) {
             // Cancel hardware operation if requested and available.
-            if (options & PB_TYPE_AWAITABLE_CANCEL_LINKED_CALLBACK && awaitable->cancel) {
+            if (options & PB_TYPE_AWAITABLE_OPT_CANCEL_HARDWARE && awaitable->cancel) {
                 awaitable->cancel(awaitable->obj);
             }
             // Set awaitable to done so it gets cancelled it gracefully on the
             // next iteration.
-            if (options & PB_TYPE_AWAITABLE_CANCEL_LINKED) {
+            if (options & PB_TYPE_AWAITABLE_OPT_CANCEL_ALL) {
                 awaitable->test_completion = pb_type_awaitable_completed;
             }
         }
@@ -199,7 +195,7 @@ mp_obj_t pb_type_awaitable_await_or_wait(
         }
 
         // First cancel linked awaitables if requested.
-        pb_type_awaitable_cancel_all(obj, awaitables_in, options);
+        pb_type_awaitable_update_all(awaitables_in, options);
 
         // Gets free existing awaitable or creates a new one.
         pb_type_awaitable_obj_t *awaitable = pb_type_awaitable_get(awaitables_in);

pybricks/tools/pb_type_awaitable.h

@@ -27,13 +27,13 @@ typedef enum _pb_type_awaitable_opt_t {
      * running in parallel are using the same resources. This way, the newly
      * started operation "wins" and everything else is cancelled.
      */
-    PB_TYPE_AWAITABLE_CANCEL_LINKED = 1 << 2,
+    PB_TYPE_AWAITABLE_OPT_CANCEL_ALL = 1 << 2,
     /**
      * On cancelling the linked awaitables, also call their cancel function
      * to stop hardware. Only used to close hardware resources that aren't
      * already cleaned up by lower level drivers (so not needed for motors).
      */
-    PB_TYPE_AWAITABLE_CANCEL_LINKED_CALLBACK  = 1 << 3,
+    PB_TYPE_AWAITABLE_OPT_CANCEL_HARDWARE  = 1 << 3,
 } pb_type_awaitable_opt_t;
 
 /**
@@ -52,7 +52,7 @@ typedef struct _pb_type_awaitable_obj_t pb_type_awaitable_obj_t;
  * @param [in]  start_time     The time when the awaitable was created.
  * @return                     True if operation is complete, False otherwise.
  */
-typedef bool (*pb_type_awaitable_test_completion_t)(mp_obj_t objt, uint32_t end_time);
+typedef bool (*pb_type_awaitable_test_completion_t)(mp_obj_t obj, uint32_t end_time);
 
 /**
  * Gets the return value of the awaitable. If it always returns None, providing
@@ -77,7 +77,7 @@ typedef void (*pb_type_awaitable_cancel_t)(mp_obj_t obj);
 
 #define pb_type_awaitable_cancel_none (NULL)
 
-void pb_type_awaitable_cancel_all(mp_obj_t obj, mp_obj_t awaitables_in, pb_type_awaitable_opt_t options);
+void pb_type_awaitable_update_all(mp_obj_t awaitables_in, pb_type_awaitable_opt_t options);
 
 mp_obj_t pb_type_awaitable_await_or_wait(
     mp_obj_t obj,