pbio/port_dcm_ev3: Drop outer loop.

This is only an indentation change with continue replaced by returning success.

This thread should wait for a connection and then wait until disconnected. The outer sensor port loop will run this again instead.

This allows us to handle things like port reset in the outer sensor loop. This ensures 9V power is turned off once a device is unplugged, for example.

Author: laurensvalk

lib/pbio/src/port_dcm_ev3.c

@@ -330,119 +330,116 @@ pbio_error_t pbio_port_dcm_thread(pbio_os_state_t *state, pbio_os_timer_t *timer
 
     PBIO_OS_ASYNC_BEGIN(state);
 
-    for (;;) {
-
-        debug_pr("Start device scan\n");
-        dcm->category = DCM_CATEGORY_NONE;
-        dcm->connected = false;
-
-        // Wait for any device to be connected.
-        for (dcm->count = 0; dcm->count < DCM_LOOP_STEADY_STATE_COUNT; dcm->count++) {
-            pbio_port_dcm_pin_state_t pin_state = pbio_port_dcm_get_state(pins);
-            pbio_port_dcm_category_t category = pbio_port_dcm_get_category(pin_state);
-            if (category != dcm->category || category == DCM_CATEGORY_NONE) {
-                dcm->count = 0;
-                dcm->category = category;
-            }
-            PBIO_OS_AWAIT_MS(state, timer, DCM_LOOP_TIME_MS);
+    debug_pr("Start device scan\n");
+    dcm->category = DCM_CATEGORY_NONE;
+    dcm->connected = false;
+
+    // Wait for any device to be connected.
+    for (dcm->count = 0; dcm->count < DCM_LOOP_STEADY_STATE_COUNT; dcm->count++) {
+        pbio_port_dcm_pin_state_t pin_state = pbio_port_dcm_get_state(pins);
+        pbio_port_dcm_category_t category = pbio_port_dcm_get_category(pin_state);
+        if (category != dcm->category || category == DCM_CATEGORY_NONE) {
+            dcm->count = 0;
+            dcm->category = category;
         }
-        debug_pr("Device kind detected: %d\n", dcm->category);
-        dcm->connected = true;
+        PBIO_OS_AWAIT_MS(state, timer, DCM_LOOP_TIME_MS);
+    }
+    debug_pr("Device kind detected: %d\n", dcm->category);
+    dcm->connected = true;
 
-        // Now run processes for devices that require a process, and otherwise
-        // wait for disconnection.
+    // Now run processes for devices that require a process, and otherwise
+    // wait for disconnection.
 
-        if (dcm->category == DCM_CATEGORY_LUMP) {
-            debug_pr("Continue as LUMP process\n");
-            // Exit EV3 device manager, letting LUMP manager take over.
-            // That process runs until the device no longer reports data.
-            return PBIO_SUCCESS;
-        }
+    if (dcm->category == DCM_CATEGORY_LUMP) {
+        debug_pr("Continue as LUMP process\n");
+        // Exit EV3 device manager, letting LUMP manager take over.
+        // That process runs until the device no longer reports data.
+        return PBIO_SUCCESS;
+    }
 
-        if (dcm->category == DCM_CATEGORY_NXT_TEMPERATURE) {
-            // This device has no way to passively detect disconnection, so
-            // we need to monitor I2C transactions to see if it is still there.
-            debug_pr("Starting NXT temperature sensor process.\n");
-            // TODO.
-            debug_pr("Stopped NXT temperature sensor process.\n");
-            continue;
-        }
+    if (dcm->category == DCM_CATEGORY_NXT_TEMPERATURE) {
+        // This device has no way to passively detect disconnection, so
+        // we need to monitor I2C transactions to see if it is still there.
+        debug_pr("Starting NXT temperature sensor process.\n");
+        // TODO.
+        debug_pr("Stopped NXT temperature sensor process.\n");
+        return PBIO_SUCCESS;
+    }
 
-        if (dcm->category == DCM_CATEGORY_NXT_LIGHT) {
-            debug_pr("Reading NXT Light Sensor until disconnected.\n");
-            // While plugged in, get reflected and ambient light intensity.
-            while (!pbdrv_gpio_input(&pins->p2)) {
-                // Reflected intensity.
-                pbdrv_gpio_out_high(&pins->p5);
-                PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
-                dcm->nxt_rgba.r = pbio_port_dcm_get_mv(pins, 1);
-
-                // Ambient intensity.
-                pbdrv_gpio_out_low(&pins->p5);
-                PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
-                dcm->nxt_rgba.a = pbio_port_dcm_get_mv(pins, 1);
-            }
-            continue;
+    if (dcm->category == DCM_CATEGORY_NXT_LIGHT) {
+        debug_pr("Reading NXT Light Sensor until disconnected.\n");
+        // While plugged in, get reflected and ambient light intensity.
+        while (!pbdrv_gpio_input(&pins->p2)) {
+            // Reflected intensity.
+            pbdrv_gpio_out_high(&pins->p5);
+            PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
+            dcm->nxt_rgba.r = pbio_port_dcm_get_mv(pins, 1);
+
+            // Ambient intensity.
+            pbdrv_gpio_out_low(&pins->p5);
+            PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
+            dcm->nxt_rgba.a = pbio_port_dcm_get_mv(pins, 1);
         }
+        return PBIO_SUCCESS;
+    }
 
-        if (dcm->category == DCM_CATEGORY_NXT_COLOR) {
-            debug_pr("Initializing NXT Color Sensor.\n");
-
-            // The original firmware has a reset sequence where p6 is high and
-            // then p5 is toggled twice. It also works with 8 toggles, we can
-            // just use the send function with 0xff to achieve the same effect.
-            PBIO_OS_AWAIT(state, &dcm->child, pbio_port_dcm_nxt_color_tx_msg(&dcm->child, &dcm->nxt_color_state, pins, timer, 0xff));
-            PBIO_OS_AWAIT_MS(state, timer, 100);
+    if (dcm->category == DCM_CATEGORY_NXT_COLOR) {
+        debug_pr("Initializing NXT Color Sensor.\n");
 
-            // Set to full color mode.
-            PBIO_OS_AWAIT(state, &dcm->child, pbio_port_dcm_nxt_color_tx_msg(&dcm->child, &dcm->nxt_color_state, pins, timer, 13));
+        // The original firmware has a reset sequence where p6 is high and
+        // then p5 is toggled twice. It also works with 8 toggles, we can
+        // just use the send function with 0xff to achieve the same effect.
+        PBIO_OS_AWAIT(state, &dcm->child, pbio_port_dcm_nxt_color_tx_msg(&dcm->child, &dcm->nxt_color_state, pins, timer, 0xff));
+        PBIO_OS_AWAIT_MS(state, timer, 100);
 
-            // Receive all calibration info.
-            for (dcm->count = 0; dcm->count < sizeof(pbio_port_dcm_nxt_color_sensor_data_t); dcm->count++) {
-                PBIO_OS_AWAIT(state, &dcm->child,
-                    pbio_port_dcm_nxt_color_rx_msg(&dcm->child, &dcm->nxt_color_state, pins, timer, (uint8_t *)&dcm->nxt_color_state.data + dcm->count));
-            }
+        // Set to full color mode.
+        PBIO_OS_AWAIT(state, &dcm->child, pbio_port_dcm_nxt_color_tx_msg(&dcm->child, &dcm->nxt_color_state, pins, timer, 13));
 
-            // REVISIT: Test checksum and exit on failure.
-            debug_pr("Finished initializing NXT Color Sensor.\n");
+        // Receive all calibration info.
+        for (dcm->count = 0; dcm->count < sizeof(pbio_port_dcm_nxt_color_sensor_data_t); dcm->count++) {
+            PBIO_OS_AWAIT(state, &dcm->child,
+                pbio_port_dcm_nxt_color_rx_msg(&dcm->child, &dcm->nxt_color_state, pins, timer, (uint8_t *)&dcm->nxt_color_state.data + dcm->count));
+        }
 
-            // While plugged in, toggle through available colors and measure intensity.
-            while (!pbdrv_gpio_input(&pins->p2)) {
+        // REVISIT: Test checksum and exit on failure.
+        debug_pr("Finished initializing NXT Color Sensor.\n");
 
-                pbdrv_gpio_out_low(&pins->p5);
-                PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
-                dcm->nxt_rgba.a = pbio_port_dcm_get_mv(pins, 6);
+        // While plugged in, toggle through available colors and measure intensity.
+        while (!pbdrv_gpio_input(&pins->p2)) {
 
-                pbdrv_gpio_out_high(&pins->p5);
-                PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
-                dcm->nxt_rgba.r = pbio_port_dcm_get_mv(pins, 6);
+            pbdrv_gpio_out_low(&pins->p5);
+            PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
+            dcm->nxt_rgba.a = pbio_port_dcm_get_mv(pins, 6);
 
-                pbdrv_gpio_out_low(&pins->p5);
-                PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 2000));
-                dcm->nxt_rgba.g = pbio_port_dcm_get_mv(pins, 6);
+            pbdrv_gpio_out_high(&pins->p5);
+            PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
+            dcm->nxt_rgba.r = pbio_port_dcm_get_mv(pins, 6);
 
-                pbdrv_gpio_out_high(&pins->p5);
-                PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
-                dcm->nxt_rgba.b = pbio_port_dcm_get_mv(pins, 6);
-            }
             pbdrv_gpio_out_low(&pins->p5);
-            continue;
+            PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 2000));
+            dcm->nxt_rgba.g = pbio_port_dcm_get_mv(pins, 6);
+
+            pbdrv_gpio_out_high(&pins->p5);
+            PBIO_OS_AWAIT(state, &dcm->child, pbdrv_adc_await_new_samples(&dcm->child, &timer->start, 200));
+            dcm->nxt_rgba.b = pbio_port_dcm_get_mv(pins, 6);
         }
+        pbdrv_gpio_out_low(&pins->p5);
+        return PBIO_SUCCESS;
+    }
 
-        // For everything else, disconnection is detected by just one pin going
-        // high rather than all pins going back to the none state. This is
-        // because other pins are used for data transfer and may vary between
-        // high/low during normal operation.
-        for (dcm->count = 0; dcm->count < DCM_LOOP_DISCONNECT_COUNT; dcm->count++) {
-            // Monitor P5 for EV3 analog, P2 for all NXT sensors.
-            const pbdrv_gpio_t *gpio = dcm->category == DCM_CATEGORY_EV3_ANALOG ? &pins->p5 : &pins->p2;
-            if (!pbdrv_gpio_input(gpio)) {
-                dcm->count = 0;
-            }
-            PBIO_OS_AWAIT_MS(state, timer, DCM_LOOP_TIME_MS);
+    // For everything else, disconnection is detected by just one pin going
+    // high rather than all pins going back to the none state. This is
+    // because other pins are used for data transfer and may vary between
+    // high/low during normal operation.
+    for (dcm->count = 0; dcm->count < DCM_LOOP_DISCONNECT_COUNT; dcm->count++) {
+        // Monitor P5 for EV3 analog, P2 for all NXT sensors.
+        const pbdrv_gpio_t *gpio = dcm->category == DCM_CATEGORY_EV3_ANALOG ? &pins->p5 : &pins->p2;
+        if (!pbdrv_gpio_input(gpio)) {
+            dcm->count = 0;
         }
-        debug_pr("Device disconnected\n");
+        PBIO_OS_AWAIT_MS(state, timer, DCM_LOOP_TIME_MS);
     }
+    debug_pr("Device disconnected\n");
 
     PBIO_OS_ASYNC_END(PBIO_SUCCESS);
 }