IOIO: rework usb handling

Author: chrisws

ioio/ioio/src/main/java/ioio/smallbasic/IOIOException.java

@@ -1,19 +1,20 @@
 package ioio.smallbasic;
 
 public class IOIOException extends RuntimeException {
+  public IOIOException() {
+    super();
+  }
+
   public IOIOException(Exception exception) {
-    super(exception.getMessage());
+    this(exception.getMessage());
   }
 
   public IOIOException(String message) {
     super(message);
+    IOUtil.setError(message);
   }
 
   public String getMessage() {
-    String result = super.getMessage();
-    if (result != null) {
-      result = result.replace("ioio.smallbasic.IOIOException:", "").trim();
-    }
-    return result;
+    return IOUtil.getError();
   }
 }

ioio/ioio/src/main/java/ioio/smallbasic/IOIOImpl.java

@@ -60,6 +60,7 @@ public void sync() {
   }
 
   public void waitForConnect(int latency) {
+    IOUtil.setError(null);
     TimerUtil.setLatency(latency);
     IOService.getInstance().start();
     lock.invoke(IOIO::waitForConnect);

ioio/ioio/src/main/java/ioio/smallbasic/IOLock.java

@@ -90,7 +90,6 @@ private CountDownLatch beginLatch() {
   private void endLatch(CountDownLatch latch) {
     try {
       if (!latch.await(TIMEOUT_SECS, TimeUnit.SECONDS)) {
-        IOService.setHardReset(true);
         throw new IOIOException("Timeout waiting for device");
       }
     } catch (InterruptedException e) {

ioio/ioio/src/main/java/ioio/smallbasic/IOService.java

@@ -111,7 +111,7 @@ public void loop() throws ConnectionLostException, InterruptedException {
         try {
           next.loop();
         } catch (Throwable e) {
-          next.setError(e.getLocalizedMessage());
+          IOUtil.setError(e.getLocalizedMessage());
           break;
         }
       }
@@ -125,7 +125,7 @@ public void setup(IOIO ioio) {
         try {
           next.setup(ioio);
         } catch (Throwable e) {
-          next.setError(e.getLocalizedMessage());
+          IOUtil.setError(e.getLocalizedMessage());
           break;
         }
       }

ioio/ioio/src/main/java/ioio/smallbasic/IOTask.java

@@ -2,7 +2,6 @@
 
 import java.io.Closeable;
 import java.io.IOException;
-import java.util.concurrent.atomic.AtomicReference;
 
 import ioio.lib.api.IOIO;
 import ioio.lib.api.exception.ConnectionLostException;
@@ -14,29 +13,23 @@
  */
 public abstract class IOTask implements Closeable {
   protected int pin;
-  private AtomicReference<String> error;
 
   @Override
   public void close() {
     IOService.getInstance().removeTask(this);
   }
 
   public void handleError() {
-    if (error.get() != null) {
-      throw new IOIOException(error.get());
+    if (IOUtil.getError() != null) {
+      throw new IOIOException();
     }
   }
 
   public void open(int pin) throws IOException {
     this.pin = pin;
-    this.error = new AtomicReference<>(null);
     IOService.getInstance().addTask(this);
   }
 
-  public void setError(String error) {
-    this.error.set(error);
-  }
-
   int getPin() {
     return pin;
   }

ioio/ioio/src/main/java/ioio/smallbasic/IOUtil.java

@@ -0,0 +1,23 @@
+package ioio.smallbasic;
+
+import java.util.concurrent.atomic.AtomicReference;
+
+public class IOUtil {
+  private static final AtomicReference<String> ERROR = new AtomicReference<>();
+
+  private IOUtil() {
+    // no access
+  }
+
+  public static String getError() {
+    return ERROR.get();
+  }
+
+  public static synchronized void setError(String error) {
+    if (error != null && ERROR.get() != null && !ERROR.get().contains(error)) {
+      ERROR.set(error + " [" + ERROR.get() + "]");
+    } else {
+      ERROR.set(error);
+    }
+  }
+}

ioio/ioio/src/main/java/ioio/smallbasic/SpiMasterImpl.java

@@ -59,7 +59,7 @@ void setup(IOIO ioio) throws ConnectionLostException {
   }
 
   private void pinError(String name) {
-    setError("Incorrect " + name + " pin value");
+    IOUtil.setError("Incorrect " + name + " pin value");
   }
 
   private void validatePins() {
@@ -77,7 +77,7 @@ private void validatePins() {
                mosi == clk ||
                mosi == slaveSelect ||
                clk == slaveSelect) {
-      setError("One or pins have duplicate values");
+      IOUtil.setError("One or pins have duplicate values");
     }
   }
 }

ioio/ioio/src/main/java/ioio/smallbasic/android/AccessoryConnectionBootstrap.java

@@ -29,32 +29,20 @@
 
 package ioio.smallbasic.android;
 
-import android.content.Context;
-import android.hardware.usb.UsbAccessory;
-import android.hardware.usb.UsbManager;
-
 import java.util.Collection;
 
 import ioio.lib.api.IOIOConnection;
 import ioio.lib.spi.IOIOConnectionBootstrap;
 import ioio.lib.spi.IOIOConnectionFactory;
-import ioio.lib.spi.Log;
-import ioio.lib.spi.NoRuntimeSupportException;
 
 public class AccessoryConnectionBootstrap implements IOIOConnectionBootstrap, IOIOConnectionFactory {
-  private static final String TAG = AccessoryConnectionBootstrap.class.getSimpleName();
-
-  public AccessoryConnectionBootstrap() throws NoRuntimeSupportException {
-    Log.d(TAG, "creating AccessoryConnectionBootstrap");
+  public AccessoryConnectionBootstrap() {
+    super();
   }
 
   @Override
   public IOIOConnection createConnection() {
-    Log.i(TAG, "createConnection");
-    Context activity = IOIOLoader.getContext();
-    UsbManager usbManager = (UsbManager) activity.getSystemService(Context.USB_SERVICE);
-    UsbAccessory accessory = usbManager.getAccessoryList()[0];
-    return new BluetoothConnection(getUsbManager().openAccessory(accessory));
+    return new UsbConnection();
   }
 
   @Override
@@ -69,11 +57,6 @@ public void getFactories(Collection<IOIOConnectionFactory> result) {
 
   @Override
   public String getType() {
-    return BluetoothConnection.class.getCanonicalName();
-  }
-
-  private UsbManager getUsbManager() {
-    Context activity = IOIOLoader.getContext();
-    return (UsbManager) activity.getSystemService(Context.USB_SERVICE);
+    return UsbConnection.class.getCanonicalName();
   }
 }

ioio/ioio/src/main/java/ioio/smallbasic/android/AccessoryPermissionCheck.java

@@ -23,12 +23,12 @@ public class AccessoryPermissionCheck extends BroadcastReceiver {
   @TargetApi(Build.VERSION_CODES.TIRAMISU)
   public AccessoryPermissionCheck() {
     Log.d(TAG, "AccessoryPermissionCheck entered");
-    UsbManager usbManager = (UsbManager) IOIOLoader.getContext().getSystemService(Context.USB_SERVICE);
-    UsbAccessory[] accessories = usbManager.getAccessoryList();
-    UsbAccessory accessory = (accessories == null ? null : accessories[0]);
+    UsbAccessory accessory = UsbUtil.getUsbAccessory();
     if (accessory == null) {
       throw new IOIOException("No usb accessory found.");
     }
+
+    UsbManager usbManager = (UsbManager) IOIOLoader.getContext().getSystemService(Context.USB_SERVICE);
     if (!usbManager.hasPermission(accessory)) {
       new Handler(Looper.getMainLooper()).post(() -> {
         Context context = IOIOLoader.getContext();
@@ -40,7 +40,7 @@ public AccessoryPermissionCheck() {
         PendingIntent pendingIntent = PendingIntent.getBroadcast(context, 0, intent, flags);
         usbManager.requestPermission(accessory, pendingIntent);
       });
-      // for some reason using a latch caused an ANR here
+      // for some reason using a latch here caused an ANR
       Log.d(TAG, "requesting permission");
       throw new IOIOException(PERMISSION_ERROR);
     }