Add Steering Calibration to the ServiceProvider

- Remove service locator usage
- Fix warnings

sharpbrick#71 non-breaking

Author: tthiery

examples/SharpBrick.PoweredUp.Examples/ExampleCalibrationSteering.cs

@@ -1,4 +1,5 @@
 using System.Threading.Tasks;
+using Microsoft.Extensions.DependencyInjection;
 using SharpBrick.PoweredUp;
 using SharpBrick.PoweredUp.Functions;
 using static SharpBrick.PoweredUp.Directions;
@@ -13,7 +14,7 @@ public override async Task ExecuteAsync()
             {
                 var motor = technicMediumHub.A.GetDevice<TechnicLargeLinearMotor>();
 
-                var calibration = new LinearMidCalibration(serviceProvider);
+                var calibration = serviceProvider.GetService<LinearMidCalibration>();
                 await calibration.ExecuteAsync(motor);
 
                 await Task.Delay(5000);

src/SharpBrick.PoweredUp/Functions/DiscoverPorts.cs

@@ -16,7 +16,6 @@ public class DiscoverPorts
         private readonly IPoweredUpProtocol _protocol;
         private readonly byte _hubId;
         private readonly ILogger<DiscoverPorts> _logger;
-        private readonly IDisposable _disposable;
         private TaskCompletionSource<int> _taskCompletionSource;
         private int _stageTwoCount;
         private int _stageTwoExpected;
@@ -110,7 +109,7 @@ private void UpdateKnowledge(byte[] data, PoweredUpMessage message)
             {
                 var port = knowledge.Port(_hubId, msg.PortId);
 
-                RequestPortModePropertiesAsync(port);
+                _ = RequestPortModePropertiesAsync(port); // discard the task to supress the await error
             }
 
             if (applicableMessage)

src/SharpBrick.PoweredUp/Functions/LinearMidCalibration.cs

@@ -1,22 +1,21 @@
 using System;
 using System.Reactive.Linq;
 using System.Threading.Tasks;
-using Microsoft.Extensions.DependencyInjection;
 using Microsoft.Extensions.Logging;
 using static SharpBrick.PoweredUp.Directions;
 
 namespace SharpBrick.PoweredUp.Functions
 {
     public class LinearMidCalibration
     {
-        private IServiceProvider _serviceProvider;
+        private readonly ILogger<LinearMidCalibration> _logger;
 
         public byte MaxPower { get; set; } = 10;
         public byte Speed { get; set; } = 10;
 
-        public LinearMidCalibration(IServiceProvider serviceProvider)
+        public LinearMidCalibration(ILogger<LinearMidCalibration> logger)
         {
-            this._serviceProvider = serviceProvider ?? throw new ArgumentNullException(nameof(serviceProvider));
+            this._logger = logger ?? throw new ArgumentNullException(nameof(logger));
         }
 
         public async Task ExecuteAsync(TachoMotor motor)
@@ -26,46 +25,44 @@ public async Task ExecuteAsync(TachoMotor motor)
                 throw new ArgumentNullException(nameof(motor));
             }
 
-            var logger = _serviceProvider.GetService<ILoggerFactory>().CreateLogger<LinearMidCalibration>();
-
-            logger.LogInformation("Start Linear Mid Calibration");
+            _logger.LogInformation("Start Linear Mid Calibration");
             await motor.TryLockDeviceForCombinedModeNotificationSetupAsync(motor.ModeIndexSpeed, motor.ModeIndexPosition);
             await motor.SetupNotificationAsync(motor.ModeIndexSpeed, true, 1);
             await motor.SetupNotificationAsync(motor.ModeIndexPosition, true, 1);
             await motor.UnlockFromCombinedModeNotificationSetupAsync(true);
 
-            logger.LogInformation("Start CW");
+            _logger.LogInformation("Start CW");
             await motor.StartPowerAsync((sbyte)(CW * MaxPower));
 
             await motor.SpeedObservable.Where(x => x.SI == 0).FirstAsync().GetAwaiter();
-            logger.LogInformation("Reached End by detecting no speed movement.");
+            _logger.LogInformation("Reached End by detecting no speed movement.");
 
             var cwVal = motor.Position;
-            logger.LogInformation($"CW End at {cwVal}.");
+            _logger.LogInformation($"CW End at {cwVal}.");
 
-            logger.LogInformation("Start CCW");
+            _logger.LogInformation("Start CCW");
             await motor.StartPowerAsync((sbyte)(CCW * MaxPower));
 
             await motor.SpeedObservable.Where(x => x.SI == 0).FirstAsync().GetAwaiter();
-            logger.LogInformation("Reached End by detecting no speed movement.");
+            _logger.LogInformation("Reached End by detecting no speed movement.");
 
             var ccwVal = motor.Position;
-            logger.LogInformation($"CW End at {ccwVal}.");
+            _logger.LogInformation($"CW End at {ccwVal}.");
 
             await motor.StopByBrakeAsync();
 
             var range = Math.Abs(cwVal - ccwVal);
             var extend = (uint)(range / 2);
-            logger.LogInformation($"Total Range: {range} Extend from center: {extend}");
+            _logger.LogInformation($"Total Range: {range} Extend from center: {extend}");
 
             await motor.StartSpeedForDegreesAsync(extend, (sbyte)(CW * Speed), MaxPower, SpecialSpeed.Hold, SpeedProfiles.None);
 
             await motor.SpeedObservable.Where(x => x.SI == 0).FirstAsync().GetAwaiter();
             await motor.SetZeroAsync();
-            logger.LogInformation($"Moved to center. Reset Position.");
+            _logger.LogInformation($"Moved to center. Reset Position.");
 
             await motor.UnlockFromCombinedModeNotificationSetupAsync(false);
-            logger.LogInformation($"End Linear Mid Calibration");
+            _logger.LogInformation($"End Linear Mid Calibration");
         }
     }
 }

src/SharpBrick.PoweredUp/IServiceCollectionExtensions.cs

@@ -1,5 +1,6 @@
 using Microsoft.Extensions.DependencyInjection;
 using SharpBrick.PoweredUp.Devices;
+using SharpBrick.PoweredUp.Functions;
 using SharpBrick.PoweredUp.Hubs;
 
 namespace SharpBrick.PoweredUp
@@ -10,6 +11,7 @@ public static IServiceCollection AddPoweredUp(this IServiceCollection self)
             => self
                 .AddSingleton<IHubFactory, HubFactory>()
                 .AddSingleton<IDeviceFactory, DeviceFactory>()
-                .AddSingleton<PoweredUpHost>();
+                .AddSingleton<PoweredUpHost>()
+                .AddTransient<LinearMidCalibration>();
     }
 }