Merge pull request #822 from WildernessLabs/cleanup

Nullability

Source/Meadow.Foundation.Peripherals/ICs.DAC.Mcp492x/Driver/Mcp492x.cs

@@ -99,7 +99,7 @@ public IAnalogOutputPort CreateAnalogOutputPort(IPin pin)
     /// <inheritdoc/>
     public IAnalogOutputPort CreateAnalogOutputPort(IPin pin, Gain gain = Gain.Gain1x, bool bufferedInput = false)
     {
-        if (!pin.Controller.Equals(this))
+        if (pin.Controller == null || !pin.Controller.Equals(this))
         {
             throw new ArgumentException("The provided pin must be on this controller");
         }

Source/Meadow.Foundation.Peripherals/ICs.IOExpanders.Mcp23xxx/Driver/Mcp23xxx.cs

@@ -34,8 +34,8 @@ public abstract partial class Mcp23xxx : IDigitalInputOutputController, ISpiPeri
         /// </summary>
         public Frequency SpiBusSpeed
         {
-            get => (mcpDevice as ISpiCommunications).BusSpeed;
-            set => (mcpDevice as ISpiCommunications).BusSpeed = value;
+            get => (mcpDevice as ISpiCommunications)!.BusSpeed;
+            set => (mcpDevice as ISpiCommunications)!.BusSpeed = value;
         }
 
         /// <summary>
@@ -48,8 +48,8 @@ public Frequency SpiBusSpeed
         /// </summary>
         public SpiClockConfiguration.Mode SpiBusMode
         {
-            get => (mcpDevice as ISpiCommunications).BusMode;
-            set => (mcpDevice as ISpiCommunications).BusMode = value;
+            get => (mcpDevice as ISpiCommunications)!.BusMode;
+            set => (mcpDevice as ISpiCommunications)!.BusMode = value;
         }
 
         /// <summary>

Source/Meadow.Foundation.Peripherals/Leds.Ws2812/Driver/Ws2812.cs

@@ -71,7 +71,7 @@ public Ws2812(ISpiBus spiBus, IPin chipSelectPin, int numberOfLeds)
         /// <param name="spiBus">SPI bus</param>
         /// <param name="numberOfLeds">Number of leds</param>
         /// <param name="chipSelectPort">SPI chip select port (optional)</param>
-        public Ws2812(ISpiBus spiBus, int numberOfLeds, IDigitalOutputPort chipSelectPort = null)
+        public Ws2812(ISpiBus spiBus, int numberOfLeds, IDigitalOutputPort? chipSelectPort = null)
         {
             spiComms = new SpiCommunications(spiBus, chipSelectPort, DefaultSpiBusSpeed, DefaultSpiBusMode);
             this.numberOfLeds = numberOfLeds;

Source/Meadow.Foundation.Peripherals/Motors.Stepper.A4988/Driver/A4988.cs

@@ -104,10 +104,10 @@ public int StepsPerRevolution
 
         readonly IDigitalOutputPort stepPort;
         readonly IDigitalOutputPort directionPort;
-        readonly IDigitalOutputPort enablePort;
-        readonly IDigitalOutputPort ms1Port;
-        readonly IDigitalOutputPort ms2Port;
-        readonly IDigitalOutputPort ms3Port;
+        readonly IDigitalOutputPort? enablePort;
+        readonly IDigitalOutputPort? ms1Port;
+        readonly IDigitalOutputPort? ms2Port;
+        readonly IDigitalOutputPort? ms3Port;
         readonly object syncRoot = new object();
 
         StepDivisor divisor;
@@ -156,7 +156,7 @@ public A4988(IPin step, IPin direction, IPin enable)
         /// <param name="ms2Pin">The (optional) Meadow pin connected to the MS2 pin of the A4988</param>
         /// <param name="ms3Pin">The (optional) Meadow pin connected to the MS3 pin of the A4988</param>
         /// <remarks>You must provide either all of the micro-step (MS) lines or none of them</remarks>
-        public A4988(IPin step, IPin direction, IPin enablePin, IPin ms1Pin, IPin ms2Pin, IPin ms3Pin)
+        public A4988(IPin step, IPin direction, IPin? enablePin, IPin? ms1Pin, IPin? ms2Pin, IPin? ms3Pin)
         {
             stepPort = step.CreateDigitalOutputPort();
 
@@ -168,13 +168,13 @@ public A4988(IPin step, IPin direction, IPin enablePin, IPin ms1Pin, IPin ms2Pin
             }
 
             // micro-step lines (for now) are all-or-nothing TODO: rethink this?
-            if (new IPin[] { ms1Pin, ms2Pin, ms3Pin }.All(p => p != null))
+            if (new IPin?[] { ms1Pin, ms2Pin, ms3Pin }.All(p => p != null))
             {
-                ms1Port = ms1Pin.CreateDigitalOutputPort();
-                ms2Port = ms2Pin.CreateDigitalOutputPort();
-                ms3Port = ms3Pin.CreateDigitalOutputPort();
+                ms1Port = ms1Pin?.CreateDigitalOutputPort();
+                ms2Port = ms2Pin?.CreateDigitalOutputPort();
+                ms3Port = ms3Pin?.CreateDigitalOutputPort();
             }
-            else if (new IPin[] { ms1Pin, ms2Pin, ms3Pin }.All(p => p == null))
+            else if (new IPin?[] { ms1Pin, ms2Pin, ms3Pin }.All(p => p == null))
             {    // nop
             }
             else

Source/Meadow.Foundation.Peripherals/RTCs.Ds323x/Driver/Ds3231.cs

@@ -13,7 +13,7 @@ public partial class Ds3231 : Ds323x
         /// <param name="interruptPin">Digital pin connected to the alarm interrupt pin on the RTC.</param>
         /// <param name="i2cBus">The I2C Bus the peripheral is connected to</param>
         /// <param name="address">I2C Bus address of the peripheral</param>
-        public Ds3231(II2cBus i2cBus, IPin interruptPin = null, byte address = (byte)Addresses.Default)
+        public Ds3231(II2cBus i2cBus, IPin? interruptPin = null, byte address = (byte)Addresses.Default)
             : base(new I2cCommunications(i2cBus, address), interruptPin)
         { }
 
@@ -25,7 +25,7 @@ public Ds3231(II2cBus i2cBus, IPin interruptPin = null, byte address = (byte)Add
         /// <param name="interruptPort">Digital port connected to the alarm interrupt pin on the RTC.</param>
         public Ds3231(
            II2cBus i2cBus,
-           IDigitalInterruptPort interruptPort = null,
+           IDigitalInterruptPort? interruptPort = null,
            byte address = (byte)Addresses.Default)
            : base(new I2cCommunications(i2cBus, address), interruptPort)
         {

Source/Meadow.Foundation.Peripherals/RTCs.Ds323x/Driver/Ds323x.cs

@@ -68,7 +68,7 @@ public partial class Ds323x : II2cPeripheral, IDisposable
         /// <summary>
         /// Create a new Ds323x object
         /// </summary>
-        protected Ds323x(I2cCommunications i2cComms, IPin interruptPin)
+        protected Ds323x(I2cCommunications i2cComms, IPin? interruptPin)
         {
             this.i2cComms = i2cComms;
 
@@ -215,7 +215,7 @@ public Units.Temperature Temperature
         /// <summary>
         /// Interrupt port attached to the DS323x RTC module.
         /// </summary>
-        protected IDigitalInterruptPort InterruptPort { get; private set; }
+        protected IDigitalInterruptPort? InterruptPort { get; private set; }
 
         /// <summary>
         /// Control register.

Source/Meadow.Foundation.Peripherals/Sensors.Atmospheric.Bme68x/Driver/Bme68x.cs

@@ -159,7 +159,7 @@ public bool GasConversionIsEnabled
         /// <summary>
         /// The default SPI bus speed for the device
         /// </summary>
-        public Frequency DefaultSpiBusSpeed => new Frequency(10000, Frequency.UnitType.Kilohertz);
+        public Frequency DefaultSpiBusSpeed => new(10000, Frequency.UnitType.Kilohertz);
 
         /// <summary>
         /// The SPI bus speed for the device

Source/Meadow.Foundation.Peripherals/Sensors.Camera.Vc0706/Driver/Vc0706.cs

@@ -557,13 +557,16 @@ bool RunCommand(byte cmd,
             return true;
         }
 
-        void SendCommand(byte cmd, byte[] args = null, byte argn = 0)
+        void SendCommand(byte cmd, byte[]? args = null, byte argn = 0)
         {
             serialPort.Write(new byte[] { 0x56, SerialNumber, cmd });
 
-            for (byte i = 0; i < argn; i++)
+            if (args != null)
             {
-                serialPort.Write(new byte[] { args[i] });
+                for (byte i = 0; i < argn; i++)
+                {
+                    serialPort.Write(new byte[] { args[i] });
+                }
             }
         }
 

Source/Meadow.Foundation.Peripherals/Sensors.Distance.Vl53l0x/Driver/Vl53l0x.cs

@@ -55,7 +55,7 @@ public bool IsShutdown
         /// </summary>
         public byte DefaultI2cAddress => (byte)Addresses.Default;
 
-        readonly IDigitalOutputPort shutdownPort;
+        readonly IDigitalOutputPort? shutdownPort;
 
         byte stopVariable;
 
@@ -75,12 +75,12 @@ public Vl53l0x(II2cBus i2cBus, byte address = (byte)Addresses.Default)
         /// <param name="shutdownPin">Shutdown pin</param>
         /// <param name="address">VL53L0X address</param>
 
-        public Vl53l0x(II2cBus i2cBus, IPin shutdownPin, byte address = (byte)Addresses.Default)
+        public Vl53l0x(II2cBus i2cBus, IPin? shutdownPin, byte address = (byte)Addresses.Default)
                 : base(i2cBus, address)
         {
             if (shutdownPin != null)
             {
-                shutdownPort = shutdownPin.CreateDigitalOutputPort(true);
+                shutdownPort = shutdownPin?.CreateDigitalOutputPort(true);
             }
             Initialize().Wait();
         }
@@ -258,7 +258,7 @@ public void MeasureDistance()
         /// Returns the current distance/range
         /// </summary>
         /// <returns>The distance in the specified Units. Default mm. Returns -1 if the shutdown pin is used and is off</returns>
-        protected override async Task<Length> ReadSensor()
+        protected override async Task<Length?> ReadSensor()
         {
             //Resolver.Log.Info("ReadSensor");
 

Source/Meadow.Foundation.Peripherals/Sensors.Motion.Adxl3xx/Driver/Drivers/Adxl362.cs

@@ -34,12 +34,12 @@ public partial class Adxl362
         /// <summary>
         /// Digital input port attached to interrupt pin 1 on the ADXL362
         /// </summary>
-        private IDigitalInterruptPort digitalInputPort1;
+        private IDigitalInterruptPort? digitalInputPort1;
 
         /// <summary>
         /// Digital Input port attached to interrupt pin 2 on the ADXL362
         /// </summary>
-        private IDigitalInterruptPort digitalInputPort2;
+        private IDigitalInterruptPort? digitalInputPort2;
 
         /// <summary>
         /// The current acceleration value
@@ -62,8 +62,8 @@ public partial class Adxl362
         /// </summary>
         public Frequency SpiBusSpeed
         {
-            get => ((SpiCommunications)BusComms).BusSpeed;
-            set => ((SpiCommunications)BusComms).BusSpeed = value;
+            get => (BusComms as ISpiCommunications)!.BusSpeed;
+            set => (BusComms as ISpiCommunications)!.BusSpeed = value;
         }
 
         /// <summary>
@@ -77,8 +77,8 @@ public Frequency SpiBusSpeed
         /// </summary>
         public SpiClockConfiguration.Mode SpiBusMode
         {
-            get => ((SpiCommunications)BusComms).BusMode;
-            set => ((SpiCommunications)BusComms).BusMode = value;
+            get => (BusComms as ISpiCommunications)!.BusMode;
+            set => (BusComms as ISpiCommunications)!.BusMode = value;
         }
 
         /// <summary>
@@ -333,7 +333,7 @@ public void Stop()
         /// Read data from the sensor
         /// </summary>
         /// <returns>The sensor data</returns>
-        public override Task<(Acceleration3D? Acceleration3D, Units.Temperature? Temperature)> Read()
+        public override Task<(Acceleration3D? Acceleration3D, Units.Temperature? Temperature)?> Read()
         {
             Start();
             return base.Read();
@@ -489,7 +489,7 @@ private InterruptMode MapInterruptMode(bool activeLow)
         /// <param name="interruptPin1">Pin connected to interrupt pin 1 on the ADXL362</param>
         /// <param name="interruptMap2">Bit mask for interrupt pin 2</param>
         /// <param name="interruptPin2">Pin connected to interrupt pin 2 on the ADXL362</param>
-        private void ConfigureInterrupts(byte interruptMap1, IPin interruptPin1, byte interruptMap2 = 0, IPin interruptPin2 = null) // TODO: interrupPin2 = IDigitalPin.GPIO_NONE
+        private void ConfigureInterrupts(byte interruptMap1, IPin interruptPin1, byte interruptMap2 = 0, IPin? interruptPin2 = null) // TODO: interrupPin2 = IDigitalPin.GPIO_NONE
         {
             WriteBuffer.Span[0] = Commands.WRITE_REGISTER;
             WriteBuffer.Span[1] = interruptMap1;
@@ -551,10 +551,10 @@ private void DisplayRegisters()
             DebugInformation.DisplayRegisters(Registers.X_AXIS_8BITS, ReadBuffer.Span[2..].ToArray());
         }
 
-        async Task<Acceleration3D> ISensor<Acceleration3D>.Read()
-            => (await Read()).Acceleration3D.Value;
+        async Task<Acceleration3D?> ISensor<Acceleration3D>.Read()
+            => (await Read()).Acceleration3D;
 
-        async Task<Units.Temperature> ISensor<Units.Temperature>.Read()
-            => (await Read()).Temperature.Value;
+        async Task<Units.Temperature?> ISensor<Units.Temperature>.Read()
+            => (await Read()).Temperature;
     }
 }

Source/Meadow.Foundation.Peripherals/Sensors.Motion.Bno055/Driver/Bno055.cs

@@ -121,13 +121,13 @@ public Sensor TemperatureSource
         {
             get
             {
-                return (Sensor)BusComms.ReadRegister(Registers.TemperatureSource);
+                return (Sensor)BusComms!.ReadRegister(Registers.TemperatureSource);
             }
             set
             {
                 if ((value == Sensor.Accelerometer) || (value == Sensor.Gyroscope))
                 {
-                    BusComms.WriteRegister(Registers.TemperatureSource, (byte)value);
+                    BusComms?.WriteRegister(Registers.TemperatureSource, (byte)value);
                 }
                 else
                 {
@@ -141,10 +141,10 @@ public Sensor TemperatureSource
         /// </summary>
 	    public byte PowerMode
         {
-            get => BusComms.ReadRegister(Registers.PowerMode);
+            get => BusComms!.ReadRegister(Registers.PowerMode);
             set
             {
-                BusComms.WriteRegister(Registers.PowerMode, value);
+                BusComms?.WriteRegister(Registers.PowerMode, value);
                 Thread.Sleep(15);
             }
         }
@@ -157,14 +157,14 @@ public byte PowerMode
         /// </remarks>
 	    public byte OperatingMode
         {
-            get => BusComms.ReadRegister(Registers.OperatingMode);
+            get => BusComms!.ReadRegister(Registers.OperatingMode);
             set
             {
                 if (value > OperatingModes.MAXIMUM_VALUE)
                 {
                     throw new ArgumentOutOfRangeException();
                 }
-                BusComms.WriteRegister(Registers.OperatingMode, value);
+                BusComms?.WriteRegister(Registers.OperatingMode, value);
                 Thread.Sleep(20);
             }
         }
@@ -181,14 +181,14 @@ public byte OperatingMode
         /// </remarks>
 	    private byte Page
         {
-            get => BusComms.ReadRegister(Registers.PageID);
+            get => BusComms!.ReadRegister(Registers.PageID);
             set
             {
                 if ((value != 0) && (value != 1))
                 {
                     throw new ArgumentOutOfRangeException();
                 }
-                BusComms.WriteRegister(Registers.PageID, value);
+                BusComms?.WriteRegister(Registers.PageID, value);
             }
         }
 
@@ -204,22 +204,22 @@ private byte Page
         /// <summary>
         /// Get the system calibration status.
         /// </summary>
-        public bool IsSystemCalibrated => ((BusComms.ReadRegister(Registers.CalibrationStatus) >> 6) & 0x03) != 0;
+        public bool IsSystemCalibrated => ((BusComms!.ReadRegister(Registers.CalibrationStatus) >> 6) & 0x03) != 0;
 
         /// <summary>
         /// Get the accelerometer calibration status.
         /// </summary>
-        public bool IsAccelerometerCalibrated => ((BusComms.ReadRegister(Registers.CalibrationStatus) >> 2) & 0x03) != 0;
+        public bool IsAccelerometerCalibrated => ((BusComms!.ReadRegister(Registers.CalibrationStatus) >> 2) & 0x03) != 0;
 
         /// <summary>
         /// Get the gyroscope calibration status.
         /// </summary>
-        public bool IsGyroscopeCalibrated => ((BusComms.ReadRegister(Registers.CalibrationStatus) >> 4) & 0x03) != 0;
+        public bool IsGyroscopeCalibrated => ((BusComms!.ReadRegister(Registers.CalibrationStatus) >> 4) & 0x03) != 0;
 
         /// <summary>
         /// Get the magnetometer status.
         /// </summary>
-        public bool IsMagnetometerCalibrated => (BusComms.ReadRegister(Registers.CalibrationStatus) & 0x03) != 0;
+        public bool IsMagnetometerCalibrated => (BusComms!.ReadRegister(Registers.CalibrationStatus) & 0x03) != 0;
 
         /// <summary>
         /// Is the system fully calibrated?
@@ -249,7 +249,7 @@ public Bno055(II2cBus i2cBus, Addresses address = Addresses.Default)
         public Bno055(II2cBus i2cBus, byte address)
             : base(i2cBus, address, readBufferSize: 256)
         {
-            var id = BusComms.ReadRegister(Registers.ChipID);
+            var id = BusComms!.ReadRegister(Registers.ChipID);
 
             if (id != 0xa0)
             {
@@ -285,7 +285,7 @@ protected override Task<
             (Acceleration3D? Acceleration3D, AngularVelocity3D? AngularVelocity3D,
             MagneticField3D? MagneticField3D, Quaternion? QuaternionOrientation,
             Acceleration3D? LinearAcceleration, Acceleration3D? GravityVector,
-            EulerAngles? EulerOrientation, Units.Temperature? Temperature)> ReadSensor()
+            EulerAngles? EulerOrientation, Units.Temperature? Temperature)?> ReadSensor()
         {
             if (PowerMode != PowerModes.NORMAL)
             {
@@ -310,7 +310,7 @@ protected override Task<
             // 	in order to get the correct offset into the _sensorReadings array.
 
             int length = Registers.GravityVectorZMSB + 1 - Registers.AccelerometerXLSB;
-            BusComms.ReadRegister(Registers.AccelerometerXLSB, ReadBuffer.Span[0..length]);
+            BusComms!.ReadRegister(Registers.AccelerometerXLSB, ReadBuffer.Span[0..length]);
 
             // for debugging, you can look at the raw data:
             //DebugInformation.DisplayRegisters(0x00, ReadBuffer.Span[0..length].ToArray());
@@ -441,7 +441,7 @@ public void DisplayRegisters()
             int length = 0x6A;
             byte[] buffer = new byte[length];
 
-            BusComms.ReadRegister(Registers.ChipID, buffer);
+            BusComms!.ReadRegister(Registers.ChipID, buffer);
             DebugInformation.DisplayRegisters(0x00, buffer);
 
             Resolver.Log.Info("== /REGISTERS =======================================================================");