Merge branch 'main' of https://github.com/oliviamiller/rdk

components/board/board.go

@@ -11,6 +11,7 @@ import (
 	commonpb "go.viam.com/api/common/v1"
 	pb "go.viam.com/api/component/board/v1"
 
+	"go.viam.com/rdk/components/board/pinwrappers"
 	"go.viam.com/rdk/data"
 	"go.viam.com/rdk/resource"
 	"go.viam.com/rdk/robot"

components/board/pinwrappers/digital_interrupts.go

@@ -115,3 +115,19 @@ func (i *BasicDigitalInterrupt) Reconfigure(conf board.DigitalInterruptConfig) e
 	i.cfg = conf
 	return nil
 }
+
+// RemoveCallback removes a listener for interrupts.
+func RemoveCallback(di board.DigitalInterrupt, c chan board.Tick) {
+	i := di.(*BasicDigitalInterrupt)
+	i.mu.Lock()
+	defer i.mu.Unlock()
+	for id := range i.callbacks {
+		if i.callbacks[id] == c {
+			// To remove this item, we replace it with the last item in the list, then truncate the
+			// list by 1.
+			i.callbacks[id] = i.callbacks[len(i.callbacks)-1]
+			i.callbacks = i.callbacks[:len(i.callbacks)-1]
+			break
+		}
+	}
+}

components/board/pinwrappers/digital_interrupts_test.go

@@ -51,7 +51,7 @@ func TestBasicDigitalInterrupt1(t *testing.T) {
 	test.That(t, v.High, test.ShouldBeTrue)
 	test.That(t, v.TimestampNanosec, test.ShouldEqual, timeNanoSec)
 
-	i.RemoveCallback(c)
+	RemoveCallback(i, c)
 
 	c = make(chan board.Tick, 2)
 	i.AddCallback(c)
@@ -111,8 +111,8 @@ func TestRemoveCallbackDigitalInterrupt(t *testing.T) {
 	i.AddCallback(c2)
 	test.That(t, ret, test.ShouldBeTrue)
 
-	i.RemoveCallback(c1)
-	i.RemoveCallback(c1)
+	RemoveCallback(i, c1)
+	RemoveCallback(i, c1)
 
 	ret2 := false
 	result := make(chan bool, 1)