add pr feedback

rpi/board.go

@@ -230,17 +230,17 @@ func (pi *piPigpio) Reconfigure(
 		return err
 	}
 
-	if err := pi.reconfigureGPIOs(ctx, cfg); err != nil {
+	if err := pi.reconfigureGPIOs(cfg); err != nil {
 		return err
 	}
 
 	// This is the only one that actually uses ctx, but we pass it to all previous helpers, too, to
 	// keep the interface consistent.
-	if err := pi.reconfigureInterrupts(ctx, cfg); err != nil {
+	if err := pi.reconfigureInterrupts(cfg); err != nil {
 		return err
 	}
 
-	if err := pi.reconfigurePulls(ctx, cfg); err != nil {
+	if err := pi.reconfigurePulls(cfg); err != nil {
 		return err
 	}
 
@@ -253,7 +253,7 @@ func (pi *piPigpio) Reconfigure(
 	return nil
 }
 
-func (pi *piPigpio) reconfigurePulls(ctx context.Context, cfg *rpiutils.Config) error {
+func (pi *piPigpio) reconfigurePulls(cfg *rpiutils.Config) error {
 	for _, pullConf := range cfg.Pins {
 		// skip pins that do not have a pull state set
 		if pullConf.PullState == rpiutils.PullDefault {

rpi/gpio.go

@@ -96,7 +96,7 @@ func (gp gpioPin) SetPWMFreq(ctx context.Context, freqHz uint, extra map[string]
 	return gp.pi.SetPWMFreqBcom(gp.bcom, freqHz)
 }
 
-func (pi *piPigpio) reconfigureGPIOs(ctx context.Context, cfg *rpiutils.Config) error {
+func (pi *piPigpio) reconfigureGPIOs(cfg *rpiutils.Config) error {
 	// Set new pins based on config
 	pi.gpioPins = map[int]*rpiGPIO{}
 	for _, newConfig := range cfg.Pins {

rpi/interrupts.go

@@ -11,13 +11,13 @@ package rpi
 import "C"
 
 import (
-	"context"
 	"fmt"
 	"math"
 
+	rpiutils "raspberry-pi/utils"
+
 	"github.com/pkg/errors"
 	"go.viam.com/rdk/components/board"
-	rpiutils "raspberry-pi/utils"
 )
 
 type rpiInterrupt struct {
@@ -42,7 +42,7 @@ func findInterruptByName(
 
 // reconfigureInterrupts reconfigures the digital interrupts based on the new configuration provided.
 // It reuses existing interrupts when possible and creates new ones if necessary.
-func (pi *piPigpio) reconfigureInterrupts(ctx context.Context, cfg *rpiutils.Config) error {
+func (pi *piPigpio) reconfigureInterrupts(cfg *rpiutils.Config) error {
 	// look at previous interrupt config, and see if we removed any
 	for _, oldConfig := range pi.pinConfigs {
 		if oldConfig.Type != rpiutils.PinInterrupt {
@@ -107,12 +107,7 @@ func (pi *piPigpio) reconfigureInterrupts(ctx context.Context, cfg *rpiutils.Con
 
 // createNewInterrupt creates a new digital interrupt and sets it up with the specified configuration.
 func (pi *piPigpio) createNewInterrupt(newConfig rpiutils.PinConfig, bcom uint) (rpiutils.ReconfigurableDigitalInterrupt, error) {
-	d, err := rpiutils.CreateDigitalInterrupt(
-		rpiutils.PinConfig{
-			Name: newConfig.Name,
-			Pin:  newConfig.Pin,
-			Type: rpiutils.PinInterrupt,
-		})
+	d, err := rpiutils.CreateDigitalInterrupt(newConfig)
 	if err != nil {
 		return nil, err
 	}
@@ -123,8 +118,9 @@ func (pi *piPigpio) createNewInterrupt(newConfig rpiutils.PinConfig, bcom uint)
 	}
 
 	pi.interrupts[bcom] = &rpiInterrupt{
-		interrupt:  d,
-		callbackID: C.uint(callbackID),
+		interrupt:            d,
+		callbackID:           C.uint(callbackID),
+		debounceMicroSeconds: uint64(newConfig.DebounceMS) * 1000,
 	}
 
 	return d, nil