From a61d25584d9ee6c85cf10e475f1b3c8e67224f9c Mon Sep 17 00:00:00 2001
From: ATATC <futerry@outlook.com>
Date: Sat, 30 Dec 2023 20:55:52 -0500
Subject: [PATCH] Fixing #20.

---
 leads/controller/controller.py        | 7 +++++--
 leads_dashboard/__init__.py           | 2 +-
 leads_emulation/__init__.py           | 8 ++++----
 leads_raspberry_pi/raspberry_pi_4b.py | 2 +-
 4 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/leads/controller/controller.py b/leads/controller/controller.py
index 17f27994..3bd7a1b3 100644
--- a/leads/controller/controller.py
+++ b/leads/controller/controller.py
@@ -1,5 +1,5 @@
 from abc import abstractmethod as _abstractmethod, ABCMeta as _ABCMeta
-from typing import TypeVar as _TypeVar, Generic as _Generic
+from typing import TypeVar as _TypeVar, Generic as _Generic, Any as _Any
 
 from leads.controller.device import Device
 
@@ -19,5 +19,8 @@ def device(self, tag: str) -> [Device]:
         return self._devices[tag]
 
     @_abstractmethod
-    def collect_all(self) -> T:
+    def read(self) -> T:
+        raise NotImplementedError
+
+    def write(self, payload: _Any) -> None:
         raise NotImplementedError
diff --git a/leads_dashboard/__init__.py b/leads_dashboard/__init__.py
index 62a16aff..00ce3860 100644
--- a/leads_dashboard/__init__.py
+++ b/leads_dashboard/__init__.py
@@ -22,7 +22,7 @@ def initialize(window: Window,
     window.runtime_data().frame_counter = 0
 
     def on_refresh(_):
-        leads.push(main_controller.collect_all())
+        leads.push(main_controller.read())
         leads.update()
 
     window.set_on_refresh(on_refresh)
diff --git a/leads_emulation/__init__.py b/leads_emulation/__init__.py
index 5ce9ebea..131d1044 100644
--- a/leads_emulation/__init__.py
+++ b/leads_emulation/__init__.py
@@ -22,12 +22,12 @@ def generate_rear_wheel_speed(self, front_wheel_speed: int | float) -> int | flo
 
 
 class SRWRandom(_EmulatedController):
-    def collect_all(self) -> _SRWDataContainer:
+    def read(self) -> _SRWDataContainer:
         return _SRWDataContainer(fws := _randint(self.minimum, self.maximum), self.generate_rear_wheel_speed(fws))
 
 
 class DRWRandom(_EmulatedController):
-    def collect_all(self) -> _DRWDataContainer:
+    def read(self) -> _DRWDataContainer:
         return _DRWDataContainer(fws := _randint(self.minimum, self.maximum),
                                  rws := self.generate_rear_wheel_speed(fws),
                                  rws)
@@ -48,7 +48,7 @@ def __init__(self,
 
 
 class SRWSin(_SinController):
-    def collect_all(self) -> _SRWDataContainer:
+    def read(self) -> _SRWDataContainer:
         try:
             return _SRWDataContainer(fws := (_sin(self.counter) + .5) * self.magnitude + self.offset,
                                      self.generate_rear_wheel_speed(fws))
@@ -57,7 +57,7 @@ def collect_all(self) -> _SRWDataContainer:
 
 
 class DRWSin(_SinController):
-    def collect_all(self) -> _DRWDataContainer:
+    def read(self) -> _DRWDataContainer:
         try:
             return _DRWDataContainer(fws := (_sin(self.counter) + .5) * self.magnitude + self.offset,
                                      rws := self.generate_rear_wheel_speed(fws),
diff --git a/leads_raspberry_pi/raspberry_pi_4b.py b/leads_raspberry_pi/raspberry_pi_4b.py
index 243e6b12..7088d32e 100644
--- a/leads_raspberry_pi/raspberry_pi_4b.py
+++ b/leads_raspberry_pi/raspberry_pi_4b.py
@@ -2,5 +2,5 @@
 
 
 class RaspberryPi4B(_Controller):
-    def collect_all(self) -> T:
+    def read(self) -> T:
         return None