add lynx module port claiming and better error messages

hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextCRServo.kt

@@ -49,7 +49,9 @@ open class NextCRServo @JvmOverloads constructor(
     port: Int,
     cacheTolerance: Double = 0.01,
   ) : this(
-    { CRServoImplEx(module.servoController, port, ServoConfigurationType.getStandardServoType()) },
+    {
+      module.crServo(port)
+    },
     cacheTolerance,
   ) {
     require(port in 0..5) { "Expected port in range [0, 5], got $port" }

hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackCRServo.kt

@@ -73,11 +73,7 @@ class NextFeedbackCRServo @JvmOverloads constructor(
     cacheTolerance: Double = 0.01,
   ) : this(
     {
-      CRServoImplEx(
-        module.servoController,
-        port,
-        ServoConfigurationType.getStandardServoType(),
-      )
+      module.crServo(port)
     },
     { feedback },
     cacheTolerance,

hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextFeedbackServo.kt

@@ -79,7 +79,9 @@ class NextFeedbackServo @JvmOverloads constructor(
     feedback: AnalogFeedback,
     cacheTolerance: Double = 0.01,
   ) : this(
-    { ServoImplEx(module.servoController, port, ServoConfigurationType.getStandardServoType()) },
+    {
+      module.servo(port)
+    },
     { feedback },
     cacheTolerance,
   )

hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextMotor.kt

@@ -79,7 +79,9 @@ class NextMotor @JvmOverloads constructor(
     anglePerCount: Angle = 1.0.radians,
     cacheTolerance: Double = 0.01,
   ) : this(
-    { DcMotorImplEx(module.motorController, port) },
+    {
+      module.motor(port)
+    },
     anglePerCount,
     cacheTolerance,
   ) {
@@ -100,7 +102,9 @@ class NextMotor @JvmOverloads constructor(
     anglePerCount: Angle = 1.0.radians,
     cacheTolerance: Double = 0.01,
   ) : this(
-    { RobotController.hardwareMap[name] as DcMotorImplEx },
+    {
+      RobotController.hardwareMap[name] as DcMotorImplEx
+    },
     anglePerCount,
     cacheTolerance,
   )

hardware/src/main/kotlin/dev/nextftc/hardware/actuators/NextServo.kt

@@ -60,7 +60,9 @@ open class NextServo @JvmOverloads constructor(
     cacheTolerance: Double = 0.01,
     direction: NextMotor.Direction = NextMotor.Direction.FORWARD,
   ) : this(
-    { ServoImplEx(module.servoController, port, ServoConfigurationType.getStandardServoType()) },
+    {
+      module.servo(port)
+    },
     cacheTolerance,
     direction,
   ) {

hardware/src/main/kotlin/dev/nextftc/hardware/lynx/NextLynxModule.kt

@@ -1,12 +1,21 @@
 package dev.nextftc.hardware.lynx
 
+import com.qualcomm.hardware.gobilda.GoBildaPinpointDriver
 import com.qualcomm.hardware.lynx.LynxAnalogInputController
 import com.qualcomm.hardware.lynx.LynxDcMotorController
 import com.qualcomm.hardware.lynx.LynxDigitalChannelController
+import com.qualcomm.hardware.lynx.LynxI2cColorRangeSensor
 import com.qualcomm.hardware.lynx.LynxI2cDeviceSynch
 import com.qualcomm.hardware.lynx.LynxI2cDeviceSynchV2
 import com.qualcomm.hardware.lynx.LynxModule
 import com.qualcomm.hardware.lynx.LynxServoController
+import com.qualcomm.robotcore.hardware.AnalogInput
+import com.qualcomm.robotcore.hardware.CRServoImplEx
+import com.qualcomm.robotcore.hardware.DcMotorImplEx
+import com.qualcomm.robotcore.hardware.DigitalChannel
+import com.qualcomm.robotcore.hardware.DigitalChannelImpl
+import com.qualcomm.robotcore.hardware.ServoImplEx
+import com.qualcomm.robotcore.hardware.configuration.typecontainers.ServoConfigurationType
 import dev.nextftc.hardware.RobotController
 import dev.nextftc.hardware.util.LazyHardware
 import dev.nextftc.units.celsius
@@ -34,6 +43,24 @@ class NextLynxModule internal constructor(initializer: () -> LynxModule, @JvmFie
     LazyHardware { LynxI2cDeviceSynchV2(RobotController.appContext, module, bus) }
   }
 
+  enum class PortKind {
+    MOTOR,
+    SERVO,
+    I2C,
+    DIGITAL,
+    ANALOG,
+  }
+
+  /** Tracks used ports. Resets each OpMode. */
+  private val usedPorts by LazyHardware { HashSet<Pair<PortKind, Int>>() }
+
+  /** Throws if this port is already used on this hub. */
+  private fun claim(kind: PortKind, port: Int) {
+    check(usedPorts.add(kind to port)) {
+      "Port conflict on $type: ${kind.name.lowercase()} port $port is used by more than one device"
+    }
+  }
+
   /** Current module temperature. */
   val temperature: Temperature
     get() = module.getTemperature(TempUnit.CELSIUS).celsius
@@ -71,4 +98,46 @@ class NextLynxModule internal constructor(initializer: () -> LynxModule, @JvmFie
   val analogController: LynxAnalogInputController by LazyHardware {
     LynxAnalogInputController(RobotController.appContext, module)
   }
+
+  /** Motor controller for [port], claiming the port. */
+  internal fun motor(port: Int): DcMotorImplEx {
+    claim(PortKind.MOTOR, port)
+    return DcMotorImplEx(motorController, port)
+  }
+
+  /** Servo controller for [port], claiming the port. */
+  internal fun servo(port: Int): ServoImplEx {
+    claim(PortKind.SERVO, port)
+    return ServoImplEx(servoController, port, ServoConfigurationType.getStandardServoType())
+  }
+
+  /** CRServo controller for [port], claiming the port. */
+  internal fun crServo(port: Int): CRServoImplEx {
+    claim(PortKind.SERVO, port)
+    return CRServoImplEx(servoController, port, ServoConfigurationType.getStandardServoType())
+  }
+
+  /** Creates a [LynxI2cColorRangeSensor] on [bus], claiming the bus. */
+  internal fun colorRangeSensor(bus: Int): LynxI2cColorRangeSensor {
+    claim(PortKind.I2C, bus)
+    return LynxI2cColorRangeSensor(i2cController(bus), true)
+  }
+
+  /** Creates a [GoBildaPinpointDriver] on [bus], claiming the bus. */
+  internal fun pinpoint(bus: Int): GoBildaPinpointDriver {
+    claim(PortKind.I2C, bus)
+    return GoBildaPinpointDriver(i2cController(bus), true)
+  }
+
+  /** Digital controller for [port], claiming the port. */
+  internal fun digitalChannel(port: Int): DigitalChannel {
+    claim(PortKind.DIGITAL, port)
+    return DigitalChannelImpl(digitalController, port)
+  }
+
+  /** Analog controller for [port], claiming the port. */
+  internal fun analogChannel(port: Int): AnalogInput {
+    claim(PortKind.ANALOG, port)
+    return AnalogInput(analogController, port)
+  }
 }

hardware/src/main/kotlin/dev/nextftc/hardware/sensors/NextAnalogInput.kt

@@ -79,7 +79,7 @@ open class NextAnalogInput @JvmOverloads constructor(
     customTransformation: (Double) -> Double = { n: Double -> n },
     maxVoltage: Voltage = 3.3.volts,
   ) : this(
-    { AnalogInput(module.analogController, channel) },
+    { module.analogChannel(channel) },
     customTransformation,
     maxVoltage,
   ) {

hardware/src/main/kotlin/dev/nextftc/hardware/sensors/NextColorDistanceSensor.kt

@@ -83,9 +83,14 @@ class NextColorDistanceSensor @JvmOverloads constructor(
     bus: Int,
     hasDistance: Boolean = false,
   ) : this(
-    { LynxI2cColorRangeSensor(module.i2cController(bus), true) },
+    {
+      module.colorRangeSensor(bus)
+    },
     if (hasDistance) {
-      { LynxI2cColorRangeSensor(module.i2cController(bus), true) as DistanceSensor }
+      {
+        // Same device as the color sensor so allows it to claim same port.
+        LynxI2cColorRangeSensor(module.i2cController(bus), true) as DistanceSensor
+      }
     } else {
       null
     },

hardware/src/main/kotlin/dev/nextftc/hardware/sensors/NextDigitalSensor.kt

@@ -8,7 +8,6 @@
 
 package dev.nextftc.hardware.sensors
 
-import com.qualcomm.hardware.lynx.LynxModule
 import com.qualcomm.robotcore.hardware.DigitalChannel
 import com.qualcomm.robotcore.hardware.DigitalChannelImpl
 import dev.nextftc.hardware.RobotController
@@ -56,7 +55,9 @@ class NextDigitalSensor @JvmOverloads constructor(
     port: Int,
     inverted: Boolean = true,
   ) : this(
-    { DigitalChannelImpl(module.digitalController, port) },
+    {
+      module.digitalChannel(port)
+    },
     inverted,
   ) {
     require(port in 0..7) { "Expected port in range [0, 7], got $port" }
@@ -67,7 +68,9 @@ class NextDigitalSensor @JvmOverloads constructor(
     name: String,
     inverted: Boolean = true,
   ) : this(
-    { RobotController.hardwareMap[name] as DigitalChannel },
+    {
+      RobotController.hardwareMap[name] as DigitalChannel
+    },
     inverted,
   )
 

hardware/src/main/kotlin/dev/nextftc/hardware/sensors/NextDistanceSensor.kt

@@ -56,7 +56,9 @@ class NextDistanceSensor(initializer: () -> DistanceSensor) {
     module: NextLynxModule,
     bus: Int,
   ) : this(
-    { LynxI2cColorRangeSensor(module.i2cController(bus), true) },
+    {
+      module.colorRangeSensor(bus)
+    },
   ) {
     require(bus in 0..3) { "Expected bus in range [0, 3], got $bus" }
   }

hardware/src/main/kotlin/dev/nextftc/hardware/sensors/NextPinpoint.kt

@@ -32,7 +32,7 @@ class NextPinpoint(initializer: () -> GoBildaPinpointDriver) {
     bus: Int,
   ) : this(
     {
-      GoBildaPinpointDriver(module.i2cController(bus), true)
+      module.pinpoint(bus)
     },
   ) {
     require(bus in 0..3) { "Expected bus in range [0, 3], got $bus" }