cleanup

flight/src/hardware/mcp23017/driver.rs

@@ -4,6 +4,7 @@ use anyhow::bail;
 use embedded_hal::digital::PinState;
 use embedded_hal::i2c::I2c;
 use log::{error, trace};
+use std::any::type_name;
 use std::fmt::{Debug, Formatter};
 use std::sync::Mutex;
 
@@ -28,7 +29,7 @@ where
     I2C::Error: 'static,
 {
     fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
-        write!(f, "Mcp23017Driver {{ address: {} }}", self.address)
+        write!(f, "Mcp23017Driver<I2C={}> {{ address: {} }}", type_name::<I2C>(), self.address)
     }
 }
 
@@ -40,7 +41,7 @@ where
     I2C::Error: 'static,
 {
     pub fn new(i2c: I2C, address: u8) -> Self {
-        trace!("Mcp23017Driver::new(i2c, address: 0x{address:02x})");
+        trace!("Mcp23017Driver<I2C={}>::new(i2c, address: 0x{address:02x})", type_name::<I2C>());
         Self {
             i2c: i2c.into(),
             address,

flight/src/hardware/mcp23017/task.rs

@@ -18,7 +18,7 @@ pub enum Mcp23017Message {
     },
 }
 
-impl PinDevice for TaskHandle<Mcp23017Message> {
+impl<D: Debug> PinDevice for TaskHandle<Mcp23017Message, D> {
     fn set_pin(&self, pin: u8, value: PinState, valid_until: Instant, priority: u8) {
         trace!("Mcp23017Task::set_pin(self: {self:?}, pin: {pin}, value: {value:?})");
         // This can only fail if the other end is disconnected - which we intentionally want to
@@ -32,11 +32,22 @@ impl PinDevice for TaskHandle<Mcp23017Message> {
     }
 }
 
-#[derive(Default)]
+#[derive(Debug, Default)]
 pub struct Mcp23017State {
     pub pins: [bool; 16],
 }
 
+#[derive(Debug, Clone)]
+pub struct Mcp23017Data {
+    id: SectionIdentifier,
+}
+
+impl Mcp23017Data {
+    pub fn get_id(&self) -> SectionIdentifier {
+        self.id.clone()
+    }
+}
+
 pub struct Mcp23017Task<'a, M: Mcp23017> {
     mcp23017: M,
     pins: AllPins,
@@ -55,13 +66,14 @@ struct AllPins {
 
 impl AllPins {
     fn new() -> Self {
+        trace!("AllPins::new()");
         Self {
             pins: [PinData::new(); _],
         }
     }
 }
 
-#[derive(Copy, Clone)]
+#[derive(Copy, Clone, Debug)]
 struct PinData {
     state: PinState,
     valid_until: Option<Instant>,
@@ -76,6 +88,7 @@ struct PinData {
 
 impl PinData {
     fn new() -> Self {
+        trace!("PinData::new()");
         Self {
             state: PinState::Low,
             valid_until: None,
@@ -90,6 +103,7 @@ impl PinData {
     }
 
     fn evaluate(&mut self, now: Instant) {
+        trace!("PinData::evaluate(self: {self:?}, now: {now:?})");
         // Do this twice to check both the current and the current next
         // If the current is currently invalid, we'd upgrade the next to current
         for _ in 0..2 {
@@ -114,6 +128,7 @@ impl PinData {
     }
 
     fn set(&mut self, value: PinState, valid_until: Instant, priority: u8) {
+        trace!("PinData::set(self: {self:?}, value: {value:?}, valid_until: {valid_until:?}, priority: {priority})");
         let can_replace_current = self.valid_until.map(|current| current <= valid_until).unwrap_or(true);
         let can_replace_next = self.next_validity.map(|next| next <= valid_until).unwrap_or(true);
 
@@ -158,20 +173,25 @@ impl<'a, M: Mcp23017 + Debug> Mcp23017Task<'a, M> {
             state: state_vector.create_section(Mcp23017State::default()),
         }
     }
-
-    pub fn get_state(&self) -> SectionIdentifier {
-        self.state.get_identifier()
-    }
 }
 
-impl<M: Mcp23017> CyclicTask for Mcp23017Task<'_, M> {
+impl<M: Mcp23017 + Debug> CyclicTask for Mcp23017Task<'_, M> {
     type Message = Mcp23017Message;
+    type Data = Mcp23017Data;
+
+    fn get_data(&self) -> Self::Data {
+        trace!("Mcp23017Task::get_data(self: {self:?})");
+        Self::Data {
+            id: self.state.get_identifier()
+        }
+    }
 
     fn step(
         &mut self,
         receiver: &Receiver<Self::Message>,
         step_time: Instant,
     ) {
+        trace!("Mcp23017Task::step(self: {self:?}, receiver, step_time: {step_time:?})");
         let mut changed = false;
 
         for pin in 0u8..16u8 {