From 6d3fbb926e1204260749847c6be538ad81eedea6 Mon Sep 17 00:00:00 2001
From: Sergey Savelyev <sergeysav.nn@gmail.com>
Date: Sat, 20 Sep 2025 10:38:15 -0700
Subject: [PATCH] reformat

---
 flight/src/data/reader.rs           | 18 ++++++++++++------
 flight/src/data/writer.rs           | 23 ++++++++++++-----------
 flight/src/hardware/bno085/mod.rs   | 28 +++++++++++++---------------
 flight/src/hardware/bno085/shtp.rs  |  7 +++----
 flight/src/hardware/error.rs        |  4 ++--
 flight/src/hardware/imu/mod.rs      |  1 -
 flight/src/hardware/mcp23017/mod.rs | 24 ++++++++++++------------
 flight/src/hardware/mcp3208/mod.rs  | 14 +++++++-------
 flight/src/hardware/mod.rs          |  1 -
 flight/src/hardware/raspi/mod.rs    | 10 +++++-----
 flight/src/lib.rs                   |  8 ++++----
 flight/src/logger.rs                |  2 +-
 flight/src/test_utils.rs            |  2 +-
 13 files changed, 72 insertions(+), 70 deletions(-)

diff --git a/flight/src/data/reader.rs b/flight/src/data/reader.rs
index ecccd6d..d89e45e 100644
--- a/flight/src/data/reader.rs
+++ b/flight/src/data/reader.rs
@@ -42,8 +42,12 @@ trait DataReadAccess {
 pub trait DataReader {
     fn reset(&mut self);
 
-    fn read_be<T>(&mut self) -> Option<T> where T: ReadableDataType;
-    fn read_le<T>(&mut self) -> Option<T> where T: ReadableDataType;
+    fn read_be<T>(&mut self) -> Option<T>
+    where
+        T: ReadableDataType;
+    fn read_le<T>(&mut self) -> Option<T>
+    where
+        T: ReadableDataType;
     fn read(&mut self, bytes: usize) -> Option<&[u8]>;
 }
 
@@ -56,7 +60,7 @@ impl<'a> DataViewReader<'a> {
     pub fn new(data: &'a [u8]) -> Self {
         Self {
             data,
-            position: 0usize
+            position: 0usize,
         }
     }
 }
@@ -91,7 +95,7 @@ impl<const LENGTH: usize> DataBufferReader<LENGTH> {
     pub fn get_buffer(&mut self) -> &mut [u8] {
         &mut self.data
     }
-    
+
     pub fn get_write_buffer(&mut self, length: usize) -> &mut [u8] {
         self.reset();
         &mut self.data[..length]
@@ -119,7 +123,8 @@ impl<U: DataReadAccess> DataReader for U {
 
     fn read_be<T>(&mut self) -> Option<T>
     where
-        T: ReadableDataType {
+        T: ReadableDataType,
+    {
         let position = self.get_position();
         if self.get_data().len() < position + T::BYTES {
             return None;
@@ -133,7 +138,8 @@ impl<U: DataReadAccess> DataReader for U {
 
     fn read_le<T>(&mut self) -> Option<T>
     where
-        T: ReadableDataType {
+        T: ReadableDataType,
+    {
         let position = self.get_position();
         if self.get_data().len() < position + T::BYTES {
             return None;
diff --git a/flight/src/data/writer.rs b/flight/src/data/writer.rs
index e13c86d..5b7ba59 100644
--- a/flight/src/data/writer.rs
+++ b/flight/src/data/writer.rs
@@ -49,10 +49,11 @@ pub trait DataWriteAccess {
     fn set_position(&mut self, position: usize);
 }
 
-pub struct DeferredDataWrite<'a, T: WriteableDataType, U> 
-where 
+pub struct DeferredDataWrite<'a, T: WriteableDataType, U>
+where
     RefCell<U>: DataWriter,
-    <RefCell<U> as DataWriter>::WriterType: DataWriteAccess {
+    <RefCell<U> as DataWriter>::WriterType: DataWriteAccess,
+{
     writer: &'a RefCell<U>,
     position: usize,
     _phantom_data: PhantomData<T>,
@@ -64,7 +65,7 @@ pub trait DataWriter {
     fn reset(&mut self);
     fn get_position(&self) -> usize;
     fn get_buffer(&mut self) -> &[u8];
-    
+
     fn push_be<T: WriteableDataType>(&self, data: T) -> Result<(), DataWriterError>;
     fn push_le<T: WriteableDataType>(&self, data: T) -> Result<(), DataWriterError>;
     fn push(&self, data: &[u8]) -> Result<(), DataWriterError>;
@@ -80,7 +81,7 @@ impl<'a> DataViewWriter<'a> {
     pub fn new(data: &'a mut [u8]) -> RefCell<Self> {
         RefCell::new(Self {
             data,
-            position: 0usize
+            position: 0usize,
         })
     }
 }
@@ -108,7 +109,7 @@ impl<const LENGTH: usize> DataBufferWriter<LENGTH> {
     pub fn new() -> RefCell<Self> {
         RefCell::new(Self {
             data: [0u8; LENGTH],
-            position: 0usize
+            position: 0usize,
         })
     }
 }
@@ -129,7 +130,7 @@ impl<const LENGTH: usize> DataWriteAccess for DataBufferWriter<LENGTH> {
 
 impl<U: DataWriteAccess> DataWriter for RefCell<U> {
     type WriterType = U;
-    
+
     fn reset(&mut self) {
         self.get_mut().set_position(0);
     }
@@ -187,7 +188,10 @@ impl<U: DataWriteAccess> DataWriter for RefCell<U> {
     }
 }
 
-impl<'a, T: WriteableDataType, U: DataWriteAccess> DeferredDataWrite<'a, T, U> where RefCell<U>: DataWriter {
+impl<'a, T: WriteableDataType, U: DataWriteAccess> DeferredDataWrite<'a, T, U>
+where
+    RefCell<U>: DataWriter,
+{
     pub fn set_be(self, data: T) {
         data.to_be_slice(&mut self.writer.borrow_mut().get_data()[self.position..(self.position + T::BYTES)]);
     }
@@ -198,9 +202,6 @@ impl<'a, T: WriteableDataType, U: DataWriteAccess> DeferredDataWrite<'a, T, U> w
 
 #[cfg(test)]
 mod tests {
-    use super::*;
-    use anyhow::Result;
-
     #[test]
     fn test_buffer() -> Result<()> {
         let mut writer = DataBufferWriter::<128>::new();
diff --git a/flight/src/hardware/bno085/mod.rs b/flight/src/hardware/bno085/mod.rs
index 7a0f669..7368843 100644
--- a/flight/src/hardware/bno085/mod.rs
+++ b/flight/src/hardware/bno085/mod.rs
@@ -1,6 +1,7 @@
 mod shtp;
 
 use crate::data::reader::{DataBufferReader, DataReader};
+use crate::data::writer::{DataBufferWriter, DataWriter};
 use crate::hardware::error::{NotAvailableError, SpiError};
 use crate::hardware::imu::{Imu, ImuMeasurement};
 use anyhow::{anyhow, bail, ensure, Result};
@@ -8,7 +9,6 @@ use chrono::TimeDelta;
 use embedded_hal::spi::SpiDevice;
 use log::info;
 use num_traits::ToPrimitive;
-use crate::data::writer::{DataBufferWriter, DataWriter};
 
 const RX_BUFFER_LENGTH: usize = 1024;
 
@@ -30,15 +30,15 @@ pub struct Bno085<SPI> {
 
 impl<SPI> Bno085<SPI>
 where
-    SPI : SpiDevice<u8>,
-    SPI::Error : Send,
-    SPI::Error : Sync,
-    SPI::Error : 'static,
+    SPI: SpiDevice<u8>,
+    SPI::Error: Send,
+    SPI::Error: Sync,
+    SPI::Error: 'static,
 {
     pub fn new(spi: SPI) -> Self {
         Self {
             spi,
-            sequence_number: 0u8
+            sequence_number: 0u8,
         }
     }
 
@@ -81,7 +81,7 @@ where
 
         let mut tx = DataBufferWriter::<128>::new();
         self.produce_sensor_enable(&tx)?;
-        self.spi.write(        tx.get_buffer()).map_err(SpiError)?;
+        self.spi.write(tx.get_buffer()).map_err(SpiError)?;
 
         Ok(())
     }
@@ -131,7 +131,7 @@ where
 
     fn produce_sensor_enable(
         &mut self,
-        tx: &impl DataWriter
+        tx: &impl DataWriter,
     ) -> Result<()> {
         let starting_position = tx.get_position();
         let length = tx.defer::<u16>()?;
@@ -146,7 +146,7 @@ where
             0,
             TimeDelta::seconds(1) / 100, // 100Hz
             TimeDelta::zero(),
-            0
+            0,
         )?;
         self.produce_set_feature(
             tx,
@@ -155,7 +155,7 @@ where
             0,
             TimeDelta::seconds(1) / 100, // 100Hz
             TimeDelta::zero(),
-            0
+            0,
         )?;
         self.produce_set_feature(
             tx,
@@ -164,7 +164,7 @@ where
             0,
             TimeDelta::seconds(1) / 100, // 100Hz
             TimeDelta::zero(),
-            0
+            0,
         )?;
 
         length.set_le((tx.get_position() - starting_position) as u16); // Fill in the length as we finish
@@ -179,7 +179,7 @@ where
         change_sensitivity: u16,
         report_interval: TimeDelta,
         batch_interval: TimeDelta,
-        configuration_word: u32
+        configuration_word: u32,
     ) -> Result<()> {
         tx.push_le(SET_FEATURE_REPORT_ID)?;
         tx.push_le(feature_report_id)?;
@@ -198,7 +198,7 @@ where
     }
 }
 
-impl<SPI : SpiDevice> Imu for Bno085<SPI> {
+impl<SPI: SpiDevice> Imu for Bno085<SPI> {
     fn step(&mut self) -> Result<ImuMeasurement> {
         todo!("asd")
     }
@@ -206,7 +206,6 @@ impl<SPI : SpiDevice> Imu for Bno085<SPI> {
 
 #[cfg(test)]
 mod tests {
-    use super::*;
     use crate::test_utils::SilentDrop;
     use embedded_hal_mock::eh1::spi::Mock as SpiMock;
     use embedded_hal_mock::eh1::spi::Transaction as SpiTransaction;
@@ -258,7 +257,6 @@ mod tests {
         bno.spi.done();
 
         Ok(())
-
     }
 }
 
diff --git a/flight/src/hardware/bno085/shtp.rs b/flight/src/hardware/bno085/shtp.rs
index 67e44ce..93544cb 100644
--- a/flight/src/hardware/bno085/shtp.rs
+++ b/flight/src/hardware/bno085/shtp.rs
@@ -1,21 +1,20 @@
 use crate::data::reader::DataReader;
 use crate::hardware::error::NotAvailableError;
-use anyhow::Result;
 
 pub struct Header {
     pub length: u16,
     pub channel: u8,
-    pub sequence_number: u8
+    pub sequence_number: u8,
 }
 
 impl Header {
     pub const SIZE: usize = size_of::<u16>() + size_of::<u8>() + size_of::<u8>();
-    
+
     pub fn parse(bytes: &mut impl DataReader) -> Result<Self> {
         let length = bytes.read_le::<u16>().ok_or(NotAvailableError)?;
         let channel = bytes.read_le::<u8>().ok_or(NotAvailableError)?;
         let sequence_number = bytes.read_le::<u8>().ok_or(NotAvailableError)?;
-        
+
         Ok(Self {
             length,
             channel,
diff --git a/flight/src/hardware/error.rs b/flight/src/hardware/error.rs
index a2e3a62..c207d52 100644
--- a/flight/src/hardware/error.rs
+++ b/flight/src/hardware/error.rs
@@ -10,7 +10,7 @@ impl<ERR: Debug + embedded_hal::i2c::Error> Display for I2cError<ERR> {
     }
 }
 
-impl<ERR: Debug + embedded_hal::i2c::Error> Error for I2cError<ERR> { }
+impl<ERR: Debug + embedded_hal::i2c::Error> Error for I2cError<ERR> {}
 
 #[derive(Copy, Clone, Debug)]
 pub struct SpiError<ERR: Debug + embedded_hal::spi::Error>(pub ERR);
@@ -21,7 +21,7 @@ impl<ERR: Debug + embedded_hal::spi::Error> Display for SpiError<ERR> {
     }
 }
 
-impl<ERR: Debug + embedded_hal::spi::Error> Error for SpiError<ERR> { }
+impl<ERR: Debug + embedded_hal::spi::Error> Error for SpiError<ERR> {}
 
 // #[derive(Copy, Clone, Debug)]
 // pub struct NotAvailableError;
diff --git a/flight/src/hardware/imu/mod.rs b/flight/src/hardware/imu/mod.rs
index f3912d3..c7e82ac 100644
--- a/flight/src/hardware/imu/mod.rs
+++ b/flight/src/hardware/imu/mod.rs
@@ -1,5 +1,4 @@
 use nalgebra::Vector3;
-use anyhow::Result;
 
 pub struct ImuMeasurement {
     pub acceleration: Vector3<f64>,
diff --git a/flight/src/hardware/mcp23017/mod.rs b/flight/src/hardware/mcp23017/mod.rs
index ce6bd8c..2bceb4f 100644
--- a/flight/src/hardware/mcp23017/mod.rs
+++ b/flight/src/hardware/mcp23017/mod.rs
@@ -1,9 +1,9 @@
-use std::fmt::{Debug, Formatter};
-use std::time::Instant;
+use crate::hardware::error::I2cError;
 use anyhow::{bail, Result};
 use embedded_hal::i2c::I2c;
 use log::{info, trace};
-use crate::hardware::error::I2cError;
+use std::fmt::{Debug, Formatter};
+use std::time::Instant;
 
 pub trait Mcp23017 {
     fn init(&mut self) -> Result<()>;
@@ -27,9 +27,9 @@ impl<I2C> Debug for Mcp23017Driver<I2C> {
 impl<I2C> Mcp23017Driver<I2C>
 where
     I2C: I2c,
-    I2C::Error : Send,
-    I2C::Error : Sync,
-    I2C::Error : 'static
+    I2C::Error: Send,
+    I2C::Error: Sync,
+    I2C::Error: 'static,
 {
     pub fn new(i2c: I2C, address: u8) -> Self {
         trace!("Mcp23017Driver::new(i2c, address: {address:07b})");
@@ -46,9 +46,9 @@ where
 impl<I2C> Mcp23017 for Mcp23017Driver<I2C>
 where
     I2C: I2c,
-    I2C::Error : Send,
-    I2C::Error : Sync,
-    I2C::Error : 'static
+    I2C::Error: Send,
+    I2C::Error: Sync,
+    I2C::Error: 'static,
 {
     fn init(&mut self) -> Result<()> {
         trace!("Mcp23017Driver::init(self: {self:?})");
@@ -64,10 +64,10 @@ where
         let (pin_bank, dirty_flag, pin_index) = match pin {
             0..8 => {
                 (&mut self.bank[0], &mut self.dirty, pin as u32)
-            },
-            8 ..16 => {
+            }
+            8..16 => {
                 (&mut self.bank[1], &mut self.dirty, (pin as u32) - 8)
-            },
+            }
             _ => bail!("Invalid Pin ID"),
         };
         let pin_mask = 1u8.unbounded_shl(pin_index);
diff --git a/flight/src/hardware/mcp3208/mod.rs b/flight/src/hardware/mcp3208/mod.rs
index 29ec579..d05581b 100644
--- a/flight/src/hardware/mcp3208/mod.rs
+++ b/flight/src/hardware/mcp3208/mod.rs
@@ -1,12 +1,12 @@
-use std::fmt::{Debug, Formatter};
 use crate::hardware::error::SpiError;
 use anyhow::{ensure, Result};
 use embedded_hal::spi::SpiDevice;
 use log::trace;
+use std::fmt::{Debug, Formatter};
 
 pub struct Mcp3208<SPI> {
     spi: SPI,
-    vref: f64
+    vref: f64,
 }
 
 impl<SPI> Debug for Mcp3208<SPI> {
@@ -17,16 +17,16 @@ impl<SPI> Debug for Mcp3208<SPI> {
 
 impl<SPI> Mcp3208<SPI>
 where
-    SPI : SpiDevice<u8>,
-    SPI::Error : Send,
-    SPI::Error : Sync,
-    SPI::Error : 'static,
+    SPI: SpiDevice<u8>,
+    SPI::Error: Send,
+    SPI::Error: Sync,
+    SPI::Error: 'static,
 {
     pub fn new(spi: SPI, vref: f64) -> Self {
         trace!("Mcp3208::new(spi, vref: {vref})");
         Self {
             spi,
-            vref
+            vref,
         }
     }
 
diff --git a/flight/src/hardware/mod.rs b/flight/src/hardware/mod.rs
index d7fbd44..8ea9ebb 100644
--- a/flight/src/hardware/mod.rs
+++ b/flight/src/hardware/mod.rs
@@ -2,7 +2,6 @@ use crate::hardware::mcp23017::Mcp23017;
 use anyhow::Result;
 
 pub trait Hardware {
-
     fn get_mcp23017_a(&self) -> impl Mcp23017;
     fn get_mcp23017_b(&self) -> impl Mcp23017;
 
diff --git a/flight/src/hardware/raspi/mod.rs b/flight/src/hardware/raspi/mod.rs
index 7f210dd..e211885 100644
--- a/flight/src/hardware/raspi/mod.rs
+++ b/flight/src/hardware/raspi/mod.rs
@@ -1,15 +1,15 @@
-use std::cell::RefCell;
-use std::sync::Mutex;
+use crate::hardware::mcp23017::{Mcp23017, Mcp23017Driver};
+use crate::hardware::mcp3208::Mcp3208;
 use crate::hardware::Hardware;
 use anyhow::Result;
 use embedded_hal_bus::i2c::MutexDevice;
 use log::{debug, info, trace};
 // use rpi_pal::gpio::Gpio;
 use rpi_pal::i2c::I2c;
-use rpi_pal::spi::{Bus, Mode, SlaveSelect, Spi};
-use crate::hardware::mcp23017::{Mcp23017, Mcp23017Driver};
-use crate::hardware::mcp3208::Mcp3208;
 use rpi_pal::spi::SimpleHalSpiDevice;
+use rpi_pal::spi::{Bus, Mode, SlaveSelect, Spi};
+use std::cell::RefCell;
+use std::sync::Mutex;
 
 const CLOCK_1MHZ: u32 = 1_000_000;
 
diff --git a/flight/src/lib.rs b/flight/src/lib.rs
index 9088259..e0bd209 100644
--- a/flight/src/lib.rs
+++ b/flight/src/lib.rs
@@ -1,11 +1,11 @@
-use std::thread::sleep;
-use std::time::Duration;
 use crate::hardware::initialize;
+use crate::hardware::mcp23017::Mcp23017;
+use crate::hardware::Hardware;
 use crate::logger::setup_logger;
 use anyhow::Result;
 use log::info;
-use crate::hardware::Hardware;
-use crate::hardware::mcp23017::Mcp23017;
+use std::thread::sleep;
+use std::time::Duration;
 
 mod hardware;
 mod logger;
diff --git a/flight/src/logger.rs b/flight/src/logger.rs
index 6a9db07..fe9dfe1 100644
--- a/flight/src/logger.rs
+++ b/flight/src/logger.rs
@@ -1,8 +1,8 @@
 use anyhow::Result;
+use log::debug;
 use std::env;
 use std::fs::create_dir_all;
 use std::str::FromStr;
-use log::debug;
 
 pub fn setup_logger() -> Result<()> {
     let log_file = env::var("LOG_FILE").or_else(|_| {
diff --git a/flight/src/test_utils.rs b/flight/src/test_utils.rs
index 5de14c7..1ceec9e 100644
--- a/flight/src/test_utils.rs
+++ b/flight/src/test_utils.rs
@@ -3,7 +3,7 @@ use std::ops::{Deref, DerefMut};
 use std::panic;
 
 pub struct SilentDrop<T: panic::UnwindSafe> {
-    inner: ManuallyDrop<T>
+    inner: ManuallyDrop<T>,
 }
 
 impl<T: panic::UnwindSafe> SilentDrop<T> {