cleans up lifetimes and ownership

flight/src/hardware/mcp23017/mod.rs

@@ -1,15 +1,30 @@
+use std::fmt::{Debug, Formatter};
+use std::time::Instant;
 use anyhow::{bail, Result};
 use embedded_hal::i2c::I2c;
+use log::{info, trace};
 use crate::hardware::error::I2cError;
 
-pub struct Mcp23017<I2C> {
+pub trait Mcp23017 {
+    fn init(&mut self) -> Result<()>;
+    fn set_pin(&mut self, pin: u8, value: bool) -> Result<()>;
+    fn flush(&mut self) -> Result<()>;
+}
+
+pub struct Mcp23017Driver<I2C> {
     i2c: I2C,
     address: u8,
     bank: [u8; 2],
     dirty: bool,
 }
 
-impl<I2C> Mcp23017<I2C>
+impl<I2C> Debug for Mcp23017Driver<I2C> {
+    fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
+        write!(f, "Mcp23017Driver {{ address: {} }}", self.address)
+    }
+}
+
+impl<I2C> Mcp23017Driver<I2C>
 where
     I2C: I2c,
     I2C::Error : Send,
@@ -17,6 +32,7 @@ where
     I2C::Error : 'static
 {
     pub fn new(i2c: I2C, address: u8) -> Self {
+        trace!("Mcp23017Driver::new(i2c, address: {address:07b})");
         Self {
             i2c,
             address,
@@ -24,12 +40,27 @@ where
             dirty: false,
         }
     }
+}
+
+
+impl<I2C> Mcp23017 for Mcp23017Driver<I2C>
+where
+    I2C: I2c,
+    I2C::Error : Send,
+    I2C::Error : Sync,
+    I2C::Error : 'static
+{
+    fn init(&mut self) -> Result<()> {
+        trace!("Mcp23017Driver::init(self: {self:?})");
+        // Set each pin as an output (Addresses 0x00 & 0x01)
+        let data: [u8; _] = [0x00, 0x00, 0x00];
+        self.i2c.write(self.address, &data).map_err(I2cError)?;
 
-    pub fn init(&self) -> Result<()> {
         Ok(())
     }
 
-    pub fn set_pin(&mut self, pin: u8, value: bool) -> Result<()> {
+    fn set_pin(&mut self, pin: u8, value: bool) -> Result<()> {
+        trace!("Mcp23017Driver::set_pin(self: {self:?}, pin: {pin}, value: {value})");
         let (pin_bank, dirty_flag, pin_index) = match pin {
             0..8 => {
                 (&mut self.bank[0], &mut self.dirty, pin as u32)
@@ -53,9 +84,11 @@ where
         Ok(())
     }
 
-    pub fn flush(&mut self) -> Result<()> {
+    fn flush(&mut self) -> Result<()> {
+        trace!("Mcp23017Driver::flush(self: {self:?})");
         if self.dirty {
             let data: [u8; _] = [0x12, self.bank[0], self.bank[1]];
+            // This blocks while writing
             self.i2c.write(self.address, &data).map_err(I2cError)?;
         }
         Ok(())