cleans up lifetimes and ownership

flight/src/lib.rs

@@ -5,6 +5,7 @@ use crate::logger::setup_logger;
 use anyhow::Result;
 use log::info;
 use crate::hardware::Hardware;
+use crate::hardware::mcp23017::Mcp23017;
 
 mod hardware;
 mod logger;
@@ -18,14 +19,36 @@ pub fn run() -> Result<()> {
 
     let hal = initialize()?;
 
-    for i in 0..100 {
-        sleep(Duration::from_millis(1000));
-        info!("Battery Voltage: {}", hal.get_battery_voltage()?);
-    }
+    let mut mcp23017_a = hal.get_mcp23017_a();
+    let mut mcp23017_b = hal.get_mcp23017_b();
 
-    // hal.set_mcp0_pin(15u8, true)?;
-    // sleep(Duration::from_secs(1));
-    // hal.set_mcp0_pin(15u8, false)?;
+    info!("Battery Voltage: {}", hal.get_battery_voltage()?);
+
+    mcp23017_a.init()?;
+    mcp23017_b.init()?;
+
+    mcp23017_a.set_pin(7u8, true)?;
+    mcp23017_a.flush()?;
+
+    sleep(Duration::from_secs(1));
+
+    mcp23017_b.set_pin(7u8, true)?;
+    mcp23017_b.flush()?;
+
+    sleep(Duration::from_secs(1));
+
+    mcp23017_a.set_pin(7u8, false)?;
+    mcp23017_a.flush()?;
+
+    sleep(Duration::from_secs(1));
+
+    mcp23017_b.set_pin(7u8, false)?;
+    mcp23017_b.flush()?;
+
+    // Explicitly drop these to allow the borrow checker to be sure that
+    // dropping the hal is safe
+    drop(mcp23017_a);
+    drop(mcp23017_b);
 
     drop(hal);