initial safety biased leased control architecture

flight/src/hardware/channelization.rs

@@ -1,7 +1,11 @@
 #![allow(dead_code)]
 
-use crate::hardware::mcp23017::{Mcp23017, Mcp23017OutputPin};
+use crate::hardware::pin::{Pin, PinDevice};
 use anyhow::Result;
+use embedded_hal::digital::PinState;
+use log::trace;
+use std::fmt::Debug;
+use std::time::Instant;
 
 pub const RCS5: PinoutChannel = PinoutChannel::ExtA(0);
 pub const RCS6: PinoutChannel = PinoutChannel::ExtA(1);
@@ -42,11 +46,37 @@ pub enum PinoutChannel {
     ExtB(u8),
 }
 
-impl PinoutChannel {
-    pub fn new_output_pin<'a, MCP: Mcp23017>(self, ext_a: &'a MCP, ext_b: &'a MCP) -> Result<impl Mcp23017OutputPin + 'a> {
+pub struct DevicePin<'a, Device: PinDevice> {
+    pin: u8,
+    device: &'a Device,
+}
+
+impl<'a, Device: PinDevice> Pin for DevicePin<'a, Device> {
+    fn set(&mut self, value: PinState, valid_until: Instant, priority: u8) {
+        self.device.set_pin(self.pin, value, valid_until, priority);
+    }
+}
+
+pub enum ChannelPin<'a, A: PinDevice, B: PinDevice> {
+    ExtA(DevicePin<'a, A>),
+    ExtB(DevicePin<'a, B>),
+}
+
+impl<'a, A: PinDevice, B: PinDevice> Pin for ChannelPin<'a, A, B> {
+    fn set(&mut self, value: PinState, valid_until: Instant, priority: u8) {
         match self {
-            PinoutChannel::ExtA(pin) => ext_a.new_output_pin(pin),
-            PinoutChannel::ExtB(pin) => ext_b.new_output_pin(pin),
+            ChannelPin::ExtA(pin) => pin.set(value, valid_until, priority),
+            ChannelPin::ExtB(pin) => pin.set(value, valid_until, priority),
         }
     }
 }
+
+impl PinoutChannel {
+    pub fn new<'a>(self, ext_a: &'a (impl PinDevice + Debug), ext_b: &'a (impl PinDevice + Debug)) -> Result<impl Pin> {
+        trace!("PinoutChannel::new(self: {self:?}, ext_a: {ext_a:?}, ext_b: {ext_b:?}");
+        Ok(match self {
+            PinoutChannel::ExtA(pin) => ChannelPin::ExtA(DevicePin { pin, device: ext_a }),
+            PinoutChannel::ExtB(pin) => ChannelPin::ExtB(DevicePin { pin, device: ext_b }),
+        })
+    }
+}