fix tread safty issues by annotating Box Traits correctly

rust/src/hal/initial_hal.rs

@@ -12,7 +12,7 @@ pub struct Initial<'a> {
     pub(crate) general_fault: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
     pub(crate) esp: ESP<'a>,
     pub(crate) config: PlantControllerConfig,
-    pub(crate) battery: Box<dyn BatteryInteraction>,
+    pub(crate) battery: Box<dyn BatteryInteraction + Send>,
 }
 
 pub(crate) fn create_initial_board(
@@ -20,7 +20,7 @@ pub(crate) fn create_initial_board(
     fs_mount_error: bool,
     config: PlantControllerConfig,
     esp: ESP<'static>,
-) -> Result<Box<dyn BoardInteraction<'static>> + Send + Sync> {
+) -> Result<Box<dyn BoardInteraction<'static> + Send>> {
     let mut general_fault = PinDriver::input_output(free_pins.gpio6.downgrade())?;
     general_fault.set_pull(Pull::Floating)?;
     general_fault.set_low()?;
@@ -46,7 +46,7 @@ impl<'a> BoardInteraction<'a> for Initial<'a> {
         &self.config
     }
 
-    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction> {
+    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send> {
         &mut self.battery
     }
 

rust/src/hal/mod.rs

@@ -93,7 +93,7 @@ pub enum Sensor {
 pub struct PlantHal {}
 
 pub struct HAL<'a> {
-    pub board_hal: Box<dyn BoardInteraction<'a> + Sync + Send>,
+    pub board_hal: Box<dyn BoardInteraction<'a> + Send>,
 }
 
 #[derive(Serialize, Deserialize, PartialEq, Debug)]
@@ -116,7 +116,7 @@ impl Default for BackupHeader {
 pub trait BoardInteraction<'a> {
     fn get_esp(&mut self) -> &mut ESP<'a>;
     fn get_config(&mut self) -> &PlantControllerConfig;
-    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction>;
+    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send>;
     fn set_charge_indicator(&mut self, charging: bool) -> Result<()>;
     fn deep_sleep(&mut self, duration_in_ms: u64) -> !;
     fn get_backup_info(&mut self) -> Result<BackupHeader>;
@@ -304,9 +304,9 @@ impl PlantHal {
                     }
                     BatteryBoardVersion::WchI2cSlave => BatteryMonitor::WchI2cSlave {},
                 };
-                let battery_interaction = Box::new(battery_monitor) as Box<dyn BatteryInteraction>;
+                let battery_interaction = Box::new(battery_monitor) as Box<dyn BatteryInteraction + Send>;
 
-                let board_hal: Box<dyn BoardInteraction> = match config.hardware.board {
+                let board_hal: Box<dyn BoardInteraction + Send> = match config.hardware.board {
                     BoardVersion::INITIAL => {
                         initial_hal::create_initial_board(free_pins, fs_mount_error, config, esp)?
                     }

rust/src/hal/v3_hal.rs

@@ -75,7 +75,7 @@ const FAULT_2: usize = 23;
 
 pub struct V3<'a> {
     config: PlantControllerConfig,
-    battery_monitor: Box<dyn BatteryInteraction>,
+    battery_monitor: Box<dyn BatteryInteraction + Send>,
     esp: ESP<'a>,
     shift_register: ShiftRegister40<
         PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, InputOutput>,
@@ -106,8 +106,8 @@ pub(crate) fn create_v3(
     peripherals: FreePeripherals,
     esp: ESP<'static>,
     config: PlantControllerConfig,
-    battery_monitor: Box<dyn BatteryInteraction>,
+    battery_monitor: Box<dyn BatteryInteraction + Send>,
-) -> Result<Box<dyn BoardInteraction + '_ + Send + Sync>> {
+) -> Result<Box<dyn BoardInteraction + Send + '_>> {
     let mut clock = PinDriver::input_output(peripherals.gpio15.downgrade())?;
     clock.set_pull(Pull::Floating)?;
     let mut latch = PinDriver::input_output(peripherals.gpio3.downgrade())?;
@@ -255,7 +255,7 @@ impl<'a> BoardInteraction<'a> for V3<'a> {
         &self.config
     }
 
-    fn get_battery_monitor(&mut self) -> &mut Box<(dyn BatteryInteraction + 'static)> {
+    fn get_battery_monitor(&mut self) -> &mut Box<(dyn BatteryInteraction + Send + 'static)> {
         &mut self.battery_monitor
     }
 

rust/src/hal/v4_hal.rs

@@ -36,7 +36,7 @@ const SENSOR_ON: u8 = 5_u8;
 
 pub struct V4<'a> {
     esp: ESP<'a>,
-    battery_monitor: Box<dyn BatteryInteraction>,
+    battery_monitor: Box<dyn BatteryInteraction + Send>,
     config: PlantControllerConfig,
     tank_channel: AdcChannelDriver<'a, Gpio5, AdcDriver<'a, esp_idf_hal::adc::ADC1>>,
     solar_is_day: PinDriver<'a, esp_idf_hal::gpio::AnyIOPin, esp_idf_hal::gpio::Input>,
@@ -63,8 +63,8 @@ pub(crate) fn create_v4(
     peripherals: FreePeripherals,
     esp: ESP<'static>,
     config: PlantControllerConfig,
-    battery_monitor: Box<dyn BatteryInteraction>,
+    battery_monitor: Box<dyn BatteryInteraction + Send>,
-) -> anyhow::Result<Box<dyn BoardInteraction + '_ + Send + Sync>> {
+) -> anyhow::Result<Box<dyn BoardInteraction + Send + '_>> {
     let mut awake = PinDriver::output(peripherals.gpio15.downgrade())?;
     awake.set_high()?;
 
@@ -199,7 +199,7 @@ impl<'a> BoardInteraction<'a> for V4<'a> {
         &self.config
     }
 
-    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction> {
+    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction + Send> {
         &mut self.battery_monitor
     }
 

rust/src/main.rs

@@ -31,7 +31,7 @@ use tank::*;
 use crate::config::BoardVersion::INITIAL;
 use crate::hal::{BoardInteraction, PlantHal, HAL, PLANT_COUNT};
 use crate::hal::battery::BatteryInteraction;
-pub static BOARD_ACCESS: Lazy<Arc<Mutex<HAL>>> = Lazy::new(|| Arc::new(PlantHal::create().unwrap()));
+pub static BOARD_ACCESS: Lazy<Mutex<HAL>> = Lazy::new(|| PlantHal::create().unwrap());
 pub static STAY_ALIVE: Lazy<AtomicBool> = Lazy::new(|| AtomicBool::new(false));
 
 mod webserver {