C3MA/PlantCtrl
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fix tread safty issues by annotating Box Traits correctly

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This commit is contained in:
ju6ge 2025-06-19 18:36:48 +02:00
parent e2cbf9618e
commit 69077239a5
Signed by: judge
GPG Key ID: 6512C30DD8E017B5
5 changed files with 16 additions and 16 deletions
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6
rust/src/hal/initial_hal.rs
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@ -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
}

8
rust/src/hal/mod.rs
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@ -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)?
}

8
rust/src/hal/v3_hal.rs
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@ -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>,
) -> Result<Box<dyn BoardInteraction + '_ + Send + Sync>> {
battery_monitor: Box<dyn BatteryInteraction + Send>,
) -> 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
}

8
rust/src/hal/v4_hal.rs
View File

@ -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>,
) -> anyhow::Result<Box<dyn BoardInteraction + '_ + Send + Sync>> {
battery_monitor: Box<dyn BatteryInteraction + Send>,
) -> 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
}

2
rust/src/main.rs
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@ -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 {