update: refactor and enhance CAN sensor initialization, reorganize GPIO assignments, improve error detection and logging, and streamline TWAI handling

Software/MainBoard/rust/src/webserver/mod.rs

@@ -18,9 +18,7 @@ use crate::webserver::get_json::{
 use crate::webserver::get_log::get_log;
 use crate::webserver::get_static::{serve_bundle, serve_favicon, serve_index};
 use crate::webserver::ota::ota_operations;
-use crate::webserver::post_json::{
-    board_test, detect_sensors, night_lamp_test, pump_test, set_config, wifi_scan, write_time,
-};
+use crate::webserver::post_json::{board_test, can_power, detect_sensors, night_lamp_test, pump_test, set_config, wifi_scan, write_time};
 use crate::{bail, BOARD_ACCESS};
 use alloc::borrow::ToOwned;
 use alloc::string::{String, ToString};
@@ -103,6 +101,7 @@ impl Handler for HTTPRequestRouter {
                         "/time" => Some(write_time(conn).await),
                         "/backup_config" => Some(backup_config(conn).await),
                         "/pumptest" => Some(pump_test(conn).await),
+                        "/can_power" => Some(can_power(conn).await),
                         "/lamptest" => Some(night_lamp_test(conn).await),
                         "/boardtest" => Some(board_test().await),
                         "/detect_sensors" => Some(detect_sensors().await),

Software/MainBoard/rust/src/webserver/post_json.rs

@@ -29,6 +29,11 @@ pub struct TestPump {
     pump: usize,
 }
 
+#[derive(Serialize, Deserialize, Clone, Debug, PartialEq)]
+pub struct CanPower {
+    state: bool,
+}
+
 pub(crate) async fn wifi_scan<T, const N: usize>(
     _request: &mut Connection<'_, T, N>,
 ) -> FatResult<Option<String>> {
@@ -117,3 +122,22 @@ where
     board.board_hal.set_config(config);
     Ok(Some("Ok".to_string()))
 }
+
+pub(crate) async fn can_power<T, const N: usize>(
+    request: &mut Connection<'_, T, N>,
+) -> FatResult<Option<String>>
+where
+    T: Read + Write,
+{
+    let actual_data = read_up_to_bytes_from_request(request, None).await?;
+    let pump_test: CanPower = serde_json::from_slice(&actual_data)?;
+    let mut board = BOARD_ACCESS.get().await.lock().await;
+
+    let config = &board.board_hal.can_power(pump_test.state).await?;
+    let enable = pump_test.state;
+    info!(
+        "set can power to {enable}"
+    );
+    Ok(None)
+}
+