fixed lifetime annotations + thread safty still needs work

rust/src/hal/initial_hal.rs

@@ -1,20 +1,44 @@
-use crate::hal::{deep_sleep, BackupHeader, BoardInteraction, Sensor};
+use crate::config::{BoardHardware, PlantControllerConfig};
+use crate::hal::battery::{BatteryInteraction, BatteryMonitor};
+use crate::hal::esp::ESP;
+use crate::hal::{deep_sleep, BackupHeader, BoardInteraction, Sensor, FreePeripherals};
+use esp_idf_hal::gpio::{IOPin, Pull};
 use anyhow::{bail, Result};
 use chrono::{DateTime, Utc};
 use embedded_hal::digital::OutputPin;
 use esp_idf_hal::gpio::{InputOutput, PinDriver};
-use crate::config::{BoardHardware, PlantControllerConfig};
-use crate::hal::battery::{BatteryInteraction, BatteryMonitor};
-use crate::hal::esp::ESP;
 
 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>,
 }
 
-impl BoardInteraction<'_> for Initial<'_> {
-    fn get_esp<'a>(&mut self) -> &mut ESP<'a> {
+pub(crate) fn create_initial_board(
+    free_pins: FreePeripherals,
+    fs_mount_error: bool,
+    config: PlantControllerConfig,
+    esp: ESP<'static>,
+) -> Result<Box<dyn BoardInteraction<'static>> + Send + Sync> {
+    let mut general_fault = PinDriver::input_output(free_pins.gpio6.downgrade())?;
+    general_fault.set_pull(Pull::Floating)?;
+    general_fault.set_low()?;
+
+    if fs_mount_error {
+        general_fault.set_high()?
+    }
+    let v = Initial {
+        general_fault,
+        config,
+        esp,
+        battery: Box::new(BatteryMonitor::Disabled {}),
+    };
+    Ok(Box::new(v))
+}
+
+impl<'a> BoardInteraction<'a> for Initial<'a> {
+    fn get_esp(&mut self) -> &mut ESP<'a> {
         &mut self.esp
     }
 
@@ -22,11 +46,8 @@ impl BoardInteraction<'_> for Initial<'_> {
         &self.config
     }
 
-    fn get_battery_monitor(&mut self) -> Box<dyn BatteryInteraction> {
-        let v = BatteryMonitor::Disabled {
-
-        };
-        Box::new(v) as Box<dyn BatteryInteraction>
+    fn get_battery_monitor(&mut self) -> &mut Box<dyn BatteryInteraction> {
+        &mut self.battery
     }
 
     fn set_charge_indicator(&mut self, charging: bool) -> Result<()> {
@@ -96,4 +117,4 @@ impl BoardInteraction<'_> for Initial<'_> {
     fn test(&mut self) -> Result<()> {
         bail!("Please configure board revision")
     }
-}
+}