frclib-core 0.2.4

A collection of utilities to be used across the FRC in rust ecosystem
Documentation 
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//! A module for the HAL watchdog driver.

use crate::{hal::NotSimError, units::energy::Volt};

/// A trait for the watchdog driver
pub trait WatchdogDriver: 'static {
    /// Gets whether the watchdog is enabled
    fn enabled() -> bool;
    /// Gets the systems voltage
    fn system_power() -> Volt;
}

/// A trait for the sim extension of the watchdog driver
pub trait SimWatchdogDriver: WatchdogDriver {
    /// Sets whether the watchdog is enabled
    fn set_enabled(enabled: bool);
    /// Sets the systems voltage
    fn set_system_power(voltage: Volt);
}

/// A type erased version of the watchdog driver
#[derive(Debug, Clone, Copy)]
pub struct WatchdogVTable {
    pub(crate) enabled: fn() -> bool,
    pub(crate) system_power: fn() -> Volt,
    //sim
    pub(crate) set_enabled: Option<fn(enabled: bool)>,
    pub(crate) set_system_power: Option<fn(voltage: Volt)>,
}
impl WatchdogVTable {
    pub(crate) fn from_driver<T: WatchdogDriver>() -> Self {
        assert!(
            std::mem::size_of::<T>() == 0,
            "Watchdog Driver must be zero sized"
        );
        Self {
            enabled: T::enabled,
            system_power: T::system_power,
            set_enabled: None,
            set_system_power: None,
        }
    }

    pub(crate) fn from_sim_driver<T: SimWatchdogDriver>() -> Self {
        assert!(
            std::mem::size_of::<T>() == 0,
            "Watchdog Driver must be zero sized"
        );
        Self {
            enabled: T::enabled,
            system_power: T::system_power,
            set_enabled: Some(T::set_enabled),
            set_system_power: Some(T::set_system_power),
        }
    }

    /// Gets whether the watchdog is enabled
    #[must_use]
    pub fn enabled(&self) -> bool {
        (self.enabled)()
    }

    /// Gets the systems voltage
    #[must_use]
    pub fn system_power(&self) -> Volt {
        (self.system_power)()
    }

    /// If initialized with sim support, sets whether the watchdog is enabled.
    /// Returns `Err` if not initialized with sim support
    #[allow(clippy::missing_errors_doc)]
    pub fn set_enabled(&self, enabled: bool) -> Result<(), NotSimError> {
        self.set_enabled.map_or(Err(NotSimError), |set_enabled| {
            set_enabled(enabled);
            Ok(())
        })
    }

    /// If initialized with sim support, sets the systems voltage.
    /// Returns `Err` if not initialized with sim support
    #[allow(clippy::missing_errors_doc)]
    pub fn set_system_power(&self, voltage: Volt) -> Result<(), NotSimError> {
        self.set_system_power
            .map_or(Err(NotSimError), |set_system_power| {
                set_system_power(voltage);
                Ok(())
            })
    }
}