Removes the lifecycle trait (#115)

* Removes the lifecycle trait It split artificially the implementation of tasks and couples the passed types. * Fixedd comments + template * Another pass on removing the lifecycle trait.
copper-project · Dec 1, 2024 · 178174a · 178174a
1 parent 13c79fe
commit 178174a
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Showing 26 changed files with 354 additions and 386 deletions.
diff --git a/README.md b/README.md
@@ -173,33 +173,33 @@ pub struct FlippingSource {
     state: bool,
 }
 
-// You need to provide at least "new". But you have other hooks in to the Lifecycle you can leverage 
-// to maximize your opportunity to not use resources outside of the critical execution path: for example start, stop, 
-// pre_process, post_process etc...
-impl CuTaskLifecycle for FlippingSource {
-    fn new(_config: Option<&copper::config::ComponentConfig>) -> CuResult<Self>
+// We implement the CuSrcTask trait for our task as it is a source / driver (with no internal input from Copper itself).
+impl<'cl> CuSrcTask<'cl> for FlippingSource {
+    type Output = output_msg!('cl, RPGpioPayload);
+
+    // You need to provide at least "new" out of the lifecycle methods.
+    // But you have other hooks in to the Lifecycle you can leverage to maximize your opportunity 
+    // to not use resources outside of the critical execution path: for example start, stop, 
+    // pre_process, post_process etc...
+    fn new(config: Option<&copper::config::ComponentConfig>) -> CuResult<Self>
     where
         Self: Sized,
     {
+        // the config is passed from the RON config file as a Map.
         Ok(Self { state: true })
     }
-}
-
-// We implement the CuSrcTask trait for our task as it is a source / driver (with no internal input from Copper itself).
-impl<'cl> CuSrcTask<'cl> for FlippingSource {
-    type Output = output_msg!('cl, RPGpioPayload);
-
+    
     // Process is called by the runtime at each cycle. It will give:
     // 1. the reference to a monotonic clock
     // 2. a mutable reference to the output message (so no need to allocate of copy anything)
     // 3. a CuResult to handle errors
     fn process(&mut self, clock: &RobotClock, output: Self::Output) -> CuResult<()> {
         self.state = !self.state;   // Flip our internal state and send the message in our output.
-        output.payload = RPGpioPayload {
+        output.set_payload(RPGpioPayload {
             on: self.state,
             creation: Some(clock.now()).into(),
             actuation: Some(clock.now()).into(),
-        };
+        });
         Ok(())
     }
 }

diff --git a/components/sinks/cu_iceoryx2_sink/src/lib.rs b/components/sinks/cu_iceoryx2_sink/src/lib.rs
@@ -1,7 +1,7 @@
 use cu29::clock::RobotClock;
 use cu29::config::ComponentConfig;
 use cu29::cutask::{CuMsg, CuMsgPayload};
-use cu29::cutask::{CuSinkTask, CuTaskLifecycle, Freezable};
+use cu29::cutask::{CuSinkTask, Freezable};
 use cu29::input_msg;
 use cu29_log_derive::debug;
 use cu29_traits::{CuError, CuResult};
@@ -25,10 +25,12 @@ where
 
 impl<P> Freezable for IceoryxSink<P> where P: CuMsgPayload {}
 
-impl<P> CuTaskLifecycle for IceoryxSink<P>
+impl<'cl, P> CuSinkTask<'cl> for IceoryxSink<P>
 where
-    P: CuMsgPayload,
+    P: CuMsgPayload + 'cl,
 {
+    type Input = input_msg!('cl, P);
+
     fn new(config: Option<&ComponentConfig>) -> CuResult<Self>
     where
         Self: Sized,
@@ -72,18 +74,6 @@ where
         Ok(())
     }
 
-    fn stop(&mut self, _clock: &RobotClock) -> CuResult<()> {
-        self.publisher = None;
-        Ok(())
-    }
-}
-
-impl<'cl, P> CuSinkTask<'cl> for IceoryxSink<P>
-where
-    P: CuMsgPayload + 'cl,
-{
-    type Input = input_msg!('cl, P);
-
     fn process(&mut self, _clock: &RobotClock, input: Self::Input) -> CuResult<()> {
         let publisher = self
             .publisher
@@ -101,4 +91,9 @@ where
 
         Ok(())
     }
+
+    fn stop(&mut self, _clock: &RobotClock) -> CuResult<()> {
+        self.publisher = None;
+        Ok(())
+    }
 }
diff --git a/components/sinks/cu_lewansoul/src/lib.rs b/components/sinks/cu_lewansoul/src/lib.rs
@@ -4,7 +4,7 @@ use bincode::error::{DecodeError, EncodeError};
 use bincode::{Decode, Encode};
 use cu29::clock::RobotClock;
 use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSinkTask, CuTaskLifecycle, Freezable};
+use cu29::cutask::{CuMsg, CuSinkTask, Freezable};
 use cu29::{input_msg, CuError, CuResult};
 use serialport::{DataBits, FlowControl, Parity, SerialPort, StopBits};
 use std::io::{self, Read, Write};
@@ -178,7 +178,29 @@ impl Freezable for Lewansoul {
     // This driver is stateless as the IDs are recreate at new time, we keep the default implementation.
 }
 
-impl CuTaskLifecycle for Lewansoul {
+#[derive(Debug, Clone, Default)]
+pub struct ServoPositionsPayload {
+    pub positions: [Angle; MAX_SERVOS],
+}
+
+impl Encode for ServoPositionsPayload {
+    fn encode<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError> {
+        let angles: [f32; MAX_SERVOS] = self.positions.map(|a| a.value);
+        angles.encode(encoder)
+    }
+}
+
+impl Decode for ServoPositionsPayload {
+    fn decode<D: Decoder>(decoder: &mut D) -> Result<Self, DecodeError> {
+        let angles: [f32; 8] = Decode::decode(decoder)?;
+        let positions: [Angle; 8] = angles.map(Angle::new::<radian>);
+        Ok(ServoPositionsPayload { positions })
+    }
+}
+
+impl<'cl> CuSinkTask<'cl> for Lewansoul {
+    type Input = input_msg!('cl, ServoPositionsPayload);
+
     fn new(config: Option<&ComponentConfig>) -> CuResult<Self>
     where
         Self: Sized,
@@ -220,30 +242,6 @@ impl CuTaskLifecycle for Lewansoul {
 
         Ok(Lewansoul { port, ids })
     }
-}
-
-#[derive(Debug, Clone, Default)]
-pub struct ServoPositionsPayload {
-    pub positions: [Angle; MAX_SERVOS],
-}
-
-impl Encode for ServoPositionsPayload {
-    fn encode<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError> {
-        let angles: [f32; MAX_SERVOS] = self.positions.map(|a| a.value);
-        angles.encode(encoder)
-    }
-}
-
-impl Decode for ServoPositionsPayload {
-    fn decode<D: Decoder>(decoder: &mut D) -> Result<Self, DecodeError> {
-        let angles: [f32; 8] = Decode::decode(decoder)?;
-        let positions: [Angle; 8] = angles.map(Angle::new::<radian>);
-        Ok(ServoPositionsPayload { positions })
-    }
-}
-
-impl<'cl> CuSinkTask<'cl> for Lewansoul {
-    type Input = input_msg!('cl, ServoPositionsPayload);
 
     fn process(&mut self, _clock: &RobotClock, _input: Self::Input) -> CuResult<()> {
         todo!()

diff --git a/components/sinks/cu_rp_gpio/src/lib.rs b/components/sinks/cu_rp_gpio/src/lib.rs
@@ -1,13 +1,14 @@
 use bincode::{Decode, Encode};
 use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSinkTask, CuTaskLifecycle, Freezable};
+use cu29::cutask::{CuMsg, CuSinkTask, Freezable};
+use cu29::input_msg;
 use cu29::CuResult;
-use cu29::{clock, input_msg};
 use serde::{Deserialize, Serialize};
 
 #[cfg(mock)]
 use cu29_log_derive::debug;
 
+use cu29::clock::RobotClock;
 #[cfg(hardware)]
 use {
     cu29::CuError,
@@ -64,7 +65,9 @@ impl From<RPGpioPayload> for Level {
 
 impl Freezable for RPGpio {}
 
-impl CuTaskLifecycle for RPGpio {
+impl<'cl> CuSinkTask<'cl> for RPGpio {
+    type Input = input_msg!('cl, RPGpioPayload);
+
     fn new(config: Option<&ComponentConfig>) -> CuResult<Self>
     where
         Self: Sized,
@@ -86,12 +89,8 @@ impl CuTaskLifecycle for RPGpio {
         let pin = pin_nb;
         Ok(Self { pin })
     }
-}
-
-impl<'cl> CuSinkTask<'cl> for RPGpio {
-    type Input = input_msg!('cl, RPGpioPayload);
 
-    fn process(&mut self, _clock: &clock::RobotClock, msg: Self::Input) -> CuResult<()> {
+    fn process(&mut self, _clock: &RobotClock, msg: Self::Input) -> CuResult<()> {
         #[cfg(hardware)]
         self.pin.write((*msg.payload().unwrap()).into());
 

diff --git a/components/sinks/cu_rp_sn754410/src/lib.rs b/components/sinks/cu_rp_sn754410/src/lib.rs
@@ -4,7 +4,7 @@ use bincode::error::{DecodeError, EncodeError};
 use bincode::{Decode, Encode};
 use cu29::clock::{CuTime, RobotClock};
 use cu29::config::ComponentConfig;
-use cu29::cutask::{CuMsg, CuSinkTask, CuTaskLifecycle, Freezable};
+use cu29::cutask::{CuMsg, CuSinkTask, Freezable};
 use cu29::{input_msg, CuResult};
 use serde::{Deserialize, Serialize};
 
@@ -126,7 +126,19 @@ impl SN754410 {
     }
 }
 
-impl CuTaskLifecycle for SN754410 {
+impl Freezable for SN754410 {
+    fn freeze<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError> {
+        Encode::encode(&self.current_power, encoder)
+    }
+
+    fn thaw<D: Decoder>(&mut self, decoder: &mut D) -> Result<(), DecodeError> {
+        self.current_power = Decode::decode(decoder)?;
+        Ok(())
+    }
+}
+
+impl<'cl> CuSinkTask<'cl> for SN754410 {
+    type Input = input_msg!('cl, MotorPayload);
     fn new(config: Option<&ComponentConfig>) -> CuResult<Self>
     where
         Self: Sized,
@@ -162,26 +174,6 @@ impl CuTaskLifecycle for SN754410 {
         debug!("Enabling SN754410.");
         self.enable_pwms()
     }
-    fn stop(&mut self, _clock: &RobotClock) -> CuResult<()> {
-        debug!("Disabling SN754410.");
-        self.disable_pwms()
-    }
-}
-
-impl Freezable for SN754410 {
-    fn freeze<E: Encoder>(&self, encoder: &mut E) -> Result<(), EncodeError> {
-        Encode::encode(&self.current_power, encoder)
-    }
-
-    fn thaw<D: Decoder>(&mut self, decoder: &mut D) -> Result<(), DecodeError> {
-        self.current_power = Decode::decode(decoder)?;
-        Ok(())
-    }
-}
-
-impl<'cl> CuSinkTask<'cl> for SN754410 {
-    type Input = input_msg!('cl, MotorPayload);
-
     fn process(&mut self, clock: &RobotClock, input: Self::Input) -> CuResult<()> {
         if let Some(power) = input.payload() {
             if self.dryrun {
@@ -224,27 +216,30 @@ impl<'cl> CuSinkTask<'cl> for SN754410 {
         }
         Ok(())
     }
+
+    fn stop(&mut self, _clock: &RobotClock) -> CuResult<()> {
+        debug!("Disabling SN754410.");
+        self.disable_pwms()
+    }
 }
 
 pub mod test_support {
     use crate::MotorPayload;
     use cu29::clock::RobotClock;
     use cu29::config::ComponentConfig;
-    use cu29::cutask::{CuMsg, CuSrcTask, CuTaskLifecycle, Freezable};
+    use cu29::cutask::{CuMsg, CuSrcTask, Freezable};
     use cu29::{output_msg, CuResult};
 
     pub struct SN754410TestSrc;
 
     impl Freezable for SN754410TestSrc {}
 
-    impl CuTaskLifecycle for SN754410TestSrc {
+    impl<'cl> CuSrcTask<'cl> for SN754410TestSrc {
+        type Output = output_msg!('cl, MotorPayload);
+
         fn new(_config: Option<&ComponentConfig>) -> CuResult<Self> {
             Ok(Self {})
         }
-    }
-
-    impl<'cl> CuSrcTask<'cl> for SN754410TestSrc {
-        type Output = output_msg!('cl, MotorPayload);
 
         fn process(&mut self, _clock: &RobotClock, _new_msg: Self::Output) -> CuResult<()> {
             todo!()

diff --git a/components/sinks/cu_rp_sn754410/tests/sn754410_tester.rs b/components/sinks/cu_rp_sn754410/tests/sn754410_tester.rs
@@ -1,4 +1,4 @@
-use cu29::cutask::{CuSinkTask, CuTaskLifecycle};
+use cu29::cutask::CuSinkTask;
 use cu29_derive::copper_runtime;
 use cu29_helpers::basic_copper_setup;
 use cu29_log_derive::debug;