Check both feature sets during linting

- Update checks workflow and precommit hooks
- Resolve clippy lint issues
- Create mod for GPIO mocks

.github/workflows/run-checks.yml

@@ -89,9 +89,12 @@ jobs:
       - name: Run cargo fmt
         run: cargo fmt --all -- --check
 
-      - name: Lint pod operation
+      - name: Lint pod operation (w/o rpi)
         run: cargo clippy -- -D warnings
 
+      - name: Lint pod operation (w/ rpi)
+        run: cargo clippy --features rpi -- -D warnings
+
       - name: Build Pod Operation Program (debug)
         run: cargo build --target $TARGET --config target.$TARGET.linker=\"aarch64-linux-gnu-gcc\"
 

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+	"rust-analyzer.cargo.features": [
+		// "rpi"
+	]
+}

pod-operation/package.json

@@ -3,7 +3,7 @@
 	"version": "1.0.0",
 	"description": "This Rust package is for the main program to be run on the pod. The program runs a finite-state machine to operate the pod components and acts as a Socket.IO server to communicate with the control station.",
 	"scripts": {
-		"lint": "cargo clippy",
+		"lint": "cargo clippy && cargo clippy --features rpi",
 		"format": "cargo fmt",
 		"test": "cargo test"
 	},

pod-operation/src/components/brakes.rs

@@ -1,5 +1,5 @@
 #[cfg(not(feature = "gpio"))]
-use crate::utils::mock::OutputPin;
+use crate::utils::mock::gpio::OutputPin;
 #[cfg(feature = "gpio")]
 use rppal::gpio::{Gpio, OutputPin};
 

pod-operation/src/components/gyro.rs

@@ -1,6 +1,8 @@
-use mpu6050::Mpu6050;
 #[cfg(feature = "mpu6050")]
-use rppal::{hal::Delay, i2c::I2c};
+use {
+	mpu6050::Mpu6050,
+	rppal::{hal::Delay, i2c::I2c},
+};
 
 use serde::Serialize;
 

pod-operation/src/components/high_voltage_system.rs

@@ -1,5 +1,5 @@
 #[cfg(not(feature = "gpio"))]
-use crate::utils::mock::OutputPin;
+use crate::utils::mock::gpio::OutputPin;
 #[cfg(feature = "gpio")]
 use rppal::gpio::{Gpio, OutputPin};
 

pod-operation/src/components/inverter_board.rs

@@ -1,7 +1,7 @@
 #[cfg(feature = "inverter")]
 use rppal::uart::{Parity, Uart};
 
-use tracing::info;
+use tracing::debug;
 
 #[cfg(feature = "inverter")]
 mod serial_constants {
@@ -31,6 +31,10 @@ impl InverterBoard {
 	#[cfg(feature = "inverter")]
 	pub fn send_control(&mut self, velocity: f32, throttle: f32) {
 		let message = format!("{velocity} {throttle}\n");
+		debug!(
+			"Sending inverter control message: {} {}",
+			velocity, throttle
+		);
 		self.uart.write(message.as_bytes()).unwrap();
 	}
 
@@ -42,7 +46,7 @@ impl InverterBoard {
 	/// Combine velocity and throttle into a space-separated string message
 	#[cfg(not(feature = "inverter"))]
 	pub fn send_control(&mut self, velocity: f32, throttle: f32) {
-		info!(
+		debug!(
 			"Mocking inverter sending message: {} {}",
 			velocity, throttle
 		);

pod-operation/src/components/lidar.rs

@@ -18,6 +18,7 @@ impl Lidar {
 			.expect("Failed to initialize I2C device");
 		let lidar_lite = LidarLiteV3::new(i2cdev).expect("Failed to initialize LidarLiteV3");
 
+		info!("Initialized LidarLite");
 		Lidar { lidar_lite }
 	}
 

pod-operation/src/components/lim_current.rs

@@ -16,9 +16,7 @@ const SENSITIVITY: f32 = 0.066; //Unit: vots/amp (v/a)
 
 fn voltage_to_current(voltage: i16) -> f32 {
 	let voltage = f32::from(voltage) / 1000.0;
-	let current = (voltage - QUIESCENT_VOLTAGE) / SENSITIVITY;
-	println!("Voltage: {}", voltage);
-	current
+	(voltage - QUIESCENT_VOLTAGE) / SENSITIVITY
 }
 
 pub struct LimCurrent {
@@ -33,12 +31,13 @@ impl LimCurrent {
 		let mut adc = Ads1x1x::new_ads1015(i2cdev, device_address);
 		adc.set_full_scale_range(FullScaleRange::Within4_096V)
 			.unwrap();
+		info!("Configured ADS1015 for for LimCurrent");
 		LimCurrent { ads1015: adc }
 	}
 
 	#[cfg(not(feature = "ads1015"))]
 	pub fn new(device_address: SlaveAddr) -> Self {
-		info!("Mocking ADS at {:?} for LimCurrnt", device_address);
+		info!("Mocking ADS at {:?} for LimCurrent", device_address);
 		LimCurrent {}
 	}
 

pod-operation/src/components/lim_temperature.rs

@@ -41,6 +41,7 @@ impl LimTemperature {
 	pub fn new(device_address: SlaveAddr) -> Self {
 		let i2cdev = I2c::new().unwrap();
 		let adc = Ads1x1x::new_ads1015(i2cdev, device_address);
+		info!("Configured ADS1015 for for LimTemperature");
 		LimTemperature {
 			// ads1015: Mutex::new(adc),
 			ads1015: adc,

pod-operation/src/components/pressure_transducer.rs

@@ -1,11 +1,11 @@
-#[cfg(feature = "ina219")]
-use rppal::i2c::I2c;
+use tracing::info;
 
-use ina219::INA219;
-use tracing::debug;
+#[cfg(feature = "ina219")]
+use {ina219::INA219, rppal::i2c::I2c};
 
 // The calibration value is used to adjust the maximum current measurement
 // and precision of measurements.
+#[cfg(feature = "ina219")]
 const INA219_CALIBRATION_VALUE: u16 = 0xffff;
 
 // The pod will be using two INA219s, so we'll need to differentiate them
@@ -18,6 +18,7 @@ const INA219_DOWNSTREAM_ADDRESS: u8 = 0x41;
 // this is not provided in the INA219 library that we are using. Note that this
 // value changes according to the calibration value. The exact formula can be
 // found in the INA219 datasheet.
+#[cfg(feature = "ina219")]
 const INA219_SCALING_VALUE: f32 = 160.0;
 
 struct Reference {
@@ -55,10 +56,10 @@ fn init_ina(device_address: u8) -> INA219<I2c> {
 	let device = I2c::new().unwrap();
 
 	let mut ina219 = INA219::new(device, device_address);
-	debug!("Initialized I2C and INA219");
+	info!("Initialized I2C and INA219");
 
 	ina219.calibrate(INA219_CALIBRATION_VALUE).unwrap();
-	debug!("Calibrating INA219");
+	info!("Calibrating INA219");
 
 	ina219
 }
@@ -73,6 +74,11 @@ impl PressureTransducer {
 	// This constructor should be used for INA219s where the address pins are
 	// grounded. That is, the device address is 0x40.
 	pub fn upstream() -> Self {
+		#[cfg(not(feature = "ina219"))]
+		info!(
+			"Mocking upstream pressure transducer at {}",
+			INA219_UPSTREAM_ADDRESS
+		);
 		Self {
 			#[cfg(feature = "ina219")]
 			ina: init_ina(INA219_UPSTREAM_ADDRESS),
@@ -83,6 +89,11 @@ impl PressureTransducer {
 	// This constructor should be used for INA219s where the address pin A0 is
 	// jumped. That is, the device address is 0x41.
 	pub fn downstream() -> Self {
+		#[cfg(not(feature = "ina219"))]
+		info!(
+			"Mocking downstream pressure transducer at {}",
+			INA219_DOWNSTREAM_ADDRESS
+		);
 		Self {
 			#[cfg(feature = "ina219")]
 			ina: init_ina(INA219_DOWNSTREAM_ADDRESS),

pod-operation/src/components/signal_light.rs

@@ -1,5 +1,5 @@
 #[cfg(not(feature = "gpio"))]
-use crate::utils::mock::OutputPin;
+use crate::utils::mock::gpio::OutputPin;
 #[cfg(feature = "gpio")]
 use rppal::gpio::{Gpio, OutputPin};
 

pod-operation/src/components/wheel_encoder.rs

@@ -1,7 +1,7 @@
 use std::{ops::Sub, time::Instant};
 
 #[cfg(not(feature = "gpio"))]
-use crate::utils::mock::{InputPin, Level};
+use crate::utils::mock::gpio::{InputPin, Level};
 #[cfg(feature = "gpio")]
 use rppal::gpio::{Gpio, InputPin, Level};
 

pod-operation/src/utils/mock.rs

@@ -1,46 +1,50 @@
-use tracing::info;
-
-/// Pin logic levels, copied from rppal::gpio
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-#[repr(u8)]
-pub enum Level {
-	Low = 0,
-	High = 1,
-}
-
-/// Mock for GPIO InputPin
-pub struct InputPin {
-	pub(crate) pin: u8,
-}
-
-impl InputPin {
-	pub fn read(&self) -> Level {
-		info!("Mocking reading pin {} as low", self.pin);
-		Level::Low
+#[cfg(not(feature = "gpio"))]
+pub mod gpio {
+	use tracing::{debug, info};
+
+	/// Pin logic levels, copied from rppal::gpio
+	#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+	#[repr(u8)]
+	#[allow(dead_code)]
+	pub enum Level {
+		Low = 0,
+		High = 1,
 	}
 
-	pub fn is_low(&self) -> bool {
-		info!("Mocking reading pin {} as low", self.pin);
-		true
+	/// Mock for GPIO InputPin
+	pub struct InputPin {
+		pub(crate) pin: u8,
 	}
 
-	pub fn is_high(&self) -> bool {
-		info!("Mocking reading pin {} as low", self.pin);
-		false
+	impl InputPin {
+		pub fn read(&self) -> Level {
+			debug!("Mocking reading pin {} as low", self.pin);
+			Level::Low
+		}
+
+		pub fn is_low(&self) -> bool {
+			debug!("Mocking reading pin {} as low", self.pin);
+			true
+		}
+
+		pub fn is_high(&self) -> bool {
+			debug!("Mocking reading pin {} as low", self.pin);
+			false
+		}
 	}
-}
-
-/// Mock for GPIO OutputPin
-pub struct OutputPin {
-	pub(crate) pin: u8,
-}
 
-impl OutputPin {
-	pub fn set_low(&self) {
-		info!("Mocking pin {} to low", self.pin);
+	/// Mock for GPIO OutputPin
+	pub struct OutputPin {
+		pub(crate) pin: u8,
 	}
 
-	pub fn set_high(&self) {
-		info!("Mocking pin {} to high", self.pin);
+	impl OutputPin {
+		pub fn set_low(&self) {
+			info!("Mocking pin {} to low", self.pin);
+		}
+
+		pub fn set_high(&self) {
+			info!("Mocking pin {} to high", self.pin);
+		}
 	}
 }