Make some functions more readable by using mutable references

aindustriosa · Aug 10, 2024 · dc94f64 · dc94f64
1 parent 068a683
commit dc94f64
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Showing 7 changed files with 47 additions and 48 deletions.
diff --git a/apps/line_follower/src/fsm.rs b/apps/line_follower/src/fsm.rs
@@ -12,7 +12,7 @@ pub enum FSMState {
 }
 
 pub trait Runnable {
-    fn run(&self, status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus);
+    fn run(&self, status: &mut LineFollowerStatus) -> FSMEvent;
 }
 
 #[derive(Clone, Copy)]
@@ -27,31 +27,31 @@ impl FSMState {
     pub fn next(
         self,
         event: FSMEvent,
-        mut status: LineFollowerStatus,
-    ) -> (FSMState, LineFollowerStatus) {
+        status: &mut LineFollowerStatus,
+    ) -> FSMState {
         match (self, event) {
-            (FSMState::Idle, FSMEvent::Button1Pressed) => (FSMState::HardwareCheck, status),
-            (FSMState::Idle, FSMEvent::Button2Pressed) => (FSMState::Calibration, status),
-            (FSMState::Idle, FSMEvent::BatteryIsLow) => (FSMState::BatteryLow, status),
+            (FSMState::Idle, FSMEvent::Button1Pressed) => FSMState::HardwareCheck,
+            (FSMState::Idle, FSMEvent::Button2Pressed) => FSMState::Calibration,
+            (FSMState::Idle, FSMEvent::BatteryIsLow) => FSMState::BatteryLow,
 
-            (FSMState::HardwareCheck, FSMEvent::NothingHappend) => (FSMState::Idle, status),
-            (FSMState::HardwareCheck, FSMEvent::BatteryIsLow) => (FSMState::BatteryLow, status),
+            (FSMState::HardwareCheck, FSMEvent::NothingHappend) => FSMState::Idle,
+            (FSMState::HardwareCheck, FSMEvent::BatteryIsLow) => FSMState::BatteryLow,
 
-            (FSMState::Calibration, FSMEvent::Button1Pressed) => (FSMState::LineFollowing, status),
-            (FSMState::Calibration, FSMEvent::Button2Pressed) => (FSMState::Idle, status),
-            (FSMState::Calibration, FSMEvent::BatteryIsLow) => (FSMState::BatteryLow, status),
+            (FSMState::Calibration, FSMEvent::Button1Pressed) => FSMState::LineFollowing,
+            (FSMState::Calibration, FSMEvent::Button2Pressed) => FSMState::Idle,
+            (FSMState::Calibration, FSMEvent::BatteryIsLow) => FSMState::BatteryLow,
 
-            (FSMState::LineFollowing, FSMEvent::Button2Pressed) => (FSMState::Idle, status),
-            (FSMState::LineFollowing, FSMEvent::BatteryIsLow) => (FSMState::BatteryLow, status),
+            (FSMState::LineFollowing, FSMEvent::Button2Pressed) => FSMState::Idle,
+            (FSMState::LineFollowing, FSMEvent::BatteryIsLow) => FSMState::BatteryLow,
 
             (_s, _e) => {
                 Logger::new(&mut status.board.serial.tx).log("default to idle state\r\n");
-                (FSMState::Idle, status)
+                FSMState::Idle
             }
         }
     }
 
-    pub fn run<'a>(&self, mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
+    pub fn run<'a>(&self, status: &mut LineFollowerStatus) -> FSMEvent {
         let mut logger = Logger::new(&mut status.board.serial.tx);
         match *self {
             FSMState::Idle {} => fsm_states::idle::run(status),

diff --git a/apps/line_follower/src/fsm_states/battery_low.rs b/apps/line_follower/src/fsm_states/battery_low.rs
@@ -20,7 +20,7 @@ use crate::line_follower_status::LineFollowerStatus;
 
 use logging::Logger;
 
-pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
+pub fn run(status: & mut  LineFollowerStatus) -> FSMEvent {
     let mut logger = Logger::new(&mut status.board.serial.tx);
     logger.log("Battery low state\r\n");
 
@@ -33,7 +33,7 @@ pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
 
         if !status.board.battery_sensor.is_battery_low() {
             logger.log("Battery is no longer low\r\n");
-            return (FSMEvent::NothingHappend, status);
+            return FSMEvent::NothingHappend;
         }
     }
 }

diff --git a/apps/line_follower/src/fsm_states/calibration.rs b/apps/line_follower/src/fsm_states/calibration.rs
@@ -24,7 +24,7 @@ use crate::line_follower_status::LineFollowerStatus;
 
 use logging::Logger;
 
-pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
+pub fn run(status: & mut  LineFollowerStatus) -> FSMEvent {
     let mut logger = Logger::new(&mut status.board.serial.tx);
     logger.log("Calibration state\r\n");
 
@@ -39,14 +39,14 @@ pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
         }
         if status.board.btn_2.is_pressed() {
             logger.log("Exit calibration\r\n");
-            return (FSMEvent::Button2Pressed, status);
+            return FSMEvent::Button2Pressed;
         }
         if let Ok(serial_input) = status.board.serial.rx.read() {
             match serial_input {
                 b'1' => break,
                 b'2' => {
                     logger.log("Exit calibration\r\n");
-                    return (FSMEvent::Button2Pressed, status);
+                    return FSMEvent::Button2Pressed;
                 }
                 _ => {}
             }
@@ -67,16 +67,16 @@ pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
     logger.log("Press button 2 to go back to idle\r\n");
     loop {
         if status.board.btn_1.is_pressed() {
-            return (FSMEvent::Button1Pressed, status);
+            return FSMEvent::Button1Pressed;
         }
         if status.board.btn_2.is_pressed() {
             logger.log("Exit calibration\r\n");
-            return (FSMEvent::Button2Pressed, status);
+            return FSMEvent::Button2Pressed;
         }
         if let Ok(serial_input) = status.board.serial.rx.read() {
             match serial_input {
-                b'1' => return (FSMEvent::Button1Pressed, status),
-                b'2' => return (FSMEvent::Button2Pressed, status),
+                b'1' => return FSMEvent::Button1Pressed,
+                b'2' => return FSMEvent::Button2Pressed,
                 _ => {}
             }
         }

diff --git a/apps/line_follower/src/fsm_states/hardware_check.rs b/apps/line_follower/src/fsm_states/hardware_check.rs
@@ -20,7 +20,7 @@ use crate::line_follower_status::LineFollowerStatus;
 
 use logging::Logger;
 
-pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
+pub fn run(status: & mut  LineFollowerStatus) -> FSMEvent {
     let mut logger = Logger::new(&mut status.board.serial.tx);
     logger.log("Hardware check state\r\n");
 
@@ -50,9 +50,9 @@ pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
 
     if status.board.battery_sensor.is_battery_low() {
         logger.log("Battery is low\r\n");
-        (FSMEvent::BatteryIsLow, status)
+        FSMEvent::BatteryIsLow
     } else {
-        (FSMEvent::NothingHappend, status)
+        FSMEvent::NothingHappend
     }
 }
 

diff --git a/apps/line_follower/src/fsm_states/idle.rs b/apps/line_follower/src/fsm_states/idle.rs
@@ -22,37 +22,37 @@ use crate::line_follower_status::LineFollowerStatus;
 
 use logging::Logger;
 
-pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
+pub fn run(status: &mut LineFollowerStatus) -> FSMEvent {
     let mut logger = Logger::new(&mut status.board.serial.tx);
     logger.log("Idle state\r\n");
     status.board.led_d1.set_high();
     status.board.led_d2.set_low();
 
-    logger = print_menu(logger);
+    print_menu(&mut logger);
 
     loop {
         if status.board.btn_1.is_pressed() {
-            return (FSMEvent::Button1Pressed, status);
+            return FSMEvent::Button1Pressed;
         }
 
         if status.board.btn_2.is_pressed() {
-            return (FSMEvent::Button2Pressed, status);
+            return FSMEvent::Button2Pressed;
         }
 
         if status.board.battery_sensor.is_battery_low() {
-            return (FSMEvent::BatteryIsLow, status);
+            return FSMEvent::BatteryIsLow;
         }
 
         if let Ok(byte) = status.board.serial.rx.read() {
             match byte {
                 b'1' => {
-                    return (FSMEvent::Button1Pressed, status);
+                    return FSMEvent::Button1Pressed;
                 }
                 b'2' => {
-                    return (FSMEvent::Button2Pressed, status);
+                    return FSMEvent::Button2Pressed;
                 }
                 b'l' => {
-                    return (FSMEvent::BatteryIsLow, status);
+                    return FSMEvent::BatteryIsLow;
                 }
                 _ => {
                     logger.log("Invalid input\r\n");
@@ -62,13 +62,12 @@ pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
     }
 }
 
-fn print_menu(mut logger: Logger) -> Logger {
+fn print_menu(logger: &mut Logger) {
     logger.log("Menu:\r\n");
     logger.log(" press button 1 to go to hardware check state\r\n");
     logger.log(" press button 2 to go to calibration state\r\n");
     logger.log(" you can also use the following keys:\r\n");
     logger.log(" press '1' to go to hardware check state\r\n");
     logger.log(" press '2' to go to calibration state\r\n");
     logger.log(" press 'l' to go to battery low state\r\n");
-    logger
 }
diff --git a/apps/line_follower/src/fsm_states/line_following.rs b/apps/line_follower/src/fsm_states/line_following.rs
@@ -17,7 +17,7 @@ use crate::line_follower_status::LineFollowerStatus;
 
 use logging::Logger;
 
-pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
+pub fn run( status: & mut LineFollowerStatus) -> FSMEvent {
     let mut logger = Logger::new(&mut status.board.serial.tx);
     logger.log("Line following state\r\n");
 
@@ -28,15 +28,15 @@ pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
         status.board.delay.delay_ms(50u32);
 
         if status.board.btn_2.is_pressed() {
-            return (FSMEvent::Button2Pressed, status);
+            return FSMEvent::Button2Pressed;
         }
         if status.board.battery_sensor.is_battery_low() {
-            return (FSMEvent::BatteryIsLow, status);
+            return FSMEvent::BatteryIsLow;
         }
         if let Ok(serial_input) = status.board.serial.rx.read() {
             match serial_input {
                 b'2' => {
-                    return (FSMEvent::Button2Pressed, status);
+                    return FSMEvent::Button2Pressed;
                 }
                 _ => {}
             }
@@ -45,5 +45,5 @@ pub fn run(mut status: LineFollowerStatus) -> (FSMEvent, LineFollowerStatus) {
 
     logger.log("End of line following\r\n");
 
-    (FSMEvent::NothingHappend, status)
+    FSMEvent::NothingHappend
 }
diff --git a/apps/line_follower/src/main.rs b/apps/line_follower/src/main.rs
@@ -34,18 +34,18 @@ fn main() -> ! {
     let mut fsm_event;
 
     loop {
-        (fsm_event, line_follower_status) = fsm_state.run(line_follower_status);
+        fsm_event = fsm_state.run(&mut line_follower_status);
         log_event(&mut line_follower_status.board, fsm_event);
-        (fsm_state, line_follower_status) = fsm_state.next(fsm_event, line_follower_status);
+        fsm_state = fsm_state.next(fsm_event, &mut line_follower_status);
     }
 }
 
 fn log_event(board: &mut Mightybuga_BSC, event: FSMEvent) {
     let mut logger = Logger::new(&mut board.serial.tx);
     match event {
-        FSMEvent::NothingHappend => logger.log("Nothing happened\r\n"),
-        FSMEvent::Button1Pressed => logger.log("Button 1 pressed\r\n"),
-        FSMEvent::Button2Pressed => logger.log("Button 2 pressed\r\n"),
-        FSMEvent::BatteryIsLow => logger.log("Battery is low\r\n"),
+        FSMEvent::NothingHappend => logger.log(" - Nothing happened -\r\n"),
+        FSMEvent::Button1Pressed => logger.log(" - Button 1 pressed -\r\n"),
+        FSMEvent::Button2Pressed => logger.log(" - Button 2 pressed -\r\n"),
+        FSMEvent::BatteryIsLow => logger.log(" - Battery is low -\r\n"),
     }
 }