Module food_injection

Contains the trait implementation for the execution of the feed Implements the physical execution of a feed pattern, controlling pumps and the feeder.

This module provides the FoodInjectionTrait and its concrete implementation, FoodInjection. Its core responsibility is to translate a logical Feedpattern into a sequence of physical actions by communicating with the RelayManager. It manages the state of individual actuators, handles precise timing, and allows for graceful interruption.

Key Components

• FoodInjectionTrait: An abstraction for the food injection process. This is a critical design element that decouples the main Feed controller from the concrete implementation, enabling the use of mock injectors for unit testing.

• FoodInjection Struct: The primary implementation of the trait. It maintains the current known state of all relevant actuators (pumps, skimmer, feeder) to avoid sending redundant commands to the RelayManager.

• inject_food() Method: The main entry point. It iterates through each FeedPhase of a given Feedpattern, orchestrating the complex sequence of pausing pumps, running the feeder, and waiting for specified durations.

• switch_skimmer_pumps_feeder() Method: A private helper that compares the current actuator states with the target states for a given phase. If a state mismatch is found, it sends the appropriate SwitchOn/SwitchOff command and waits for confirmation.

Design and Architecture

The module is designed for robustness and safe operation in a concurrent environment.

• Stateful Execution: By tracking the state of each device (skimmer_state, main_pump1_state, etc.), the FoodInjection struct ensures that it only sends commands when a state change is actually required.

• Interruptible Loops: The waiting periods within inject_food are not simple sleep calls. They are implemented as tight loops that frequently check for a Quit command from the SignalHandler. This ensures that the entire feeding process can be aborted gracefully and quickly at any point.

• Guaranteed Cleanup: Regardless of whether the feed pattern completes, is interrupted, or encounters an error, a final cleanup step is always executed. This step ensures that all pumps are returned to their active state and the feeder is turned off, preventing the system from being left in a hazardous or undesirable state.

• Comprehensive Error Collection: Instead of failing on the first error, the inject_food method collects all errors encountered during the process into a Vec<FoodInjectionError>. This provides a complete picture of all failures that occurred during a single injection attempt, which is invaluable for diagnostics.

Structs

FoodInjection

Struct implements the FoodInjectionTrait for executing the feed pattern. It also contains state attributes for the actuators. Thread communication is as follows:

FoodInjectionTargetActuatorStates

Struct collects the target actuator states for switch_skimmer_pumps_feeder

Traits

FoodInjectionTrait

Trait for the execution of the feed pattern. This trait allows running the main control with a mock implementation for testing.