macros/node-poll-variants/src/lib.rs

@@ -142,6 +142,8 @@ pub fn poll_variant_macro(input: TokenStream) -> TokenStream {
     let publisher_path: Path = parse_quote!(physical_node::transducer::Publisher);
     let cellview_path: Path = parse_quote!(physical_node::cell::CellView);
 
+    let error_path: Path = parse_quote!(physical_node::CriticalError);
+
     let expanded = quote! {
         // ----- Stateful struct ----------------------------------
         #vis struct #stateful_variant_ident #og_generics #og_where_clause {
@@ -153,11 +155,13 @@ pub fn poll_variant_macro(input: TokenStream) -> TokenStream {
         impl #og_impl_generics #poll_path for #stateful_variant_ident #og_type_generics #og_where_clause {
             type Value = #value_type_path;
 
-            #[inline(always)]
-            async fn poll(&self) -> Self::Value {
-                let value = self.poll.poll().await;
+            #[inline]
+            async fn poll(&self) -> Result<Self::Value, #error_path> {
+                let result = self.poll.poll().await;
+                if let Ok(value) = result {
                     self.state.update(value);
-                value
+                }
+                result
             }
         }
 
@@ -187,11 +191,13 @@ pub fn poll_variant_macro(input: TokenStream) -> TokenStream {
         impl #publ_impl_generics #poll_path for #publish_variant_ident #publ_type_generics #publ_where_clause {
             type Value = #value_type_path;
 
-            #[inline(always)]
-            async fn poll(&self) -> Self::Value {
-                let value = self.poll.poll().await;
+            #[inline]
+            async fn poll(&self) -> Result<Self::Value, #error_path> {
+                let result = self.poll.poll().await;
+                if let Ok(value) = result {
                     self.publisher.update(value);
-                value
+                }
+                result
             }
         }
 
@@ -221,11 +227,13 @@ pub fn poll_variant_macro(input: TokenStream) -> TokenStream {
             type Value = #value_type_path;
 
             #[inline]
-            async fn poll(&self) -> Self::Value {
-                let value = self.poll.poll().await;
+            async fn poll(&self) -> Result<Self::Value, #error_path> {
+                let result = self.poll.poll().await;
+                if let Ok(value) = result {
                     self.state.update(value);
                     self.publisher.update(value);
-                value
+                }
+                result
             }
         }
 

macros/node-poll-variants/tests/generate.rs

@@ -1,6 +1,7 @@
 #![feature(async_fn_in_trait, impl_trait_projections)]
 
 use node_poll_variants::PollVariants;
+use physical_node::CriticalError;
 use physical_node::transducer::input::Poll;
 
 #[derive(PollVariants)]
@@ -21,8 +22,8 @@ where
 {
     type Value = SecondT;
 
-    async fn poll(&self) -> Self::Value {
-        self.second
+    async fn poll(&self) -> Result<Self::Value, CriticalError> {
+        Ok(self.second)
     }
 }
 

node/src/lib.rs

@@ -6,3 +6,5 @@ pub mod transducer;
 pub mod cell {
     pub use physical::cell::*;
 }
+
+pub use physical::CriticalError;

peripheral-components/ads1256/node/src/standard_multiplexer/sync/poll.rs

@@ -1,11 +1,12 @@
 use ads1256::{
-    AdControl, Ads1256, BlockingDelay, DataRate, Multiplexer, OutputPin, SpiBus, Status, Wait,
+    AdControl, Ads1256, BlockingDelay, DataRate, Gain, Multiplexer, OutputPin, SpiBus, Status, Wait,
 };
 use core::ops::DerefMut;
 use embassy_sync::blocking_mutex::raw::RawMutex;
 use embassy_sync::mutex::Mutex;
 use node_poll_variants::PollVariants;
 use physical_node::transducer::input::Poll;
+use physical_node::CriticalError;
 use uom::si::f32;
 
 #[derive(PollVariants)]
@@ -36,8 +37,9 @@ where
 {
     type Value = f32::ElectricPotential;
 
-    async fn poll(&self) -> Self::Value {
-        self.ads1256
+    async fn poll(&self) -> Result<Self::Value, CriticalError> {
+        let result = self
+            .ads1256
             .lock()
             .await
             .deref_mut()
@@ -49,13 +51,20 @@ where
                 self.input_mod.data_rate(),
                 true,
             )
-            .await
+            .await;
+
+        match result {
+            Ok(conversion) => Ok(conversion.to_voltage(self.input_mod.gain())),
+            Err(_) => Err(CriticalError::Communication),
+        }
     }
 }
 
-pub trait ModInput {
+pub trait ModInput: Copy {
     fn multiplexer(self) -> Multiplexer;
 
+    fn gain(self) -> Gain;
+
     fn status(self) -> Option<Status>;
 
     fn ad_control(self) -> Option<AdControl>;
@@ -64,8 +73,12 @@ pub trait ModInput {
 }
 
 /// buffer
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInStatus {
     pub multiplexer: Multiplexer,
+    /// Only used for converting to voltage, this value must match what is set on the ADS1256, it
+    /// will not *be* set unlike the other fields.
+    pub gain: Gain,
     pub status: Status,
 }
 
@@ -75,6 +88,11 @@ impl ModInput for ModInStatus {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.gain
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)
@@ -92,6 +110,7 @@ impl ModInput for ModInStatus {
 }
 
 /// gain
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInAdControl {
     pub multiplexer: Multiplexer,
     pub ad_control: AdControl,
@@ -103,6 +122,11 @@ impl ModInput for ModInAdControl {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         None
@@ -120,8 +144,12 @@ impl ModInput for ModInAdControl {
 }
 
 /// data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInDataRate {
     pub multiplexer: Multiplexer,
+    /// Only used for converting to voltage, this value must match what is set on the ADS1256, it
+    /// will not *be* set unlike the other fields.
+    pub gain: Gain,
     pub data_rate: DataRate,
 }
 
@@ -131,6 +159,11 @@ impl ModInput for ModInDataRate {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.gain
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         None
@@ -148,6 +181,7 @@ impl ModInput for ModInDataRate {
 }
 
 /// buffer, gain
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInStatAdc {
     pub multiplexer: Multiplexer,
     pub status: Status,
@@ -160,6 +194,11 @@ impl ModInput for ModInStatAdc {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)
@@ -177,8 +216,12 @@ impl ModInput for ModInStatAdc {
 }
 
 /// buffer, data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInStatDrate {
     pub multiplexer: Multiplexer,
+    /// Only used for converting to voltage, this value must match what is set on the ADS1256, it
+    /// will not *be* set unlike the other fields.
+    pub gain: Gain,
     pub status: Status,
     pub data_rate: DataRate,
 }
@@ -189,6 +232,11 @@ impl ModInput for ModInStatDrate {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.gain
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)
@@ -206,6 +254,7 @@ impl ModInput for ModInStatDrate {
 }
 
 // gain, data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInAdcDrate {
     pub multiplexer: Multiplexer,
     pub ad_control: AdControl,
@@ -218,6 +267,11 @@ impl ModInput for ModInAdcDrate {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         None
@@ -235,6 +289,7 @@ impl ModInput for ModInAdcDrate {
 }
 
 /// buffer, gain, data rate
+#[derive(Copy, Clone, Eq, PartialEq)]
 pub struct ModInAll {
     pub multiplexer: Multiplexer,
     pub status: Status,
@@ -248,6 +303,11 @@ impl ModInput for ModInAll {
         self.multiplexer
     }
 
+    #[inline(always)]
+    fn gain(self) -> Gain {
+        self.ad_control.gain()
+    }
+
     #[inline(always)]
     fn status(self) -> Option<Status> {
         Some(self.status)

src/lib.rs

@@ -5,4 +5,4 @@ pub mod transducer;
 pub mod cell;
 mod error;
 
-pub use error::*;
+pub use error::CriticalError;

src/transducer/input.rs

@@ -1,5 +1,7 @@
+use crate::CriticalError;
+
 pub trait Poll {
     type Value: Copy;
 
-    async fn poll(&self) -> Self::Value;
+    async fn poll(&self) -> Result<Self::Value, CriticalError>;
 }