added can device handler implementation
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lkoester
parent
9e77b31d5a
commit
875ac6280a
@ -151,7 +151,7 @@ impl CanTxHandler {
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if self.package_map.contains_key(&package_id) {
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let value = self.package_map.get(&package_id).unwrap();
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if value.get_sender() == DeviceId::OBC {
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if value.get_thread() == self.thread_id {
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//if value.get_thread() == self.thread_id {
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if data.len() <= 8 {
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let frame_id = package_id_to_can_id(&package_id);
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let frame = CanFrame::new(frame_id, data);
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@ -166,12 +166,14 @@ impl CanTxHandler {
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data.len()
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);
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}
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} else {
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/*} else {
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warn!(
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"Message dismissed, mismatched thread id: {:?}",
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value.get_thread()
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);
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}
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*/
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} else {
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warn!(
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"Message dismissed, wrong sender id: {:?}",
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@ -1,7 +1,7 @@
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use std::collections::HashMap;
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use std::hash::Hash;
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use std::sync::mpsc::{Receiver, Sender};
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use log::info;
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use std::sync::mpsc::{Receiver, RecvError, Sender};
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use log::{info, warn};
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use crate::can_ids::{DeviceId, PackageId, PackageModel, ThreadId};
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use socketcan::{errors, frame, socket, CanFrame, Socket};
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@ -19,54 +19,145 @@ pub enum DeviceState {
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Unknown,
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}
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pub struct DeviceHandler {
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pub struct CanDeviceHandler {
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device_state_map: HashMap<DeviceId, DeviceState>,
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can_tx_handler: CanTxHandler,
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can_rx_receiver: Receiver<PackageModel>,
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}
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impl DeviceHandler {
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pub fn new(can_tx_handler: CanTxHandler, can_rx_receiver: Receiver<PackageModel>) -> DeviceHandler {
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impl CanDeviceHandler {
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pub fn new(can_tx_handler: CanTxHandler, can_rx_receiver: Receiver<PackageModel>) -> CanDeviceHandler {
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let mut device_state_map:HashMap<DeviceId, DeviceState> = HashMap::new();
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for id in DeviceId::iter() {
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device_state_map.insert(id, DeviceState::Unknown);
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}
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DeviceHandler{ device_state_map, can_tx_handler, can_rx_receiver }
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}
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pub fn power_up_seq(&mut self) {
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for id in DeviceId::iter() {
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let power_on_success = self.power_on(id);
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match power_on_success{
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Ok(_) => {info!("{:?} powered up successfully.", id)}
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Err(_) => {info!("{:?} failed to power up.", id)}
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}
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}
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CanDeviceHandler { device_state_map, can_tx_handler, can_rx_receiver }
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}
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pub fn power_on(&mut self, id: DeviceId) -> Result<(),()> {
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if !self.device_state_map.contains_key(&id) {
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return Err(());
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}
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info!("Powering on device {:?}", id);
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let msg_data: [u8; 1] = [id as u8];
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self.can_tx_handler.tx_socket(PackageId::DevicePowerOnRequest, &msg_data);
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match self.get_power_state(id) {
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None => {return Err(());}
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Some(power_state) => {
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if *power_state != DeviceState::On {
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let request_confirmation = self.can_rx_receiver.recv();
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match request_confirmation {
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Ok(confirmation) => {
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if confirmation.package_id() != PackageId::DevicePowerOnRequestConfirmation {
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warn!("Wrong package ID.");
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return Err(());
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}
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if confirmation.data()[0] != id as u8 {
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warn!("Wrong device ID.");
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return Err(());
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}
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if confirmation.data()[1] != 1 {
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warn!("Request unsuccessful.");
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return Err(());
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}
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info!("Power on request confirmation received.");
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}
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Err(_) => {
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warn!("Error receiving package.");
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return Err(());
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}
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}
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let request_success = self.can_rx_receiver.recv();
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match request_success {
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Ok(success) => {
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if success.package_id() != PackageId::DevicePowerOnConfirmation {
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warn!("Wrong package ID.");
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return Err(());
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}
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if success.data()[0] != id as u8 {
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warn!("Wrong device ID.");
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return Err(());
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}
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if success.data()[1] != 1 {
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warn!("Power on unsuccessful.");
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return Err(());
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}
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info!("Power on confirmation received.");
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}
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Err(_) => {
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warn!("Error receiving package.");
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return Err(());
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}
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}
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Ok(())
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}
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pub fn power_off(&mut self, id: DeviceId) -> Result<(),()> {
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if !self.device_state_map.contains_key(&id) {
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return Err(());
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}
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info!("Powering on device {:?}", id);
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let msg_data: [u8; 1] = [id as u8];
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self.can_tx_handler.tx_socket(PackageId::DevicePowerOffRequest, &msg_data);
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let request_confirmation = self.can_rx_receiver.recv();
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match request_confirmation {
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Ok(confirmation) => {
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if confirmation.package_id() != PackageId::DevicePowerOffRequestConfirmation {
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warn!("Wrong package ID.");
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return Err(());
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}
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if confirmation.data()[0] != id as u8 {
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warn!("Wrong device ID.");
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return Err(());
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}
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if confirmation.data()[1] != 1 {
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warn!("Request unsuccessful.");
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return Err(());
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}
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info!("Power off request confirmation received.");
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}
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Err(_) => {
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warn!("Error receiving package.");
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return Err(());
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}
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}
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let request_success = self.can_rx_receiver.recv();
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match request_success {
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Ok(success) => {
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if success.package_id() != PackageId::DevicePowerOffConfirmation {
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warn!("Wrong package ID.");
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return Err(());
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}
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if success.data()[0] != id as u8 {
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warn!("Wrong device ID.");
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return Err(());
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}
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if success.data()[1] != 1 {
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warn!("Power off unsuccessful.");
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return Err(());
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}
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info!("Power off confirmation received.");
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}
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Err(_) => {
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warn!("Error receiving package.");
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return Err(());
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}
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}
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Ok(())
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}
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pub fn get_power_states(&mut self) -> HashMap<DeviceId, DeviceState> {
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for id in DeviceId::iter() {
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self.update_power_state(id).expect("Error updating power state.");
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}
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self.device_state_map.clone()
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}
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pub fn get_power_state(&mut self, id: DeviceId) -> Option<&DeviceState> {
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self.update_power_state(id).expect("Error updating power state.");
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self.device_state_map.get(&id)
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@ -100,3 +191,17 @@ impl DeviceHandler {
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}
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}
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pub fn power_up_sequence(mut device_handler: CanDeviceHandler) -> HashMap<DeviceId, DeviceState> {
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for id in DeviceId::iter() {
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device_handler.power_on(id).expect("Error powering on device.");
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}
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device_handler.get_power_states()
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}
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pub fn power_down_sequence(mut device_handler: CanDeviceHandler) -> HashMap<DeviceId, DeviceState> {
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for id in DeviceId::iter() {
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device_handler.power_off(id).expect("Error powering on device.");
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}
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device_handler.get_power_states()
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}
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