cargo: gate motion sim behind feature flag

Cargo.toml

@@ -8,6 +8,9 @@ version      = "0.1.0"
 name = "renderbug-embassy"
 path = "./src/bin/main.rs"
 
+[features]
+simulation = ["dep:csv-core"]
+
 [dependencies]
 figments = { path = "../figments/figments/", features = ["alloc"] }
 esp-bootloader-esp-idf = { version = "0.2.0", features = ["esp32s3"] }
@@ -94,7 +97,7 @@ nalgebra = { version = "0.33.2", default-features = false }
 esp-storage = { version = "0.7.0", features = ["esp32s3"] }
 bleps =  { git = "https://github.com/bjoernQ/bleps", package = "bleps", rev = "a5148d8ae679e021b78f53fd33afb8bb35d0b62e", features = [ "macros", "async"] }
 serde_json = {version = "1.0.145", default-features = false, features = ["alloc"] }
-csv-core = "0.1.12"
+csv-core = {version = "0.1.12", optional = true }
 kfilter = "0.4.0"
 
 [profile.dev]

src/bin/main.rs

@@ -12,38 +12,48 @@ use core::ptr::addr_of_mut;
 use bleps::ad_structure::{create_advertising_data, AdStructure, BR_EDR_NOT_SUPPORTED, LE_GENERAL_DISCOVERABLE};
 use bleps::attribute_server::{AttributeServer, NotificationData};
 use bleps::{gatt, Ble, HciConnector};
-use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
 use embassy_executor::Spawner;
-use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::channel::DynamicReceiver;
-use embassy_sync::mutex::Mutex;
 use embassy_time::{Instant, Timer};
 use esp_backtrace as _;
-use esp_hal::gpio::Pin;
-use esp_hal::i2c::master::{Config, I2c};
-use esp_hal::interrupt::software::SoftwareInterruptControl;
-use esp_hal::system::{AppCoreGuard, CpuControl, Stack};
-use esp_hal::timer::AnyTimer;
-use esp_hal::Async;
-use esp_hal::clock::CpuClock;
-use esp_hal::time::Rate;
-use esp_hal::timer::systimer::SystemTimer;
-use esp_hal::timer::timg::TimerGroup;
+use esp_hal::{
+    gpio::Pin,
+    interrupt::software::SoftwareInterruptControl,
+    clock::CpuClock,
+    system::{AppCoreGuard, CpuControl, Stack},
+    timer::{AnyTimer, systimer::SystemTimer, timg::TimerGroup}
+};
+
 use esp_hal_embassy::{Executor, InterruptExecutor};
 use esp_wifi::ble::controller::BleConnector;
 use figments::surface::BufferedSurfacePool;
 use log::info;
 use renderbug_embassy::events::{BusGarage, Measurement, Telemetry};
-use renderbug_embassy::tasks::simulation::{motion_simulation_task, location_simulation_task};
-use renderbug_embassy::tasks::ui::{Ui, ui_main};
-use renderbug_embassy::tasks::gps::gps_task;
-use renderbug_embassy::tasks::motion::motion_task;
 use serde_json::json;
 use static_cell::StaticCell;
 
-use renderbug_embassy::{
-    tasks::mpu::*,
-    tasks::render::render
+#[cfg(feature="simulation")]
+use renderbug_embassy::tasks::simulation::{motion_simulation_task, location_simulation_task};
+#[cfg(not(feature="simulation"))]
+use renderbug_embassy::tasks::{gps::gps_task, mpu::mpu_task};
+#[cfg(not(feature="simulation"))]
+use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
+#[cfg(not(feature="simulation"))]
+use esp_hal::{
+    time::Rate,
+    i2c::master::{Config, I2c},
+    Async,
+};
+#[cfg(not(feature="simulation"))]
+use embassy_sync::{
+    mutex::Mutex,
+    blocking_mutex::raw::CriticalSectionRawMutex
+};
+
+use renderbug_embassy::tasks::{
+    render::render,
+    motion::motion_task,
+    ui::{Ui, ui_main}
 };
 extern crate alloc;
 
@@ -51,7 +61,9 @@ extern crate alloc;
 // For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
 esp_bootloader_esp_idf::esp_app_desc!();
 
+#[cfg(not(feature="simulation"))]
 static I2C_BUS: StaticCell<Mutex<CriticalSectionRawMutex, I2c<'static, Async>>> = StaticCell::new();
+
 static BUS_GARAGE: StaticCell<BusGarage> = StaticCell::new();
 static mut CORE2_STACK: Stack<8192> = Stack::new();
 static CORE_HANDLE: StaticCell<AppCoreGuard> = StaticCell::new();
@@ -81,16 +93,20 @@ async fn main(spawner: Spawner) {
     let hi_spawn = hi_exec.start(esp_hal::interrupt::Priority::Priority1);
     hi_spawn.must_spawn(render(peripherals.RMT, peripherals.GPIO5.degrade(), surfaces, &garage.display));
 
-    info!("Launching i2c sensor tasks");
-    let i2c = I2c::new(peripherals.I2C1, Config::default().with_frequency(Rate::from_khz(400)).with_timeout(esp_hal::i2c::master::BusTimeout::Maximum)).unwrap().with_scl(peripherals.GPIO4).with_sda(peripherals.GPIO3).into_async();
-    let i2c_bus = I2C_BUS.init(Mutex::new(i2c));
+    #[cfg(not(feature="simulation"))]
+    {
+        info!("Launching i2c sensor tasks");
+        let i2c = I2c::new(peripherals.I2C1, Config::default().with_frequency(Rate::from_khz(400)).with_timeout(esp_hal::i2c::master::BusTimeout::Maximum)).unwrap().with_scl(peripherals.GPIO4).with_sda(peripherals.GPIO3).into_async();
+        let i2c_bus = I2C_BUS.init(Mutex::new(i2c));
+        spawner.must_spawn(mpu_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
+        spawner.must_spawn(gps_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
+    }
 
-    spawner.must_spawn(mpu_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
-    spawner.must_spawn(gps_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
-
-    // TODO: Only run the motion sim sources with cfg(simulation)
-    spawner.must_spawn(motion_simulation_task(garage.motion.dyn_sender()));
-    spawner.must_spawn(location_simulation_task(garage.motion.dyn_sender()));
+    #[cfg(feature="simulation")]
+    {
+        spawner.must_spawn(motion_simulation_task(garage.motion.dyn_sender()));
+        spawner.must_spawn(location_simulation_task(garage.motion.dyn_sender()));
+    }
 
     info!("Launching motion engine");
     spawner.must_spawn(motion_task(garage.motion.dyn_receiver(), garage.scenes.dyn_sender(), garage.telemetry.dyn_sender()));

src/tasks/mod.rs

@@ -3,4 +3,5 @@ pub mod render;
 pub mod motion;
 pub mod gps;
 pub mod ui;
+#[cfg(feature="simulation")]
 pub mod simulation;

src/tasks/simulation.rs

@@ -1,8 +1,7 @@
-
 use embassy_sync::channel::DynamicSender;
-use csv_core::{ReadFieldResult, Reader};
 use embassy_time::{Duration, Timer};
 use nalgebra::{Vector2, Vector3};
+use csv_core::{ReadFieldResult, Reader};
 
 use crate::events::Measurement;