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events: rewrite the eventing system to reduce mutex usage to just the measurement bus

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This commit is contained in:
Victoria Fischer
2025-12-24 09:11:16 +01:00
parent 36f232f43c
commit 046406291a
11 changed files with 185 additions and 284 deletions
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15
src/bin/main.rs
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@@ -159,19 +159,19 @@ async fn main(spawner: Spawner) {
let garage = BUS_GARAGE.init_with(|| { Default::default() });
info!("Launching motion engine");
spawner.must_spawn(motion_task(motion_bus.dyn_receiver(), garage.predict.dyn_sender()));
spawner.must_spawn(motion_task(motion_bus.dyn_receiver(), garage.predict.dyn_publisher().unwrap()));
info!("Launching Safety UI");
spawner.must_spawn(safety_ui_main(garage.notify.dyn_subscriber().unwrap(), safety_ui));
spawner.must_spawn(safety_ui_main(garage.predict.dyn_subscriber().unwrap(), safety_ui));
info!("Launching UI");
spawner.must_spawn(ui_main(garage.notify.dyn_subscriber().unwrap(), garage.telemetry.dyn_publisher().unwrap(), ui));
spawner.must_spawn(ui_main(garage.predict.dyn_subscriber().unwrap(), ui));
info!("Launching OLED UI");
spawner.must_spawn(oled_ui(garage.telemetry.dyn_subscriber().unwrap(), oledui));
spawner.must_spawn(oled_ui(garage.predict.dyn_subscriber().unwrap(), oledui));
#[cfg(feature="radio")]
{
info!("Launching networking stack");
spawner.must_spawn(renderbug_embassy::tasks::wifi::wireless_task(garage.telemetry.dyn_subscriber().unwrap(), wifi_init, peripherals.WIFI));
spawner.must_spawn(renderbug_embassy::tasks::wifi::wireless_task(garage.predict.dyn_subscriber().unwrap(), wifi_init, peripherals.WIFI));
}
#[cfg(feature="demo")]
@@ -179,11 +179,6 @@ async fn main(spawner: Spawner) {
warn!("Launching with demo sequencer");
spawner.must_spawn(renderbug_embassy::tasks::demo::demo_task(garage.notify.dyn_publisher().unwrap()));
}
#[cfg(not(feature="demo"))]
{
info!("Launching prediction engine");
spawner.must_spawn(renderbug_embassy::tasks::predict::prediction_task(garage.predict.dyn_receiver(), garage.notify.dyn_publisher().unwrap(), garage.telemetry.dyn_publisher().unwrap()));
}
info!("Launching core 2 watchdog");
spawner.must_spawn(wdt_task(ui_wdt));