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

src/events.rs

@@ -1,11 +1,11 @@
 
-use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel, pubsub::PubSubChannel};
+use embassy_sync::{blocking_mutex::raw::NoopRawMutex, pubsub::PubSubChannel};
 use embassy_time::Duration;
 use enum_map::Enum;
 use enumset::EnumSetType;
 use nalgebra::{Vector2, Vector3};
 
-use crate::{graphics::display::DisplayControls, ego::engine::MotionState};
+use crate::ego::engine::MotionState;
 
 #[derive(Clone, Copy, Default, Debug)]
 pub enum Scene {
@@ -47,14 +47,24 @@ pub enum Measurement {
     Annotation
 }
 
+#[derive(Default, Clone, Copy, Debug, PartialEq, Eq, PartialOrd, Ord)]
+pub enum Personality {
+    Sleeping, // System should be using as low power as possible, displays off, etc
+    #[default]
+    Waking, // System is resuming from sleep, or it is the first boot. A transient state that quickly turns into Active.
+    Parked, // System should be acting like an art piece with some idle animations, maybe it can search for some wifi/bluetooth
+    Active // System is almost likely on the road and must provide lighting
+}
+
 #[derive(Clone, Copy, Debug)]
 pub enum Prediction {
-    Motion(MotionState),
+    Motion { prev: MotionState, next: MotionState },
     Velocity(f32),
     Location(Vector2<f64>),
-    WakeRequested,
     // States of external connections to the world
     SensorStatus(SensorSource, SensorState),
+    // The system should enter into one of the four personalities
+    SetPersonality(Personality)
 }
 
 #[derive(Clone, Copy, Debug)]
@@ -77,12 +87,6 @@ pub enum Notification {
     Beat,
 }
 
-#[derive(Clone, Copy, Debug)]
-pub enum Telemetry {
-    Notification(Notification),
-    Prediction(Prediction),
-}
-
 // GPS data = 2, motion data = 1
 #[derive(Debug, EnumSetType, Enum)]
 pub enum SensorSource {
@@ -117,16 +121,14 @@ impl TryFrom<i8> for SensorSource {
 #[derive(Debug)]
 pub struct BusGarage {
     pub notify: PubSubChannel<NoopRawMutex, Notification, 5, 2, 4>,
-    pub predict: Channel<NoopRawMutex, Prediction, 15>,
-    pub telemetry: PubSubChannel<NoopRawMutex, Telemetry, 15, 2, 4>
+    pub predict: PubSubChannel<NoopRawMutex, Prediction, 15, 3, 3>,
 }
 
 impl Default for BusGarage {
     fn default() -> Self {
         Self {
             notify: PubSubChannel::new(),
-            predict: Channel::new(),
-            telemetry: PubSubChannel::new()
+            predict: PubSubChannel::new(),
         }
     }
 }