cargo: clean up dependencies and improve build times

src/tasks/mod.rs

@@ -2,14 +2,20 @@
 pub mod mpu;
 #[cfg(feature="gps")]
 pub mod gps;
-pub mod render;
-pub mod motion;
-pub mod ui;
 #[cfg(feature="radio")]
 pub mod wifi;
 #[cfg(feature="simulation")]
 pub mod simulation;
-pub mod predict;
+#[cfg(feature="demo")]
 pub mod demo;
+#[cfg(feature="oled")]
+pub mod oled;
+
+// Prediction engines
+pub mod predict;
+pub mod motion;
+
+// Graphics stack
+pub mod ui;
 pub mod safetyui;
-pub mod oled;
+pub mod render;

src/tasks/render.rs

@@ -1,25 +1,23 @@
 use embassy_time::{Duration, Instant, Timer};
 use esp_hal::{gpio::AnyPin, rmt::Rmt, time::Rate, timer::timg::Wdt};
 use esp_hal_smartled::{buffer_size_async, SmartLedsAdapterAsync};
-use figments::{prelude::*, surface::{BufferedSurfacePool, Surfaces}};
+use figments::{prelude::*, surface::Surfaces};
 use figments_render::gamma::GammaCurve;
 use figments_render::output::{GammaCorrected, OutputAsync};
 use log::{info, warn};
-use rgb::Rgba;
-use nalgebra::ComplexField;
+use micromath::F32Ext;
 
-use crate::display::{BikeOutput, DisplayControls, SegmentSpace, Uniforms};
-
-//TODO: Import the bike surfaces from renderbug-prime, somehow make those surfaces into tasks
+use crate::display::NUM_PIXELS;
+use crate::{display::{BikeOutput, DisplayControls, Uniforms}, tasks::ui::UiSurfacePool};
 
 #[embassy_executor::task]
-pub async fn render(rmt: esp_hal::peripherals::RMT<'static>, gpio: AnyPin<'static>, surfaces: BufferedSurfacePool<Uniforms, SegmentSpace, Rgba<u8>>, safety_surfaces: BufferedSurfacePool<Uniforms, SegmentSpace, Rgba<u8>>, mut controls: DisplayControls, mut wdt: Wdt<esp_hal::peripherals::TIMG0<'static>>) {
+pub async fn render(rmt: esp_hal::peripherals::RMT<'static>, gpio: AnyPin<'static>, surfaces: UiSurfacePool, safety_surfaces: UiSurfacePool, mut controls: DisplayControls, mut wdt: Wdt<esp_hal::peripherals::TIMG0<'static>>) {
     let frequency: Rate = Rate::from_mhz(80);
     let rmt = Rmt::new(rmt, frequency)
         .expect("Failed to initialize RMT").into_async();
     let rmt_channel = rmt.channel0;
 
-    let rmt_buffer = [0u32; buffer_size_async(178)];
+    let rmt_buffer = [0u32; buffer_size_async(NUM_PIXELS)];
 
     //let target = SmartLedsAdapterAsync::new(rmt_channel, gpio, rmt_buffer);
     let target = SmartLedsAdapterAsync::new(rmt_channel, gpio, rmt_buffer);
@@ -40,8 +38,6 @@ pub async fn render(rmt: esp_hal::peripherals::RMT<'static>, gpio: AnyPin<'stati
 
     let mut output = BikeOutput::new(target, MAX_POWER_MW, controls.clone());
     output.set_gamma(GammaCurve::new(1.3));
-    //#[cfg(not(feature="wokwi"))]
-    //output.set_gamma(GammaCurve::new(2.1));
 
     info!("Rendering started! {}ms since boot", Instant::now().as_millis());
     controls.notify_render_is_running(true);

src/tasks/simulation.rs

@@ -8,7 +8,7 @@ use crate::Breaker;
 
 #[embassy_executor::task]
 pub async fn motion_simulation_task(events: DynamicSender<'static, Measurement>) {
-    let mut rd = rmp::decode::Bytes::new(include_bytes!("../../test-data/motion.msgpack"));
+    let mut rd = rmp::decode::Bytes::new(include_bytes!("../../target/motion_test_data.msgpack"));
     let mut runtime_secs = Breaker::default();
     let mut runtime = Duration::default();
     events.send(Measurement::SensorOnline(SensorSource::IMU)).await;
@@ -39,7 +39,7 @@ pub async fn motion_simulation_task(events: DynamicSender<'static, Measurement>)
 
 #[embassy_executor::task]
 pub async fn location_simulation_task(events: DynamicSender<'static, Measurement>) {
-    let mut rd = rmp::decode::Bytes::new(include_bytes!("../../test-data/gps.msgpack"));
+    let mut rd = rmp::decode::Bytes::new(include_bytes!("../../target/gps_test_data.msgpack"));
     let mut runtime_secs = Breaker::default();
     let mut runtime = Duration::default();
     events.send(Measurement::SensorOnline(SensorSource::GPS)).await;

src/tasks/ui.rs

@@ -200,9 +200,9 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
     }
 }
 
-#[cfg(feature="headless")]
+#[cfg(not(feature="real-output"))]
 pub type UiSurfacePool = NullBufferPool<NullSurface<Uniforms, SegmentSpace, Rgba<u8>>>;
-#[cfg(not(feature="headless"))]
+#[cfg(feature="real-output")]
 pub type UiSurfacePool = BufferedSurfacePool<Uniforms, SegmentSpace, Rgba<u8>>;
 
 #[embassy_executor::task]