events: rewrite how sensor statuses are reported, and implement some oled UI icons for it

src/events.rs

@@ -1,6 +1,8 @@
 
 use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel, 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};
@@ -14,6 +16,22 @@ pub enum Scene {
     Idle, // Default state when waking up from sleep, or entered when accelerometers and GPS both show zero motion for ~30 seconds
 }
 
+#[derive(Clone, Copy, Default, Debug)]
+pub enum SensorState {
+    #[default]
+    // There is no connection to the sensor
+    Offline,
+
+    // Sensor is starting up
+    AcquiringFix,
+
+    // Sensor is ready and is generating data
+    Online,
+
+    // Sensor was previously fully functioning but currently is not (eg, gps fix lost)
+    Degraded,
+}
+
 #[derive(Clone, Copy, Debug)]
 pub enum Measurement {
     // GPS coordinates
@@ -22,8 +40,7 @@ pub enum Measurement {
     IMU { accel: Vector3<f32>, gyro: Vector3<f32> },
 
     // Hardware status updates
-    SensorOnline(SensorSource),
-    SensorOffline(SensorSource),
+    SensorHardwareStatus(SensorSource, SensorState),
 
     // Simulation metadata updates
     SimulationProgress(SensorSource, Duration, f32)
@@ -43,12 +60,7 @@ pub enum Notification {
     SceneChange(Scene),
 
     // States of external connections to the world
-    SensorOnline(SensorSource),
-    SensorOffline(SensorSource),
-
-    // TODO: Should be emitted by the prediction engine after it doesn't get any sensor data for some time. Perhaps the threads are somehow deadlocked and a reboot is needed if it doesn't recover
-    SensorsOffline,
-
+    SensorStatus(SensorSource, SensorState),
     // The prediction engine has decided that the system should be woken up and begin running again
     WakeUp,
     // The prediction engine has decided that the system is inactive enough and it should go to low-power sleep
@@ -68,10 +80,20 @@ pub enum Telemetry {
     Prediction(Prediction),
 }
 
-#[derive(Clone, Copy, Debug)]
+#[derive(Debug, EnumSetType, Enum)]
 pub enum SensorSource {
+    // Real hardware
     IMU,
-    GPS
+    GPS,
+
+    // Fusion outputs
+    GravityReference,
+    ForwardsReference,
+    Location,
+
+    // Simulated sensors
+    Demo,
+    Simulation
 }
 
 #[derive(Debug)]