src: implement simulation data sources

src/events.rs

@@ -1,7 +1,8 @@
 
 use core::sync::atomic::{AtomicBool, AtomicU8};
 
-use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel};
+use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel, signal::Signal};
+use figments::hardware::Brightness;
 use nalgebra::{Vector2, Vector3};
 
 #[derive(Clone, Copy, Default, Debug)]
@@ -18,9 +19,22 @@ pub enum Scene {
 #[derive(Clone, Copy, Debug)]
 pub enum Measurement {
     // GPS coordinates
-    GPS(Vector2<f64>),
+    GPS(Option<Vector2<f64>>),
     // Accelerometer values in body frame where x=forwards
-    IMU(Vector3<f32>)
+    IMU { accel: Vector3<f32>, gyro: Vector3<f32> },
+}
+
+#[derive(Clone, Copy, Debug)]
+pub enum Prediction {
+    Location(Vector2<f32>),
+    Velocity(Vector2<f32>)
+}
+
+#[derive(Clone, Copy, Debug)]
+pub enum Telemetry {
+    Prediction(Prediction),
+    Measurement(Measurement),
+    Notification(Notification)
 }
 
 #[derive(Clone, Copy, Debug)]
@@ -35,25 +49,53 @@ pub enum Notification {
     SetBrakelight(bool)
 }
 
-#[derive(Debug)]
+// TODO: Make this clone() able, so multiple threads can point to the same underlying atomics for the hardware controls
 pub struct DisplayControls {
     pub on: AtomicBool,
-    pub brightness: AtomicU8
+    pub brightness: AtomicU8,
+    pub render_is_running: Signal<CriticalSectionRawMutex, bool>
+}
+
+impl Brightness for DisplayControls {
+    fn set_brightness(&mut self, brightness: u8) {
+        self.brightness.store(brightness, core::sync::atomic::Ordering::Relaxed);
+    }
+
+    fn set_on(&mut self, is_on: bool) {
+        self.on.store(is_on, core::sync::atomic::Ordering::Relaxed);
+    }
+
+    // TODO: Split gamma out from brightness controls
+    fn set_gamma(&mut self, _gamma: f32) {
+        unimplemented!()
+    }
+}
+
+impl core::fmt::Debug for DisplayControls {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> Result<(), core::fmt::Error> {
+        f.debug_struct("DisplayControls")
+            .field("on", &self.on)
+            .field("brightness", &self.brightness)
+            .field("render_is_running", &self.render_is_running.signaled())
+            .finish()
+    }
 }
 
 impl Default for DisplayControls {
     fn default() -> Self {
         Self {
             on: AtomicBool::new(true),
-            brightness: AtomicU8::new(255)
+            brightness: AtomicU8::new(255),
+            render_is_running: Signal::new()
         }
     }
 }
 
 #[derive(Debug)]
 pub struct BusGarage {
-    pub motion: Channel<NoopRawMutex, Measurement, 4>,
-    pub scenes: Channel<CriticalSectionRawMutex, Notification, 4>,
+    pub motion: Channel<NoopRawMutex, Measurement, 5>,
+    pub scenes: Channel<CriticalSectionRawMutex, Notification, 5>,
+    pub telemetry: Channel<CriticalSectionRawMutex, Telemetry, 15>,
     pub display: DisplayControls
 }
 
@@ -62,6 +104,7 @@ impl Default for BusGarage {
         Self {
             motion: Channel::new(),
             scenes: Channel::new(),
+            telemetry: Channel::new(),
             display: Default::default()
         }
     }