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src: implement simulation data sources

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This commit is contained in:
Victoria Fischer
2025-09-24 08:32:34 +02:00
parent 19875f6ae5
commit 0cd2cc94b9
32 changed files with 389785 additions and 284 deletions
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11
src/tasks/gps.rs
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@@ -1,6 +1,6 @@
use alloc::string::String;
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::{DynamicSender, Sender}};
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::DynamicSender};
use embassy_time::Timer;
use embedded_hal_async::i2c::I2c as _;
use esp_hal::{i2c::master::I2c, Async};
@@ -8,13 +8,13 @@ use log::*;
use nalgebra::Vector2;
use nmea::Nmea;
use crate::{backoff::Backoff, events::{Measurement, Notification}};
use crate::{backoff::Backoff, events::Measurement};
#[allow(dead_code)] //FIXME: Allow switching to this via configure option
const GPS_TEST_DATA: &str = include_str!("../test.nmea");
#[embassy_executor::task]
pub async fn gps_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sink: DynamicSender<'static, Notification>, mut i2c_bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
Backoff::from_secs(5).forever().attempt::<_, (), ()>(async || {
Backoff::from_secs(5).forever().attempt(async || {
info!("Initializing GPS");
@@ -50,20 +50,19 @@ pub async fn gps_task(events: Sender<'static, NoopRawMutex, Measurement, 4>, sin
if let Ok(result) = parser.parse(&strbuf) {
match parser.fix_type {
None if has_lock => {
sink.send(Notification::GPSLost).await;
events.send(Measurement::GPS(None)).await;
has_lock = false
},
None => (),
Some(_) => {
if !has_lock {
sink.send(Notification::GPSAcquired).await;
has_lock = true;
}
//TODO: 4 satellites seems to be "Some" fix, 6 is a perfect fix
//TODO: Only send updates when we get the correct nmea sentence
if let (Some(lat), Some(lng)) = (parser.latitude, parser.longitude) {
events.send(Measurement::GPS(Vector2::new(lat, lng))).await;
events.send(Measurement::GPS(Some(Vector2::new(lat, lng)))).await;
}
}
}