src: implement ego tracking models, and port shaders from renderbug into here

src/events.rs

@@ -1,19 +1,68 @@
 
-#[derive(Clone, Copy)]
+use core::sync::atomic::{AtomicBool, AtomicU8};
+
+use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel};
+use nalgebra::{Vector2, Vector3};
+
+#[derive(Clone, Copy, Default, Debug)]
 pub enum Scene {
-    ParkedIdle, // Default state when booting up or waking up from long term (overnight, eg) parking, or entered when accelerometers and GPS both show zero motion for ~30 seconds
+    #[default]
+    Startup, // Default state when booting up
+    ParkedIdle, // Default state when waking up from long term (overnight, eg) parking, or entered when accelerometers and GPS both show zero motion for ~30 seconds
     StoplightIdle, // Entered when GPS speed is zero after decelerating
     Accelerating, // GPS speed is increasing
     Decelerating, // GPS speed is decreasing
     ParkedLongTerm, // GPS has not changed location in the last ~5 minutes
 }
 
-#[derive(Clone, Copy)]
+#[derive(Clone, Copy, Debug)]
+pub enum Measurement {
+    // GPS coordinates
+    GPS(Vector2<f64>),
+    // Accelerometer values in body frame where x=forwards
+    IMU(Vector3<f32>)
+}
+
+#[derive(Clone, Copy, Debug)]
 pub enum Notification {
     SceneChange(Scene),
     WifiConnected,
     WifiDisconnected,
     GPSLost,
     GPSAcquired,
-    BPMBeat
+    CalibrationComplete,
+    SetHeadlight(bool),
+    SetBrakelight(bool)
+}
+
+#[derive(Debug)]
+pub struct DisplayControls {
+    pub on: AtomicBool,
+    pub brightness: AtomicU8
+}
+
+impl Default for DisplayControls {
+    fn default() -> Self {
+        Self {
+            on: AtomicBool::new(true),
+            brightness: AtomicU8::new(255)
+        }
+    }
+}
+
+#[derive(Debug)]
+pub struct BusGarage {
+    pub motion: Channel<NoopRawMutex, Measurement, 4>,
+    pub scenes: Channel<CriticalSectionRawMutex, Notification, 4>,
+    pub display: DisplayControls
+}
+
+impl Default for BusGarage {
+    fn default() -> Self {
+        Self {
+            motion: Channel::new(),
+            scenes: Channel::new(),
+            display: Default::default()
+        }
+    }
 }