From 22d1b4d077ae50721a58fd2ccd9c6ad6d16e6d98 Mon Sep 17 00:00:00 2001
From: Victoria Fischer <tdfischer@hackerbots.net>
Date: Sat, 28 Feb 2026 16:54:44 +0100
Subject: [PATCH] tasks: more Fract8 update

---
 src/tasks/safetyui.rs   | 18 +++++++++---------
 src/tasks/simulation.rs |  3 ++-
 src/tasks/ui.rs         | 22 +++++++++++-----------
 3 files changed, 22 insertions(+), 21 deletions(-)

diff --git a/src/tasks/safetyui.rs b/src/tasks/safetyui.rs
index f7bd6af..6df4578 100644
--- a/src/tasks/safetyui.rs
+++ b/src/tasks/safetyui.rs
@@ -31,13 +31,13 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
                 .rect(Rectangle::new_from_coordinates(0, 0, 255, 0))
                 .shader(Headlight::default())
                 .visible(false)
-                .opacity(0)
+                .opacity(Fract8::MIN)
                 .finish().unwrap().into(),
             brakelight: SurfaceBuilder::build(surfaces)
                 .rect(Brakelight::rectangle())
                 .shader(Brakelight::default())
                 .visible(false)
-                .opacity(0)
+                .opacity(Fract8::MIN)
                 .finish().unwrap().into(),
             display
         };
@@ -66,22 +66,22 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
 
         info!("Turning on display");
         // Turn on the display hardware
-        self.display.set_brightness(0);
+        self.display.set_brightness(Fract8::MIN);
         self.display.set_on(true);
         // Wait for the renderer to start running again
         // FIXME: This deadlocks :(
         //self.display.render_is_running.wait().await;
 
-        let fade_in = Animation::default().duration(Duration::from_secs(3)).from(0).to(255);
+        let fade_in = Animation::default().duration(Duration::from_secs(3)).from(Fract8::MIN).to(Fract8::MAX);
         trace!("Fading in brightness with overlay={:?}", self.overlay);
-        self.overlay.set_opacity(255);
+        self.overlay.set_opacity(Fract8::MAX);
         self.overlay.set_visible(true);
         fade_in.apply(&mut AnimDisplay(&mut self.display)).await;
 
         warn!("Turning on safety lights");
-        self.headlight.set_opacity(0);
+        self.headlight.set_opacity(Fract8::MIN);
         self.headlight.set_visible(true);
-        self.brakelight.set_opacity(0);
+        self.brakelight.set_opacity(Fract8::MIN);
         self.brakelight.set_visible(true);
         embassy_futures::join::join(
             fade_in.apply(&mut self.headlight),
@@ -123,8 +123,8 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
     }
 }
 
-const TURN_ON: Animation = Animation::new().duration(Duration::from_secs(1)).from(0).to(255);
-const TURN_OFF: Animation = Animation::new().duration(Duration::from_secs(1)).from(255).to(0);
+const TURN_ON: Animation<Fract8> = Animation::new().duration(Duration::from_secs(1)).from(Fract8::MIN).to(Fract8::MAX);
+const TURN_OFF: Animation<Fract8> = Animation::new().duration(Duration::from_secs(1)).from(Fract8::MAX).to(Fract8::MIN);
 
 #[embassy_executor::task]
 pub async fn safety_ui_main(mut events: DynSubscriber<'static, Prediction>, mut ui: SafetyUi<<UiSurfacePool as Surfaces<SegmentSpace>>::Surface>) {
diff --git a/src/tasks/simulation.rs b/src/tasks/simulation.rs
index a8e53ec..b4e77f7 100644
--- a/src/tasks/simulation.rs
+++ b/src/tasks/simulation.rs
@@ -3,6 +3,7 @@ use embassy_time::{Duration, Timer};
 use embedded_storage::ReadStorage;
 use esp_bootloader_esp_idf::partitions::PartitionTable;
 use esp_storage::FlashStorage;
+use figments::liber8tion::interpolate::Fract8;
 use nalgebra::{Vector2, Vector3};
 use log::*;
 use rmp::decode::ValueReadError;
@@ -176,7 +177,7 @@ pub async fn simulation_task(mut reader: SimDataReader<SharedFlash<FlashStorage>
                 let pct = (idx as f32) / (reader.event_count as f32);
                 idx_breaker.set((pct * 255.0) as u8);
                 if let Some(pct) = idx_breaker.read_tripped() {
-                    events.send(Measurement::SimulationProgress(reader.srcid(), reader.runtime, pct)).await;
+                    events.send(Measurement::SimulationProgress(reader.srcid(), reader.runtime, Fract8::from_raw(pct))).await;
                 }
                 idx += 1;
             },
diff --git a/src/tasks/ui.rs b/src/tasks/ui.rs
index 67d5a3a..20eaff9 100644
--- a/src/tasks/ui.rs
+++ b/src/tasks/ui.rs
@@ -54,10 +54,10 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
     }
 
     pub async fn flash_notification_color(&mut self, color: Rgb<u8>) {
-        let fade_in = Animation::default().from(0).to(255).duration(Duration::from_millis(30));
-        let pulse_out = Animation::default().from(255).to(60).duration(Duration::from_millis(100));
-        let pulse_in = Animation::default().from(0).to(255).duration(Duration::from_millis(100));
-        let fade_out = Animation::default().from(255).to(0).duration(Duration::from_secs(2));
+        let fade_in = Animation::default().from(Fract8::MIN).to(Fract8::MAX).duration(Duration::from_millis(30));
+        let pulse_out = Animation::default().from(Fract8::MAX).to(Fract8::from_raw(60)).duration(Duration::from_millis(100));
+        let pulse_in = Animation::default().from(Fract8::MIN).to(Fract8::MAX).duration(Duration::from_millis(100));
+        let fade_out = Animation::default().from(Fract8::MAX).to(Fract8::MIN).duration(Duration::from_secs(2));
         info!("Flashing notification {color}");
 
         self.notification.set_visible(true);
@@ -95,10 +95,10 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
         info!("Activating scene {next_scene:?}");
         match next_scene {
             Scene::Ready => {
-                let tail = Animation::default().duration(Duration::from_millis(300)).to(96);
-                let panels = Animation::default().duration(Duration::from_millis(300)).to(128);
-                let bg = Animation::default().duration(Duration::from_millis(300)).to(32);
-                let motion = Animation::default().duration(Duration::from_secs(1)).to(0);
+                let tail = Animation::default().duration(Duration::from_millis(300)).to(Fract8::from_raw(96));
+                let panels = Animation::default().duration(Duration::from_millis(300)).to(Fract8::from_raw(128));
+                let bg = Animation::default().duration(Duration::from_millis(300)).to(Fract8::from_raw(32));
+                let motion = Animation::default().duration(Duration::from_secs(1)).to(Fract8::MIN);
                 embassy_futures::join::join4(
                     tail.apply(&mut self.tail),
                     panels.apply(&mut self.panels),
@@ -110,8 +110,8 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
             Scene::Idle => {
                 // FIXME: The safety UI task should handle setting the display brightness to 50% here
                 self.background.set_shader(Thinking::default());
-                let fg_fade = Animation::default().duration(Duration::from_millis(300)).to(0);
-                let bg_fade = Animation::default().duration(Duration::from_millis(300)).to(128);
+                let fg_fade = Animation::default().duration(Duration::from_millis(300)).to(Fract8::MIN);
+                let bg_fade = Animation::default().duration(Duration::from_millis(300)).to(Fract8::from_raw(128));
                 
                 // FIXME: The scenes shouldn't be touching the brake/headlights at all here. In fact, they should be dealt with in a whole separate task from the main UI, maybe running on the motion prediction executor
                 embassy_futures::join::join4(
@@ -180,7 +180,7 @@ impl<S: Debug + Surface<Uniforms = Uniforms, CoordinateSpace = SegmentSpace, Pix
         self.as_slice().set_rect(rect);
     }
 
-    fn set_opacity(&mut self, opacity: u8) {
+    fn set_opacity(&mut self, opacity: Fract8) {
         self.as_slice().set_opacity(opacity);
     }