tdfischer/renderbug-bike
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tasks: motion: move the entire motion prediction engine into the second core, dedicating core 1 to hardware

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Victoria Fischer
2025-12-22 15:55:06 +01:00
parent 73b037f0c2
commit 3f651718a4
5 changed files with 33 additions and 25 deletions
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16
src/ego/engine.rs
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@@ -110,25 +110,25 @@ impl BikeStates {
}
}
pub async fn commit(&mut self, predictions: &DynamicSender<'static, Prediction>, notifications: &DynPublisher<'static, Notification>) {
pub async fn commit(&mut self, predictions: &DynamicSender<'static, Prediction>) {
if let Some(true) = self.acquiring_data.read_tripped() {
notifications.publish(Notification::SensorStatus(SensorSource::ForwardsReference, SensorState::AcquiringFix)).await;
notifications.publish(Notification::SensorStatus(SensorSource::GravityReference, SensorState::AcquiringFix)).await;
notifications.publish(Notification::SensorStatus(SensorSource::Location, SensorState::AcquiringFix)).await;
predictions.send(Prediction::SensorStatus(SensorSource::ForwardsReference, SensorState::AcquiringFix)).await;
predictions.send(Prediction::SensorStatus(SensorSource::GravityReference, SensorState::AcquiringFix)).await;
predictions.send(Prediction::SensorStatus(SensorSource::Location, SensorState::AcquiringFix)).await;
}
if let Some(true) = self.has_down.read_tripped() {
notifications.publish(Notification::SensorStatus(SensorSource::GravityReference, SensorState::Online)).await
predictions.send(Prediction::SensorStatus(SensorSource::GravityReference, SensorState::Online)).await
}
if let Some(true) = self.has_forwards.read_tripped() {
notifications.publish(Notification::SensorStatus(SensorSource::ForwardsReference, SensorState::Online)).await
predictions.send(Prediction::SensorStatus(SensorSource::ForwardsReference, SensorState::Online)).await
}
match self.has_gps_fix.read_tripped() {
None => (),
Some(true) => notifications.publish(Notification::SensorStatus(SensorSource::Location, SensorState::Online)).await,
Some(false) => notifications.publish(Notification::SensorStatus(SensorSource::Location, SensorState::Degraded)).await,
Some(true) => predictions.send(Prediction::SensorStatus(SensorSource::Location, SensorState::Online)).await,
Some(false) => predictions.send(Prediction::SensorStatus(SensorSource::Location, SensorState::Degraded)).await,
}
let est = self.kf.x;