tdfischer/renderbug-bike
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

tasks: motion: move the entire motion prediction engine into the second core, dedicating core 1 to hardware

Browse Source
This commit is contained in:
Victoria Fischer
2025-12-22 15:55:06 +01:00
parent 73b037f0c2
commit 3f651718a4
5 changed files with 33 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/tasks/motion.rs
View File

@@ -4,7 +4,7 @@ use log::*;
use crate::{ego::engine::BikeStates, events::{Measurement, Notification, Prediction, SensorSource, SensorState}};
#[embassy_executor::task]
pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, ui_sink: DynPublisher<'static, Notification>, prediction_sink: DynamicSender<'static, Prediction>) {
pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, prediction_sink: DynamicSender<'static, Prediction>) {
let mut states = BikeStates::default();
loop {
@@ -14,11 +14,11 @@ pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, ui_sink: Dy
match next_measurement {
Measurement::IMU { accel, gyro } => {
states.insert_imu(accel, gyro);
states.commit(&prediction_sink, &ui_sink).await;
states.commit(&prediction_sink).await;
},
Measurement::GPS(Some(gps_pos)) => {
states.insert_gps(gps_pos);
states.commit(&prediction_sink, &ui_sink).await;
states.commit(&prediction_sink).await;
},
Measurement::GPS(None) => {
states.has_gps_fix.set(false);
@@ -26,7 +26,7 @@ pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, ui_sink: Dy
// FIXME: This needs harmonized with the automatic data timeout from above, somehow?
Measurement::SensorHardwareStatus(source, state) => {
warn!("Sensor {source:?} reports {state:?}!");
ui_sink.publish(Notification::SensorStatus(source, state)).await;
prediction_sink.send(Prediction::SensorStatus(source, state)).await;
},
Measurement::SimulationProgress(source, duration, _pct) => debug!("{source:?} simulation time: {}", duration.as_secs()),
Measurement::Annotation => ()

3
src/tasks/predict.rs
View File

@@ -87,6 +87,9 @@ pub async fn prediction_task(prediction_src: DynamicReceiver<'static, Prediction
stationary = true
}
}
},
Prediction::SensorStatus(src, status) => {
notify.publish(Notification::SensorStatus(src, status)).await;
}
}
}