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wifi: rewrite wifi task

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This commit is contained in:
Victoria Fischer
2025-12-07 13:14:07 +01:00
parent 20cc634714
commit 4235b54959
3 changed files with 143 additions and 140 deletions
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75
src/bin/main.rs
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@@ -41,7 +41,7 @@ esp_bootloader_esp_idf::esp_app_desc!();
static STATIC_HI_EXEC: StaticCell<InterruptExecutor<0>> = StaticCell::new();
static BUS_GARAGE: StaticCell<BusGarage> = StaticCell::new();
static mut CORE2_STACK: Stack<8192> = Stack::new();
static mut CORE2_STACK: Stack<16384> = Stack::new();
static CORE_HANDLE: StaticCell<AppCoreGuard> = StaticCell::new();
#[esp_hal_embassy::main]
@@ -145,39 +145,52 @@ async fn main(spawner: Spawner) {
info!("Launching motion engine");
spawner.must_spawn(motion_task(garage.motion.dyn_receiver(), garage.notify.dyn_publisher().unwrap(), garage.predict.dyn_sender()));
#[cfg(feature="radio")]
let wifi_init = {
info!("Configuring wifi");
static WIFI_INIT: StaticCell<esp_wifi::EspWifiController<'static>> = StaticCell::new();
let rng = esp_hal::rng::Rng::new(peripherals.RNG);
WIFI_INIT.init_with(|| {esp_wifi::init(timer0.timer0, rng).expect("Failed to initialize radio controller")})
};
info!("Starting core 2");
let mut cpu_control = CpuControl::new(peripherals.CPU_CTRL);
CORE_HANDLE.init(cpu_control.start_app_core(unsafe { &mut *addr_of_mut!(CORE2_STACK) }, || {
static STATIC_EXEC: StaticCell<Executor> = StaticCell::new();
let exec = STATIC_EXEC.init(Executor::new());
exec.run(|spawner| {
#[cfg(feature="radio")]
{
info!("Launching wifi");
//spawner.must_spawn(renderbug_embassy::tasks::wifi::wireless_task(garage.notify.dyn_receiver().unwrap(), timer0.timer0.into(), peripherals.RNG, peripherals.WIFI, peripherals.BT));
}
info!("Launching Safety UI");
spawner.must_spawn(safety_ui_main(garage.notify.dyn_subscriber().unwrap(), safety_ui));
info!("Launching UI");
spawner.must_spawn(ui_main(garage.notify.dyn_subscriber().unwrap(), garage.telemetry.dyn_publisher().unwrap(), ui));
info!("Launching OLED UI");
spawner.must_spawn(oled_ui(garage.telemetry.dyn_subscriber().unwrap(), oledui));
#[cfg(feature="demo")]
{
warn!("Launching with demo sequencer");
spawner.must_spawn(renderbug_embassy::tasks::demo::demo_task(garage.notify.dyn_publisher().unwrap()));
}
#[cfg(not(feature="demo"))]
{
info!("Launching prediction engine");
spawner.must_spawn(renderbug_embassy::tasks::predict::prediction_task(garage.predict.dyn_receiver(), garage.notify.dyn_publisher().unwrap(), garage.telemetry.dyn_publisher().unwrap()));
}
info!("Launching core 2 watchdog");
spawner.must_spawn(wdt_task(ui_wdt));
CORE_HANDLE.init_with(|| {
cpu_control.start_app_core(unsafe { &mut *addr_of_mut!(CORE2_STACK) }, || {
let exec = CORE2_EXEC.init_with(|| { Executor::new() });
exec.run(|spawner| {
info!("Launching Safety UI");
spawner.must_spawn(safety_ui_main(garage.notify.dyn_subscriber().unwrap(), safety_ui));
info!("Launching UI");
spawner.must_spawn(ui_main(garage.notify.dyn_subscriber().unwrap(), garage.telemetry.dyn_publisher().unwrap(), ui));
info!("Launching OLED UI");
spawner.must_spawn(oled_ui(garage.telemetry.dyn_subscriber().unwrap(), oledui));
info!("System is ready in {}ms", Instant::now().as_millis());
});
}).unwrap());
#[cfg(feature="radio")]
{
info!("Launching networking stack");
spawner.must_spawn(renderbug_embassy::tasks::wifi::wireless_task(garage.telemetry.dyn_subscriber().unwrap(), wifi_init, peripherals.WIFI));
}
#[cfg(feature="demo")]
{
warn!("Launching with demo sequencer");
spawner.must_spawn(renderbug_embassy::tasks::demo::demo_task(garage.notify.dyn_publisher().unwrap()));
}
#[cfg(not(feature="demo"))]
{
info!("Launching prediction engine");
spawner.must_spawn(renderbug_embassy::tasks::predict::prediction_task(garage.predict.dyn_receiver(), garage.notify.dyn_publisher().unwrap(), garage.telemetry.dyn_publisher().unwrap()));
}
info!("Launching core 2 watchdog");
spawner.must_spawn(wdt_task(ui_wdt));
info!("System is ready in {}ms", Instant::now().as_millis());
});
}).unwrap()
});
}
#[embassy_executor::task]