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tasks: simulation: refactor the simulation tasks to common types that can simulate any sensor

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This commit is contained in:
Victoria Fischer
2025-12-06 19:22:52 +01:00
parent 761dbb8951
commit 567cc0d6e5
3 changed files with 193 additions and 89 deletions
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16
src/bin/main.rs
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@@ -123,21 +123,23 @@ async fn main(spawner: Spawner) {
#[cfg(feature="simulation")]
{
use core::{cell::RefCell, ops::DerefMut};
use alloc::rc::Rc;
use esp_storage::FlashStorage;
let storage = Rc::new(RefCell::new(FlashStorage::new()));
use renderbug_embassy::tasks::simulation::{SharedFlash, SimDataTable};
let mut storage = SharedFlash::new(FlashStorage::new());
let mut buf = [8; 1024];
let partitions = esp_bootloader_esp_idf::partitions::read_partition_table(storage.borrow_mut().deref_mut(), &mut buf).unwrap();
let partitions = esp_bootloader_esp_idf::partitions::read_partition_table(&mut storage, &mut buf).unwrap();
let data_partition = partitions.find_partition(
esp_bootloader_esp_idf::partitions::PartitionType::Data(
esp_bootloader_esp_idf::partitions::DataPartitionSubType::Undefined
)).expect("Unable to read partition table").expect("Could not find data partition!");
let data_offset = data_partition.offset() as usize;
info!("Loading simulation data starting at {data_offset:#02x}");
spawner.must_spawn(renderbug_embassy::tasks::simulation::motion_simulation_task(Rc::clone(&storage), data_offset, garage.motion.dyn_sender()));
spawner.must_spawn(renderbug_embassy::tasks::simulation::location_simulation_task(storage, data_offset, garage.motion.dyn_sender()));
for sim_data in SimDataTable::open(storage.clone(), data_offset) {
info!("Found simulation data for {:?}", sim_data.srcid());
if spawner.spawn(renderbug_embassy::tasks::simulation::simulation_task(sim_data, garage.motion.dyn_sender())).is_err() {
error!("Unable to spawn simulation task! Increase the task pool size.");
}
}
}
info!("Launching motion engine");