build: move the int/stream type mapping into a simdata module shared by the build script

build.rs

@@ -5,6 +5,11 @@ use std::fs::File;
 use image::GenericImageView;
 use csv::Reader;
 
+#[path ="src/simdata.rs"]
+mod simdata;
+
+use crate::simdata::StreamType;
+
 fn main() {
     linker_be_nice();
     // make sure linkall.x is the last linker script (otherwise might cause problems with flip-link)
@@ -205,17 +210,17 @@ fn write_sim_data() {
     let mut motion_output = File::open(motion_output).unwrap();
     let mut gps_output = File::open(gps_output).unwrap();
     let mut annotation_output = File::open(annotation_output).unwrap();
-    rmp::encode::write_ext_meta(&mut unified_fd, motion_output.metadata().unwrap().len() as u32, 1).unwrap();
+    rmp::encode::write_ext_meta(&mut unified_fd, motion_output.metadata().unwrap().len() as u32, StreamType::IMU.into()).unwrap();
     let mut buf = Vec::new();
     motion_output.read_to_end(&mut buf).unwrap();
     unified_fd.write_all(buf.as_slice()).unwrap();
 
-    rmp::encode::write_ext_meta(&mut unified_fd, gps_output.metadata().unwrap().len() as u32, 2).unwrap();
+    rmp::encode::write_ext_meta(&mut unified_fd, gps_output.metadata().unwrap().len() as u32, StreamType::GPS.into()).unwrap();
     let mut buf = Vec::new();
     gps_output.read_to_end(&mut buf).unwrap();
     unified_fd.write_all(buf.as_slice()).unwrap();
 
-    rmp::encode::write_ext_meta(&mut unified_fd, annotation_output.metadata().unwrap().len() as u32, 3).unwrap();
+    rmp::encode::write_ext_meta(&mut unified_fd, annotation_output.metadata().unwrap().len() as u32, StreamType::Annotations.into()).unwrap();
     let mut buf = Vec::new();
     annotation_output.read_to_end(&mut buf).unwrap();
     unified_fd.write_all(buf.as_slice()).unwrap();

src/events.rs

@@ -5,7 +5,7 @@ use enum_map::Enum;
 use enumset::EnumSetType;
 use nalgebra::{Vector2, Vector3};
 
-use crate::ego::engine::MotionState;
+use crate::{ego::engine::MotionState, simdata::StreamType};
 
 #[derive(Clone, Copy, Default, Debug)]
 pub enum Scene {
@@ -91,29 +91,26 @@ pub enum Notification {
 #[derive(Debug, EnumSetType, Enum)]
 pub enum SensorSource {
     // Real hardware
-    IMU = 1,
-    GPS = 2,
+    IMU,
+    GPS,
 
     // Fusion outputs
-    GravityReference = 100,
+    GravityReference,
     ForwardsReference,
     Location,
 
     // Simulated sensors
     Demo,
     Simulation,
-    Annotations = 3
+    Annotations
 }
 
-impl TryFrom<i8> for SensorSource {    
-    type Error = ();
-    
-    fn try_from(value: i8) -> Result<Self, Self::Error> {
+impl From<StreamType> for SensorSource {
+    fn from(value: StreamType) -> Self {
         match value {
-            1 => Ok(SensorSource::IMU),
-            2 => Ok(SensorSource::GPS),
-            3 => Ok(SensorSource::Annotations),
-            _ => Err(())
+            StreamType::Annotations => Self::Annotations,
+            StreamType::GPS => Self::GPS,
+            StreamType::IMU => Self::IMU
         }
     }
 }

src/lib.rs

@@ -8,6 +8,7 @@ pub mod animation;
 pub mod idle;
 pub mod logging;
 pub mod graphics;
+pub mod simdata;
 
 extern crate alloc;
 

src/simdata.rs

@@ -0,0 +1,29 @@
+#[derive(Debug)]
+pub enum StreamType {
+    IMU,
+    GPS,
+    Annotations
+}
+
+impl TryFrom<i8> for StreamType {    
+    type Error = ();
+    
+    fn try_from(value: i8) -> Result<Self, Self::Error> {
+        match value {
+            1 => Ok(StreamType::IMU),
+            2 => Ok(StreamType::GPS),
+            3 => Ok(StreamType::Annotations),
+            _ => Err(())
+        }
+    }
+}
+
+impl From<StreamType> for i8 {
+    fn from(value: StreamType) -> Self {
+        match value {
+            StreamType::IMU => 1,
+            StreamType::GPS => 2,
+            StreamType::Annotations => 3
+        }
+    }
+}

src/tasks/simulation.rs

@@ -11,7 +11,7 @@ use nalgebra::{Vector2, Vector3};
 use log::*;
 use rmp::decode::{DecodeStringError, RmpRead, RmpReadErr, ValueReadError};
 
-use crate::events::{Measurement, SensorSource, SensorState};
+use crate::{events::{Measurement, SensorSource, SensorState}, simdata::StreamType};
 
 #[derive(Debug)]
 pub struct SharedFlash<S> {
@@ -102,8 +102,8 @@ impl<S: ReadStorage + Clone + core::fmt::Debug> Iterator for SimDataTable<S> whe
                         self.index += 1;
                         debug!("Found type={this_type:?}");
                         match this_type.typeid.try_into() {
-                            Err(()) => error!("Found unknown simulation data chunk {this_type:?}"),
-                            Ok(srcid) => return Some(SimDataReader::open(sensor_reader, srcid))
+                            Err(_) => error!("Found unknown simulation data chunk {this_type:?}"),
+                            Ok(stream_type) => return Some(SimDataReader::open(sensor_reader, stream_type))
                         }
                     },
                     Err(err) => {
@@ -205,13 +205,13 @@ impl<S: ReadStorage> From<DecodeStringError<'_, RangeReadError<S::Error>>> for S
 }
 
 impl<S: ReadStorage> SimDataReader<S> where S::Error: core::fmt::Debug + 'static {
-    pub fn open(mut reader: RangeReader<S>, srcid: SensorSource) -> Self {
-        debug!("Opening {srcid:?} sim data chunk");
+    pub fn open(mut reader: RangeReader<S>, stream_type: StreamType) -> Self {
+        debug!("Opening {stream_type:?} sim data chunk");
         let event_count = rmp::decode::read_array_len(&mut reader).unwrap() as usize;
         debug!("Found {event_count} events!");
         Self {
             reader,
-            srcid,
+            srcid: stream_type.into(),
             runtime: Default::default(),
             event_count,
             index: 0