From a62aefda770a52c97bd17cb9fb9807c804b00fb0 Mon Sep 17 00:00:00 2001
From: Victoria Fischer <tdfischer@hackerbots.net>
Date: Sat, 28 Feb 2026 17:18:34 +0100
Subject: [PATCH] tasks: motion: add hard timeouts to the motion engine, to
 catch deadlocks

---
 src/tasks/motion.rs | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/tasks/motion.rs b/src/tasks/motion.rs
index cef64ce..6224546 100644
--- a/src/tasks/motion.rs
+++ b/src/tasks/motion.rs
@@ -1,8 +1,11 @@
 use embassy_sync::{channel::DynamicReceiver, pubsub::DynPublisher};
 use log::*;
+use embassy_time::{Duration, WithTimeout};
 
 use crate::{ego::engine::BikeStates, events::{Measurement, Prediction}};
 
+const TIMEOUT: Duration = Duration::from_millis(3);
+
 #[embassy_executor::task]
 pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, prediction_sink: DynPublisher<'static, Prediction>) {
     let mut states = BikeStates::default();
@@ -14,11 +17,11 @@ pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, prediction_
         match next_measurement {
             Measurement::IMU { accel, gyro } => {
                 states.insert_imu(accel, gyro);
-                states.commit(&prediction_sink).await;
+                states.commit(&prediction_sink).with_timeout(TIMEOUT).await.expect("Could not commit IMU data in time");
             },
             Measurement::GPS(Some(gps_pos)) => {
                 states.insert_gps(gps_pos);
-                states.commit(&prediction_sink).await;
+                states.commit(&prediction_sink).with_timeout(TIMEOUT).await.expect("Could not commit GPS data in time");
             },
             Measurement::GPS(None) => {
                 states.has_gps_fix.set(false);
@@ -26,7 +29,7 @@ pub async fn motion_task(src: DynamicReceiver<'static, Measurement>, prediction_
             // FIXME: This needs harmonized with the automatic data timeout from above, somehow?
             Measurement::SensorHardwareStatus(source, state) => {
                 warn!("Sensor {source:?} reports {state:?}!");
-                prediction_sink.publish(Prediction::SensorStatus(source, state)).await;
+                prediction_sink.publish(Prediction::SensorStatus(source, state)).with_timeout(TIMEOUT).await.expect("Could not update sensor status in time");
             },
             Measurement::SimulationProgress(source, duration, pct) => debug!("{source:?} simulation time: {} {} / 255", duration.as_secs(), pct),
             Measurement::Annotation => ()