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tasks: motion: add hard timeouts to the motion engine, to catch deadlocks

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Victoria Fischer
2026-02-28 17:18:34 +01:00
parent 0d8254501b
commit a62aefda77
1 changed files with 6 additions and 3 deletions
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9
src/tasks/motion.rs
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@@ -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 => ()