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ui: split out safety ui into its own dedicated set of layers

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This commit is contained in:
Victoria Fischer
2025-10-17 14:40:07 +02:00
parent 818f8af49a
commit a97a28bf9f
6 changed files with 235 additions and 114 deletions
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44
src/bin/main.rs
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@@ -11,6 +11,7 @@ use core::ptr::addr_of_mut;
use embassy_executor::Spawner;
use embassy_time::{Instant, Timer};
use esp_hal::{gpio::{Output, OutputConfig}, peripherals, time::Rate};
#[allow(unused_imports)]
use esp_hal::{
clock::CpuClock, interrupt::software::SoftwareInterruptControl, system::{AppCoreGuard, CpuControl, Stack}, timer::{systimer::SystemTimer, timg::{TimerGroup, Wdt}},
@@ -19,7 +20,7 @@ use esp_hal::{
use esp_hal_embassy::{Executor, InterruptExecutor};
use log::*;
use renderbug_embassy::{logging::RenderbugLogger, tasks::ui::UiSurfacePool};
use renderbug_embassy::{logging::RenderbugLogger, tasks::{safetyui::{safety_ui_main, SafetyUi}, ui::UiSurfacePool}};
use renderbug_embassy::events::BusGarage;
use static_cell::StaticCell;
use esp_backtrace as _;
@@ -45,7 +46,6 @@ static CORE_HANDLE: StaticCell<AppCoreGuard> = StaticCell::new();
async fn main(spawner: Spawner) {
critical_section::with(|_| {
RenderbugLogger::init_logger();
//esp_println::logger::init_logger_from_env();
});
let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
@@ -62,13 +62,15 @@ async fn main(spawner: Spawner) {
let timer1 = TimerGroup::new(peripherals.TIMG1);
let mut ui_wdt = timer1.wdt;
ui_wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(10));
//ui_wdt.enable(); //FIXME: Re-enable UI watchdog once we have a brain task running
ui_wdt.enable(); //FIXME: Re-enable UI watchdog once we have a brain task running
let garage = BUS_GARAGE.init(Default::default());
info!("Setting up rendering pipeline");
let mut surfaces = UiSurfacePool::default();
let ui = Ui::new(&mut surfaces, garage.display.clone());
let ui = Ui::new(&mut surfaces);
let mut safety_surfaces = UiSurfacePool::default();
let safety_ui = SafetyUi::new(&mut safety_surfaces, garage.display.clone());
let mut wdt = timer0.wdt;
wdt.set_timeout(esp_hal::timer::timg::MwdtStage::Stage0, esp_hal::time::Duration::from_secs(3));
@@ -80,7 +82,7 @@ async fn main(spawner: Spawner) {
#[cfg(not(feature="headless"))]
{
wdt.enable();
hi_spawn.must_spawn(renderbug_embassy::tasks::render::render(peripherals.RMT, peripherals.GPIO5.degrade(), surfaces, garage.display.clone(), wdt));
hi_spawn.must_spawn(renderbug_embassy::tasks::render::render(peripherals.RMT, peripherals.GPIO5.degrade(), surfaces, safety_surfaces, garage.display.clone(), wdt));
}
#[cfg(feature="headless")]
garage.display.notify_render_is_running(true);
@@ -104,6 +106,26 @@ async fn main(spawner: Spawner) {
spawner.must_spawn(renderbug_embassy::tasks::gps::gps_task(garage.motion.dyn_sender(), I2cDevice::new(i2c_bus)));
}
#[cfg(feature="oled")]
{
use esp_hal::i2c::master::{Config, I2c};
let mut rst = Output::new(peripherals.GPIO21, esp_hal::gpio::Level::Low, OutputConfig::default());
Timer::after_millis(10).await;
rst.set_high();
Timer::after_millis(10).await;
rst.set_low();
Timer::after_millis(10).await;
rst.set_high();
let i2c = I2c::new(
peripherals.I2C0,
Config::default().with_frequency(Rate::from_khz(400))
).unwrap().with_scl(peripherals.GPIO18).with_sda(peripherals.GPIO17).into_async();
spawner.must_spawn(renderbug_embassy::tasks::oled::oled_task(i2c, garage.telemetry.dyn_subscriber().unwrap()));
}
#[cfg(feature="simulation")]
{
spawner.must_spawn(renderbug_embassy::tasks::simulation::motion_simulation_task(garage.motion.dyn_sender()));
@@ -111,7 +133,7 @@ async fn main(spawner: Spawner) {
}
info!("Launching motion engine");
spawner.must_spawn(motion_task(garage.motion.dyn_receiver(), garage.notify.dyn_sender(), garage.predict.dyn_sender()));
spawner.must_spawn(motion_task(garage.motion.dyn_receiver(), garage.notify.dyn_publisher().unwrap(), garage.predict.dyn_sender()));
info!("Starting core 2");
let mut cpu_control = CpuControl::new(peripherals.CPU_CTRL);
@@ -122,19 +144,21 @@ async fn main(spawner: Spawner) {
#[cfg(feature="radio")]
{
info!("Launching wifi");
spawner.must_spawn(renderbug_embassy::tasks::wifi::wireless_task(garage.notify.dyn_receiver(), timer0.timer0.into(), peripherals.RNG, peripherals.WIFI, peripherals.BT));
//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_receiver(), ui));
spawner.must_spawn(ui_main(garage.notify.dyn_subscriber().unwrap(), garage.telemetry.dyn_publisher().unwrap(), ui));
#[cfg(feature="demo")]
{
warn!("Launching with demo sequencer");
spawner.must_spawn(renderbug_embassy::tasks::demo::demo_task(garage.notify.dyn_sender()));
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_sender()));
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));