tdfischer/renderbug-bike
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events: rewrite some event buses to use multi-consumer pubsub instead of single-consumer channels

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Victoria Fischer
2025-10-17 14:37:23 +02:00
parent aa5c86b4a7
commit d957615d4e
5 changed files with 45 additions and 44 deletions
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14
src/ego/engine.rs
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@@ -1,4 +1,4 @@
use embassy_sync::channel::DynamicSender;
use embassy_sync::{channel::DynamicSender, pubsub::DynPublisher};
use embassy_time::{Duration, Instant};
use nalgebra::{Rotation3, Vector2, Vector3};
use log::*;
@@ -7,7 +7,7 @@ use nalgebra::{ComplexField, RealField};
use core::fmt::Debug;
use crate::{ego::{heading::HeadingEstimator, kalman::Ekf2D, orientation::OrientationEstimator}, events::{Notification, Prediction}, Breaker, CircularBuffer, idle::IdleClock};
use crate::{ego::{heading::HeadingEstimator, kalman::Ekf2D, orientation::OrientationEstimator}, events::{Notification, Prediction, Telemetry}, idle::IdleClock, Breaker, CircularBuffer};
#[derive(PartialEq, Debug, Default, Clone, Copy)]
pub enum MotionState {
@@ -104,15 +104,15 @@ impl BikeStates {
}
}
pub async fn commit(&mut self, predictions: &DynamicSender<'static, Prediction>, notifications: &DynamicSender<'static, Notification>) {
pub async fn commit(&mut self, predictions: &DynamicSender<'static, Prediction>, notifications: &DynPublisher<'static, Notification>) {
if let Some(true) = self.is_calibrated.read_tripped() {
notifications.send(Notification::SensorOnline(crate::events::SensorSource::IMU)).await
notifications.publish(Notification::SensorOnline(crate::events::SensorSource::IMU)).await
}
match self.has_gps_fix.read_tripped() {
None => (),
Some(true) => notifications.send(Notification::SensorOnline(crate::events::SensorSource::GPS)).await,
Some(false) => notifications.send(Notification::SensorOffline(crate::events::SensorSource::GPS)).await,
Some(true) => notifications.publish(Notification::SensorOnline(crate::events::SensorSource::GPS)).await,
Some(false) => notifications.publish(Notification::SensorOffline(crate::events::SensorSource::GPS)).await,
}
let est = self.kf.x;
@@ -167,7 +167,7 @@ impl BikeStates {
// And if the motion status has changed, send it out
if let Some(state) = self.motion_state.read_tripped() {
debug!("state={state:?} trend={trend} mean={mean} v={v}");
predictions.send(Prediction::Motion(state)).await
predictions.send(Prediction::Motion(state)).await;
}
}
} else {