tasks: gps: drop complicated usage of Backoff

src/tasks/gps.rs

@@ -1,5 +1,5 @@
 use alloc::string::String;
-use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
+use embassy_embedded_hal::shared_bus::{I2cDeviceError, asynch::i2c::I2cDevice};
 use embassy_sync::{blocking_mutex::raw::NoopRawMutex, channel::DynamicSender};
 use embassy_time::Timer;
 use embedded_hal_async::i2c::I2c as _;
@@ -8,14 +8,9 @@ use log::*;
 use nalgebra::Vector2;
 use nmea::{Nmea, sentences::FixType};
 
-use crate::{backoff::Backoff, events::{Measurement, SensorSource, SensorState}};
+use crate::{events::{Measurement, SensorSource, SensorState}};
 
-// FIXME: We need a way to put the GPS to sleep when the system goes to sleep
-#[embassy_executor::task]
-pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
-    Backoff::from_secs(5).forever().attempt::<_, (), ()>(async || {
-        events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Offline)).await;
-        Backoff::from_secs(5).forever().attempt(async || {
+async fn init_gps(i2c_bus: &mut I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) -> Result<(), I2cDeviceError<esp_hal::i2c::master::Error>> {
     info!("Initializing GPS");
     // Enable a bunch of data? idk
     let bytes = "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n";
@@ -32,7 +27,16 @@ pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus:
     // Antenna updates
     let bytes = "$PGCMD,33,1*6C\r\n";
     i2c_bus.write(0x10, bytes.as_bytes()).await
-        }).await.unwrap();
+}
+
+// FIXME: We need a way to put the GPS to sleep when the system goes to sleep
+#[embassy_executor::task]
+pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
+    events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Offline)).await;
+    if let Err(e) = init_gps(&mut i2c_bus).await {
+        error!("Failed to initialize GPS: {e:?}");
+        return;
+    }
 
     let mut strbuf = String::new();
 
@@ -94,5 +98,4 @@ pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus:
             Timer::after_millis(500).await;
         }
     }
-    }).await.ok();
 }