28 lines
1.4 KiB
Rust
28 lines
1.4 KiB
Rust
use embassy_sync::pubsub::DynPublisher;
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use embassy_time::Timer;
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use crate::{ego::engine::MotionState, events::{Personality, Prediction, SensorSource, SensorState}};
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#[embassy_executor::task]
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pub async fn demo_task(ui: DynPublisher<'static, Prediction>) {
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ui.publish(Prediction::SensorStatus(SensorSource::Demo, SensorState::AcquiringFix)).await;
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Timer::after_secs(10).await;
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ui.publish(Prediction::SetPersonality(crate::events::Personality::Active)).await;
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Timer::after_secs(10).await;
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ui.publish(Prediction::SensorStatus(SensorSource::Demo, SensorState::Online)).await;
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loop {
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for personality in [Personality::Active, Personality::Parked] {
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ui.publish(Prediction::SetPersonality(personality)).await;
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for state in [SensorState::Offline, SensorState::AcquiringFix, SensorState::Degraded, SensorState::Offline] {
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for motion in [MotionState::Accelerating, MotionState::Steady, MotionState::Decelerating, MotionState::Stationary] {
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ui.publish(Prediction::Motion { prev: motion, next: motion }).await;
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for sensor in [SensorSource::MotionFrame, SensorSource::GPS, SensorSource::IMU, SensorSource::Location] {
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ui.publish(Prediction::SensorStatus(sensor, state)).await;
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}
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Timer::after_secs(1).await;
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}
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}
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}
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}
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} |