103 lines
2.8 KiB
Rust
103 lines
2.8 KiB
Rust
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use embassy_time::Duration;
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use enum_map::Enum;
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use enumset::EnumSetType;
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use figments::liber8tion::interpolate::Fract8;
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use nalgebra::{Vector2, Vector3};
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use crate::ego::engine::MotionState;
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#[derive(Clone, Copy, Default, Debug)]
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pub enum Scene {
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#[default]
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Ready, // Default state when booting up, but not when coming out of sleep
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Accelerating,
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Decelerating,
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Idle, // Default state when waking up from sleep, or entered when accelerometers and GPS both show zero motion for ~30 seconds
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}
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#[derive(Clone, Copy, Default, Debug)]
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pub enum SensorState {
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#[default]
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// There is no connection to the sensor
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Offline,
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// Sensor is starting up
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AcquiringFix,
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// Sensor is ready and is generating data
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Online,
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// Sensor was previously fully functioning but currently is not (eg, gps fix lost)
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Degraded,
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}
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#[derive(Clone, Copy, Debug)]
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pub enum Measurement {
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// GPS coordinates
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GPS(Option<Vector2<f64>>),
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// Accelerometer values in body frame where x=forwards
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IMU { accel: Vector3<f32>, gyro: Vector3<f32> },
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// Hardware status updates
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SensorHardwareStatus(SensorSource, SensorState),
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// Simulation metadata updates
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SimulationProgress(SensorSource, Duration, Fract8),
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Annotation
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}
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#[derive(Default, Clone, Copy, Debug, PartialEq, Eq, PartialOrd, Ord)]
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pub enum Personality {
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Sleeping, // System should be using as low power as possible, displays off, etc
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#[default]
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Waking, // System is resuming from sleep, or it is the first boot. A transient state that quickly turns into Active.
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Parked, // System should be acting like an art piece with some idle animations, maybe it can search for some wifi/bluetooth
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Active // System is almost likely on the road and must provide lighting
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}
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#[derive(Clone, Copy, Debug)]
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pub enum Prediction {
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Motion { prev: MotionState, next: MotionState },
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Velocity(f32),
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Location(Vector2<f64>),
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// States of external connections to the world
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SensorStatus(SensorSource, SensorState),
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// The system should enter into one of the four personalities
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SetPersonality(Personality)
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}
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// GPS data = 2, motion data = 1
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#[derive(Debug, EnumSetType, Enum)]
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pub enum SensorSource {
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// Real hardware
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IMU,
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GPS,
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// Connectivity related
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Wifi,
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// Fusion outputs
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MotionFrame,
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Location,
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Cloud,
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// Simulated sensors
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Demo,
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Simulation,
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Annotations
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}
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#[cfg(feature="simulation")]
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use crate::simdata::StreamType;
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#[cfg(feature="simulation")]
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impl From<StreamType> for SensorSource {
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fn from(value: StreamType) -> Self {
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match value {
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StreamType::Annotations => Self::Annotations,
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StreamType::GPS => Self::GPS,
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StreamType::IMU => Self::IMU,
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StreamType::Bundle => unimplemented!()
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}
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}
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} |