build: Add "io" module for BLE/ UART messages

Cargo.lock

@@ -763,6 +763,16 @@ version = "1.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "877a4ace8713b0bcf2a4e7eec82529c029f1d0619886d18145fea96c3ffe5c0f"
 
+[[package]]
+name = "errno"
+version = "0.3.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "39cab71617ae0d63f51a36d69f866391735b51691dbda63cf6f96d042b63efeb"
+dependencies = [
+ "libc",
+ "windows-sys",
+]
+
 [[package]]
 name = "esp-alloc"
 version = "0.10.0"
@@ -1160,6 +1170,8 @@ dependencies = [
  "mipidsi",
  "num-traits",
  "profont",
+ "prost",
+ "prost-build",
 ]
 
 [[package]]
@@ -1234,12 +1246,24 @@ dependencies = [
  "arrayvec",
 ]
 
+[[package]]
+name = "fastrand"
+version = "2.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "da7c62ceae207dd37ea5b845da6a0696c799f85e97da1ab5b7910be3c1c80223"
+
 [[package]]
 name = "find-msvc-tools"
 version = "0.1.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "5baebc0774151f905a1a2cc41989300b1e6fbb29aff0ceffa1064fdd3088d582"
 
+[[package]]
+name = "fixedbitset"
+version = "0.5.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d674e81391d1e1ab681a28d99df07927c6d4aa5b027d7da16ba32d1d21ecd99"
+
 [[package]]
 name = "float-cmp"
 version = "0.9.0"
@@ -1549,6 +1573,12 @@ version = "0.10.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2b23ac50abb8261cb38c6e2a7192d3302e0836dac1628f6a93b82b4fad185897"
 
+[[package]]
+name = "linux-raw-sys"
+version = "0.12.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32a66949e030da00e8c7d4434b251670a91556f4144941d37452769c25d58a53"
+
 [[package]]
 name = "litrs"
 version = "1.0.0"
@@ -1612,6 +1642,12 @@ dependencies = [
  "heapless 0.8.0",
 ]
 
+[[package]]
+name = "multimap"
+version = "0.10.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d87ecb2933e8aeadb3e3a02b828fed80a7528047e68b4f424523a0981a3a084"
+
 [[package]]
 name = "nb"
 version = "0.1.3"
@@ -1770,6 +1806,17 @@ version = "1.0.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "57c0d7b74b563b49d38dae00a0c37d4d6de9b432382b2892f0574ddcae73fd0a"
 
+[[package]]
+name = "petgraph"
+version = "0.8.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8701b58ea97060d5e5b155d383a69952a60943f0e6dfe30b04c287beb0b27455"
+dependencies = [
+ "fixedbitset",
+ "hashbrown 0.15.5",
+ "indexmap",
+]
+
 [[package]]
 name = "pin-project-lite"
 version = "0.2.17"
@@ -1849,6 +1896,57 @@ dependencies = [
  "embedded-graphics",
 ]
 
+[[package]]
+name = "prost"
+version = "0.14.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "528ac67416ff8646872a3c02cad9cc4ee5dc9f9540c9b10771855c95cb2e5ae1"
+dependencies = [
+ "bytes",
+ "prost-derive",
+]
+
+[[package]]
+name = "prost-build"
+version = "0.14.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03da047801ff44bb6a4d407d4860c05fd70bb81714e6b2f3812603d5b145b042"
+dependencies = [
+ "heck",
+ "itertools",
+ "log",
+ "multimap",
+ "petgraph",
+ "prettyplease",
+ "prost",
+ "prost-types",
+ "regex",
+ "syn 2.0.117",
+ "tempfile",
+]
+
+[[package]]
+name = "prost-derive"
+version = "0.14.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b570b25f7617e43d59005d0990ccb79e950a423952cea19671b7a876da390adf"
+dependencies = [
+ "anyhow",
+ "itertools",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.117",
+]
+
+[[package]]
+name = "prost-types"
+version = "0.14.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f94967dc7688f3054c7fac87473ffae4cc4c3904800e2d9f5b857246d8963b0a"
+dependencies = [
+ "prost",
+]
+
 [[package]]
 name = "quote"
 version = "1.0.45"
@@ -2037,6 +2135,19 @@ dependencies = [
  "svgbobdoc",
 ]
 
+[[package]]
+name = "rustix"
+version = "1.1.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b6fe4565b9518b83ef4f91bb47ce29620ca828bd32cb7e408f0062e9930ba190"
+dependencies = [
+ "bitflags",
+ "errno",
+ "libc",
+ "linux-raw-sys",
+ "windows-sys",
+]
+
 [[package]]
 name = "rustversion"
 version = "1.0.22"
@@ -2248,6 +2359,18 @@ version = "1.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "55937e1799185b12863d447f42597ed69d9928686b8d88a1df17376a097d8369"
 
+[[package]]
+name = "tempfile"
+version = "3.27.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "32497e9a4c7b38532efcdebeef879707aa9f794296a4f0244f6f69e9bc8574bd"
+dependencies = [
+ "fastrand",
+ "once_cell",
+ "rustix",
+ "windows-sys",
+]
+
 [[package]]
 name = "termcolor"
 version = "1.4.1"

Cargo.toml

@@ -97,11 +97,15 @@ geo-types = { version = "0.7.19", default-features = false }
 mipidsi = { version = "0.10.0", optional = true }
 num-traits = { version = "0.2.19", default-features = false, features = ["libm"] }
 profont = { version = "0.7.0", optional = true }
+prost = { version = "0.14", default-features = false, features = ["derive"] }
 
 [dev-dependencies]
 assert_float_eq = "1.2.0"
 env_logger = "0.11.10"
 
+[build-dependencies]
+prost-build = "0.14"
+
 
 # For fine tuning these settings, please refer to https://doc.rust-lang.org/cargo/reference/profiles.html
 [profile.dev]

build.rs

@@ -1,6 +1,6 @@
 use std::env;
 
-fn main() {
+fn main() -> std::io::Result<()> {
     let target_arch = env::var("CARGO_CFG_TARGET_ARCH").unwrap();
 
     if target_arch == "riscv32" {
@@ -8,6 +8,16 @@ fn main() {
         // make sure linkall.x is the last linker script (otherwise might cause problems with flip-link)
         println!("cargo:rustc-link-arg=-Tlinkall.x");
     }
+
+    let descriptor_path =
+        std::path::PathBuf::from(env::var("OUT_DIR").unwrap()).join("proto_descriptor.bin");
+
+    prost_build::Config::new()
+        .file_descriptor_set_path(&descriptor_path)
+        .compile_well_known_types()
+        .compile_protos(&["docs/c_its-messages.proto"], &["docs/"])?;
+
+    Ok(())
 }
 
 fn linker_be_nice() {

docs/c_its-messages.proto

@@ -78,8 +78,8 @@ message RawMsgTx {
 
 message PositionState {
   required  Position      position              =  1;
-  optional  uint32        heading_deg           =  2;
+  optional  uint32        heading               =  3; // heading in 1/10 deg
-  optional  uint32        speed                 =  3; // speed in 1/100 m/s
+  optional  uint32        speed                 =  4; // speed in 1/100 m/s
 }
 
 message DenmEvent {

src/io.rs

@@ -0,0 +1,51 @@
+//! UART/ BLE I/O Protocol
+
+pub mod msg {
+    #![allow(clippy::all, clippy::pedantic, clippy::nursery, dead_code)]
+    include!(concat!(env!("OUT_DIR"), "/c_its_io.rs"));
+}
+
+impl From<msg::RawMsgRx> for msg::SerialOutputMsg {
+    fn from(value: msg::RawMsgRx) -> Self {
+        use msg::serial_output_msg::Payload;
+
+        Self {
+            payload: Some(Payload::RxMsg(value)),
+        }
+    }
+}
+
+impl From<msg::DenmEvent> for msg::SerialOutputMsg {
+    fn from(value: msg::DenmEvent) -> Self {
+        use msg::serial_output_msg::Payload;
+
+        Self {
+            payload: Some(Payload::Denm(value)),
+        }
+    }
+}
+
+impl From<msg::PositionState> for crate::applogic::PositionState {
+    fn from(value: msg::PositionState) -> Self {
+        let position = geo_types::Point::new(
+            value.position.longitude_deg.into(),
+            value.position.latitude_deg.into(),
+        );
+        let heading_deg = value.heading.map(|v| {
+            #[allow(clippy::cast_precision_loss)]
+            let val = (v as f32) / 10.;
+            val
+        });
+        let speed_mps = value.speed.map(|v| {
+            #[allow(clippy::cast_precision_loss)]
+            let val = (v as f32) / 100.;
+            val
+        });
+
+        Self {
+            position,
+            heading_deg,
+            speed_mps,
+        }
+    }
+}

src/main.rs

@@ -26,7 +26,7 @@ use esp_hal::timer::timg::TimerGroup;
 use esp_println::println;
 use esp_radio::wifi;
 use geonetworking::Decode as _;
-use log::{debug, error, info, warn};
+use log::{error, info, warn};
 
 extern crate alloc;
 
@@ -34,6 +34,7 @@ mod applogic;
 #[cfg(feature = "spat")]
 mod cache;
 mod geo_alg;
+mod io;
 mod radio;
 #[cfg(feature = "screen")]
 mod screen;