jtbx/esp32-c_its-companion
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main: Make critical_sections as short as possible

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This commit is contained in:
Jannik Beyerstedt 2026-06-20 20:01:31 +02:00
commit 26a8d0d18a
1 changed files with 73 additions and 62 deletions
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143
src/main.rs
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@ -162,25 +162,32 @@ async fn main(spawner: Spawner) -> ! {
let mut state = applogic::State::new();
loop {
embassy_time::Timer::after(embassy_time::Duration::from_millis(5)).await;
embassy_time::Timer::after(embassy_time::Duration::from_millis(1)).await;
#[cfg(feature = "gnss")]
critical_section::with(|cs| {
let gnss_update_ref = GNSS_UPDATE.borrow(cs);
{
let mut new_position = false;
critical_section::with(|cs| {
let gnss_update_ref = GNSS_UPDATE.borrow(cs);
if let Some(fix) = gnss_update_ref.replace(None) {
let prev_state = state.initialized();
state.update_with_gpsfix(&fix);
if let Some(fix) = gnss_update_ref.replace(None) {
let prev_state = state.initialized();
state.update_with_gpsfix(&fix);
if prev_state != state.initialized() {
let _ = screen::clear(&mut display).inspect_err(log_screen_error);
if prev_state != state.initialized() {
let _ = screen::clear(&mut display).inspect_err(log_screen_error);
}
new_position = true;
}
});
if fix.get_timestamp().is_some() {
info!("{}", state.print_fix());
if new_position {
info!("{}", state.print_fix());
// run GLOSA algorithm
#[cfg(feature = "spat")]
// run GLOSA algorithm
#[cfg(feature = "spat")]
{
let signal_groups = state.run_glosa();
for sig in &signal_groups {
@ -196,69 +203,73 @@ async fn main(spawner: Spawner) -> ! {
.inspect_err(log_screen_error);
}
}
});
}
let mut new_data = None;
critical_section::with(|cs| {
let queue_rc = WIFI_RX_QUEUE.borrow(cs).borrow();
// unwrap is fine b/c we stored something in it before
let queue = queue_rc.as_ref().unwrap();
if let Some(data) = queue.pop() {
match c_its_parser::de::decode(&data, c_its_parser::Headers::IEEE802LlcGnBtp) {
Ok(msg) => {
use c_its_parser::ItsMessage;
use c_its_parser::standards::extensions::ItsMessageId;
debug!("Got new {:?} message", ItsMessageId::from(&msg));
match msg {
#[cfg(feature = "spat")]
ItsMessage::Mapem {
geonetworking: _,
transport: _,
etsi,
} => state.handle_mapem(&etsi),
#[cfg(feature = "spat")]
ItsMessage::Spatem {
geonetworking: _,
transport: _,
etsi,
} => {
if state.initialized() {
state.handle_spatem(&etsi);
}
}
#[cfg(feature = "cam")]
ItsMessage::Cam {
geonetworking: _,
transport: _,
etsi,
} => applogic::cam::handle_cam(&etsi),
#[cfg(feature = "denm")]
ItsMessage::DenmV2 {
geonetworking: _,
transport: _,
etsi,
} => applogic::denm::handle_denm(&etsi),
#[cfg(feature = "denm")]
ItsMessage::DenmV1 {
geonetworking: _,
transport: _,
etsi: _,
} => {
// irrelevant since all received DENMs should be parsed as v2
}
}
}
Err(err) => {
// will give false-positives when a message is received which wasn't enabled
debug!("Failed to parse V2X message: {err}");
}
}
new_data = Some(data);
}
});
if let Some(data) = new_data {
match c_its_parser::de::decode(&data, c_its_parser::Headers::IEEE802LlcGnBtp) {
Ok(msg) => {
use c_its_parser::ItsMessage;
use c_its_parser::standards::extensions::ItsMessageId;
debug!("Got new {:?} message", ItsMessageId::from(&msg));
match msg {
#[cfg(feature = "spat")]
ItsMessage::Mapem {
geonetworking: _,
transport: _,
etsi,
} => state.handle_mapem(&etsi),
#[cfg(feature = "spat")]
ItsMessage::Spatem {
geonetworking: _,
transport: _,
etsi,
} => {
if state.initialized() {
state.handle_spatem(&etsi);
}
}
#[cfg(feature = "cam")]
ItsMessage::Cam {
geonetworking: _,
transport: _,
etsi,
} => applogic::cam::handle_cam(&etsi),
#[cfg(feature = "denm")]
ItsMessage::DenmV2 {
geonetworking: _,
transport: _,
etsi,
} => applogic::denm::handle_denm(&etsi),
#[cfg(feature = "denm")]
ItsMessage::DenmV1 {
geonetworking: _,
transport: _,
etsi: _,
} => {
// irrelevant since all received DENMs should be parsed as v2
}
}
}
Err(err) => {
// will give false-positives when a message is received which wasn't enabled
debug!("Failed to parse V2X message: {err}");
}
}
}
// maintenance
state.prune();