main: Make critical_sections as short as possible

src/main.rs

@@ -162,9 +162,11 @@ 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")]
+        {
+            let mut new_position = false;
             critical_section::with(|cs| {
                 let gnss_update_ref = GNSS_UPDATE.borrow(cs);
 
@@ -176,11 +178,16 @@ async fn main(spawner: Spawner) -> ! {
                         let _ = screen::clear(&mut display).inspect_err(log_screen_error);
                     }
 
-                if fix.get_timestamp().is_some() {
+                    new_position = true;
+                }
+            });
+
+            if new_position {
                 info!("{}", state.print_fix());
 
                 // run GLOSA algorithm
                 #[cfg(feature = "spat")]
+                {
                     let signal_groups = state.run_glosa();
 
                     for sig in &signal_groups {
@@ -196,14 +203,19 @@ 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() {
+                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;
@@ -258,7 +270,6 @@ async fn main(spawner: Spawner) -> ! {
                 }
             }
         }
-        });
 
         // maintenance
         state.prune();