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denm: Show warning symbol

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This commit is contained in:
Jannik Beyerstedt 2026-09-07 13:41:48 +02:00 • committed by Jannik Beyerstedt
commit 33a90864a2
10 changed files with 271 additions and 11 deletions
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9
src/applogic/denm.rs
View file

@ -1,13 +1,14 @@
//! C-ITS DENM Evaluation
use c_its_parser::standards::cdd_2_2_1::etsi_its_cdd;
use c_its_parser::standards::denm_2_2_1::denm_pdu_description;
use log::info;
pub fn handle_denm(etsi: &denm_pdu_description::DENM) {
pub fn handle_denm(etsi: &denm_pdu_description::DENM) -> Option<etsi_its_cdd::CauseCodeChoice> {
let mgmt = &etsi.denm.management;
if mgmt.termination.is_some() {
return;
return None;
}
if let (Some(sit), Some(loc)) = (&etsi.denm.situation, &etsi.denm.location) {
@ -38,7 +39,11 @@ pub fn handle_denm(etsi: &denm_pdu_description::DENM) {
"DENN: {station_id}/{seq_num} CC {cc}/{scc} at {lat_deg:.3}°N, {lon_deg:.3}°E until {end_time:?}"
);
}
Some(sit.event_type.cc_and_scc.clone())
} else {
info!("DENM: One of situation or location container not available");
None
}
}

21
src/main.rs
View file

@ -401,7 +401,16 @@ async fn main(spawner: Spawner) -> ! {
}
// update GNSS HB on screen
let _ = screen.update_gnss(pvt);
#[cfg(feature = "screen")]
{
let _ = screen.update_gnss(pvt);
// revert to waiting for DENMs, if SPAT is not enabled
#[cfg(all(not(feature = "spat"), feature = "denm"))]
let _ = screen
.update(screen::ScreenState::DenmWaiting())
.inspect_err(log_screen_error);
}
}
ublox::proto27::PacketRef::AckNak(nak) => {
error!("UBX: {nak:?}");
@ -591,7 +600,15 @@ async fn main(spawner: Spawner) -> ! {
transport: _,
ref etsi,
} => {
applogic::denm::handle_denm(etsi);
match applogic::denm::handle_denm(etsi) {
#[cfg(feature = "screen")]
Some(cc) => {
let _ = screen
.update(screen::ScreenState::DenmWarning(cc))
.inspect_err(log_screen_error);
}
_ => {}
}
// Send data to BLE thread
#[cfg(feature = "ble")]

173
src/screen.rs
View file

@ -1,11 +1,16 @@
//! Screen Output
#[cfg(feature = "denm")]
use c_its_parser::standards::cdd_2_2_1;
use embedded_graphics::prelude::*;
use embedded_graphics::{geometry, mono_font, pixelcolor, primitives, text};
#[cfg(feature = "spat")]
use crate::applogic;
#[cfg(feature = "denm")]
const DENM_MIN_DISPLAY_TIME: esp_hal::time::Duration = esp_hal::time::Duration::from_secs(3);
pub struct DisplaySize {
width: u16,
height: u16,
@ -24,10 +29,20 @@ where
prev_state: ScreenState,
hb_state: bool,
gnss_hb_state: bool,
#[cfg(feature = "denm")]
denm_display_start_time: esp_hal::time::Instant,
// assets
#[cfg(feature = "spat")]
bike_image: tinytga::Tga<'static, pixelcolor::Rgb565>,
bike_image: tinytga::Tga<'static, pixelcolor::Rgb565>, // 45x25px
// #[cfg(feature = "denm")]
// warn_icon: tinytga::Tga<'static, pixelcolor::Rgb565>, // 200x153 px
#[cfg(feature = "denm")]
sv_insert: tinytga::Tga<'static, pixelcolor::Rgb565>, // 80px wide (original 140x70)
#[cfg(feature = "denm")]
ev_insert: tinytga::Tga<'static, pixelcolor::Rgb565>, // 60px wide (original 140x105)
#[cfg(feature = "denm")]
rww_insert: tinytga::Tga<'static, pixelcolor::Rgb565>, // 80px wide (original 140x95)
}
#[derive(Debug, Default, PartialEq, Eq)]
@ -43,6 +58,10 @@ pub enum ScreenState {
GlosaFound(applogic::GlosaFound),
#[cfg(feature = "spat")]
GlosaLocked(applogic::GlosaSignalInfo),
#[cfg(all(not(feature = "spat"), feature = "denm"))]
DenmWaiting(),
#[cfg(feature = "denm")]
DenmWarning(cdd_2_2_1::etsi_its_cdd::CauseCodeChoice),
}
#[cfg(feature = "spat")]
@ -101,9 +120,23 @@ where
pub fn new(target: D, display_size: DisplaySize) -> Self {
#[cfg(feature = "spat")]
let data = include_bytes!("../graphics/Sinnbild_Radfahrer_StVO_1992-25px-white.tga");
#[cfg(feature = "spat")]
let bike_image = tinytga::Tga::from_slice(data).expect("Failed to parse TGA image");
let bike_image = tinytga::Tga::from_slice(include_bytes!(
"../graphics/Sinnbild_Radfahrer_StVO_1992-25px-white.tga"
))
.expect("Failed to parse TGA image");
#[cfg(feature = "denm")]
let sv_insert =
tinytga::Tga::from_slice(include_bytes!("../graphics/Stationary_Vehicle-80px.tga"))
.expect("Failed to parse TGA image");
#[cfg(feature = "denm")]
let ev_insert = tinytga::Tga::from_slice(include_bytes!(
"../graphics/Stationary_Emergency_Vehicle-70px.tga"
))
.expect("Failed to parse TGA image");
#[cfg(feature = "denm")]
let rww_insert = tinytga::Tga::from_slice(include_bytes!("../graphics/Work_Zone-80px.tga"))
.expect("Failed to parse TGA image");
Self {
target,
@ -111,15 +144,53 @@ where
prev_state: ScreenState::Uninitialized,
hb_state: false,
gnss_hb_state: false,
#[cfg(feature = "denm")]
denm_display_start_time: esp_hal::time::Instant::EPOCH,
#[cfg(feature = "spat")]
bike_image,
// #[cfg(feature = "denm")]
// warn_icon,
#[cfg(feature = "denm")]
sv_insert,
#[cfg(feature = "denm")]
ev_insert,
#[cfg(feature = "denm")]
rww_insert,
}
}
pub fn update(&mut self, state: ScreenState) -> Result<(), D::Error> {
#[cfg(feature = "denm")]
let now = esp_hal::time::Instant::now();
#[cfg(feature = "denm")]
// when a DENM was shown before, make sure it's shown for a minimum time
if let ScreenState::DenmWarning(_) = self.prev_state {
use core::ops::Sub;
// update DENM display, if there are updates
if let ScreenState::DenmWarning(cause_code_choice) = &state {
// TODO: find a way to immediately turn off the DENM display when the DENM is over, but keep it for a certain time initially
self.denm_display_start_time = now;
if self.prev_state != state {
self.draw_denm_warning(cause_code_choice)?;
self.prev_state = state;
return Ok(());
}
}
// otherwise early return when timer isn't expired yet
if now.sub(self.denm_display_start_time) < DENM_MIN_DISPLAY_TIME {
return Ok(());
}
}
if self.prev_state != state {
match &state {
ScreenState::Uninitialized | ScreenState::Initial => self.draw_slash_screen()?,
#[cfg(feature = "spat")]
ScreenState::GlosaSearching(_glosa_searching) => self.draw_glosa_searching()?,
#[cfg(feature = "spat")]
@ -136,10 +207,18 @@ where
self.draw_glosa(glosa_data, prev_glosa_data)?;
}
ScreenState::Error(msg) => self.draw_message(msg)?,
#[cfg(all(not(feature = "spat"), feature = "denm"))]
ScreenState::DenmWaiting() => self.draw_denm_waiting()?,
#[cfg(feature = "denm")]
ScreenState::DenmWarning(cause_code_choice) => {
self.denm_display_start_time = now;
self.draw_denm_warning(cause_code_choice)?;
}
}
}
// Update indicator/ heartbeat
#[cfg(feature = "spat")]
{
let update_ind_dia = 10;
let circle_x_pos =
@ -477,6 +556,92 @@ where
Ok(())
}
#[cfg(all(not(feature = "spat"), feature = "denm"))]
fn draw_denm_waiting(&mut self) -> Result<(), D::Error> {
// clear whole display and draw text
self.clear()?;
text::Text::with_alignment(
"Waiting\nfor DENM...",
geometry::Point::new(i32::from(self.size.width) / 2, 130 + self.size.offset_top),
Self::DEFAULT_TEXT_STYLE,
text::Alignment::Center,
)
.draw(&mut self.target)?;
Ok(())
}
#[cfg(feature = "denm")]
pub fn draw_denm_warning(
&mut self,
cc: &cdd_2_2_1::etsi_its_cdd::CauseCodeChoice,
) -> Result<(), D::Error> {
// clear whole display and draw image
self.clear()?;
let centerline = i32::from(self.size.width) / 2;
let sign_top = self.size.offset_top + 40;
// build triangle shape
{
let point1 = geometry::Point::new(centerline, sign_top);
let point2 = geometry::Point::new(centerline - 100, sign_top + 150);
let point3 = geometry::Point::new(centerline + 100, sign_top + 150);
let mut line_style =
primitives::PrimitiveStyle::with_stroke(pixelcolor::Rgb565::CSS_RED, 10);
line_style.fill_color = Some(pixelcolor::Rgb565::WHITE);
primitives::Triangle::new(point1, point2, point3)
.into_styled(line_style)
.draw(&mut self.target)?;
}
// add icon inside the triangle
match cc {
cdd_2_2_1::etsi_its_cdd::CauseCodeChoice::slowVehicle26(_)
| cdd_2_2_1::etsi_its_cdd::CauseCodeChoice::stationaryVehicle94(_) => {
embedded_graphics::image::Image::new(
&self.sv_insert,
geometry::Point::new(centerline - (80 / 2), sign_top + 90),
)
.draw(&mut self.target)?;
}
cdd_2_2_1::etsi_its_cdd::CauseCodeChoice::rescueAndRecoveryWorkInProgress15(_)
| cdd_2_2_1::etsi_its_cdd::CauseCodeChoice::emergencyVehicleApproaching95(_) => {
embedded_graphics::image::Image::new(
&self.ev_insert,
geometry::Point::new(centerline - (70 / 2), sign_top + 85),
)
.draw(&mut self.target)?;
}
cdd_2_2_1::etsi_its_cdd::CauseCodeChoice::roadworks3(_) => {
embedded_graphics::image::Image::new(
&self.rww_insert,
geometry::Point::new(centerline - (80 / 2), sign_top + 85),
)
.draw(&mut self.target)?;
}
_ => {}
}
let (cc, scc) = cc.to_u8_tuple();
text::Text::with_alignment(
&alloc::format!("DENM CC {cc}/{scc}"),
geometry::Point::new(
i32::from(self.size.width) / 2,
sign_top + 150 + (10 / 2) + 30,
),
Self::MID_TEXT_STYLE,
text::Alignment::Center,
)
.draw(&mut self.target)?;
Ok(())
}
#[allow(unused)]
fn draw_slash_screen(&mut self) -> Result<(), D::Error> {
self.clear_all()?;