Move core ESP32 V2X to own repo

src/applogic/cam_tx.rs

@@ -11,6 +11,45 @@ const PH_MAX_LENGHT_M: f32 = 500.;
 const PH_MAX_ITEMS: usize = 23;
 const PH_MIN_DIST_M: f32 = 20.;
 
+/// Stand-alone CAM generator
+///
+/// Generates CAM messages from time and [`PosVel`] updates
+///
+/// # Send a message
+/// ```
+/// use esp32_cits_core::tx::GnItsPayload as _;
+///
+/// let (mut seq_no, mac_bytes) = {
+///     // unwrap is fine since [`esp_hal::efuse::MacAddress`] is just an `[u8; 6]`
+///     let mac_bytes = mac.as_bytes().try_into().unwrap();
+///
+///     (0, mac_bytes)
+/// };
+///
+/// let mut cam = {
+///     let station_id = make_station_id(mac);
+///     info!("V2X Station ID: {station_id}");
+///
+///     applogic::cam_tx::CamState::new(
+///         station_id,
+///         OWN_STATION_TYPE,
+///         OWN_VEHICLE_LENGTH,
+///         OWN_VEHICLE_WIDTH,
+///     )
+/// };
+///
+/// cam.update(time, fix.clone().into());
+/// match cam.encode_packet(mac_bytes, pos_vel, time, GN_IS_MOBILE, &mut seq_no) {
+///     Ok(data) => {
+///         if let Err(err) =
+///             radio::send_80211_bcast_frame(&mut wlan_iface, &mac_bytes.clone(), &data)
+///         {
+///             warn!("Failed to send 802.11 frame: {err}");
+///         }
+///     }
+///     Err(err) => warn!("Failed to create CAM: {err}"),
+/// }
+/// ```
 #[derive(Debug)]
 pub struct CamState {
     station_id: u32,
@@ -20,7 +59,7 @@ pub struct CamState {
     vehicle_width_dm: u8,   // vehicle width is in 10cm steps
 
     time: chrono::DateTime<chrono::Utc>,
-    pos_state: super::PositionState,
+    pos_state: esp32_cits_core::PosVel,
 
     /// database for path history, oldest item at the back of the vector
     path_history: Vec<PathPoint>,
@@ -35,7 +74,7 @@ struct PathPoint {
 }
 
 impl PathPoint {
-    fn new_from_pos(pos: &super::PositionState, time: chrono::DateTime<chrono::Utc>) -> Self {
+    fn new_from_pos(pos: &esp32_cits_core::PosVel, time: chrono::DateTime<chrono::Utc>) -> Self {
         Self {
             pos: pos.position,
             time,
@@ -44,7 +83,7 @@ impl PathPoint {
     }
 
     fn new_from_pos_with_dist(
-        pos: &super::PositionState,
+        pos: &esp32_cits_core::PosVel,
         time: chrono::DateTime<chrono::Utc>,
         dist_m: f32,
     ) -> Self {
@@ -69,12 +108,12 @@ impl CamState {
             vehicle_length_dm,
             vehicle_width_dm,
             time: chrono::DateTime::<chrono::Utc>::default(),
-            pos_state: super::PositionState::default(),
+            pos_state: esp32_cits_core::PosVel::default(),
             path_history: Vec::with_capacity(PH_MAX_ITEMS + 1),
         }
     }
 
-    pub fn update(&mut self, time: chrono::DateTime<chrono::Utc>, pos: super::PositionState) {
+    pub fn update(&mut self, time: chrono::DateTime<chrono::Utc>, pos: esp32_cits_core::PosVel) {
         self.time = time;
         self.pos_state = pos;
 
@@ -86,7 +125,7 @@ impl CamState {
     fn update_ph(
         path_history: &mut Vec<PathPoint>,
         time: chrono::DateTime<chrono::Utc>,
-        pos: &super::PositionState,
+        pos: &esp32_cits_core::PosVel,
     ) {
         // Update path history
         if path_history.is_empty() {
@@ -293,11 +332,11 @@ impl CamState {
     }
 }
 
-impl crate::v2x_tx::GnItsPayload for CamState {
+impl esp32_cits_core::tx::GnItsPayload for CamState {
     fn make_eh(
         &self,
         address: [u8; 6],
-        own_position: &crate::applogic::PositionState,
+        own_position: &esp32_cits_core::PosVel,
         time: chrono::DateTime<chrono::Utc>,
         _seq_no: &mut u16,
     ) -> Result<
@@ -313,7 +352,7 @@ impl crate::v2x_tx::GnItsPayload for CamState {
 
         // CAM always uses SHB, hop-limit 1
         Ok((
-            crate::v2x_tx::gn::make_shb_eh(address, station_type, own_position, time),
+            esp32_cits_core::tx::gn::make_shb_eh(address, station_type, own_position, time)?,
             None,
             1,
         ))
@@ -336,8 +375,8 @@ mod tests {
     use super::*;
     use crate::init_test_env_logger;
 
-    fn posstate_from_pos(position: geo_types::Point) -> crate::applogic::PositionState {
-        crate::applogic::PositionState {
+    fn posstate_from_pos(position: geo_types::Point) -> esp32_cits_core::PosVel {
+        esp32_cits_core::PosVel {
             position,
             heading_deg: None,
             speed_mps: None,

src/applogic/mod.rs

@@ -49,7 +49,7 @@ pub struct State {
     time: chrono::NaiveDateTime,
 
     #[allow(unused)]
-    pos: PositionState,
+    pos: esp32_cits_core::PosVel,
 
     #[cfg(feature = "spat")]
     last_prune: chrono::NaiveDateTime,
@@ -130,15 +130,7 @@ pub struct GnssFix {
     pub speed_mps: Option<f32>,
 }
 
-#[allow(unused)]
-#[derive(Debug, Default, Clone, PartialEq)]
-pub struct PositionState {
-    pub position: geo_types::Point,
-    pub heading_deg: Option<f32>,
-    pub speed_mps: Option<f32>,
-}
-
-impl From<&GnssFix> for PositionState {
+impl From<&GnssFix> for esp32_cits_core::PosVel {
     fn from(value: &GnssFix) -> Self {
         let position = geo_types::Point::new(value.longitude_deg, value.latitude_deg);
 
@@ -149,7 +141,7 @@ impl From<&GnssFix> for PositionState {
         }
     }
 }
-impl From<GnssFix> for PositionState {
+impl From<GnssFix> for esp32_cits_core::PosVel {
     fn from(value: GnssFix) -> Self {
         (&value).into()
     }
@@ -212,7 +204,7 @@ impl State {
         Self {
             initialized: false,
             time: chrono::NaiveDateTime::default(),
-            pos: PositionState::default(),
+            pos: esp32_cits_core::PosVel::default(),
             #[cfg(feature = "spat")]
             last_prune: chrono::NaiveDateTime::default(),
             #[cfg(feature = "spat")]
@@ -641,7 +633,7 @@ impl State {
     }
 
     #[allow(unused)]
-    pub fn pos(&self) -> &PositionState {
+    pub fn pos(&self) -> &esp32_cits_core::PosVel {
         &self.pos
     }
 }