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spat: ensure that "our" intersection is kept in cache

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Sometimes we may not receive V2X data for longer than the TLC cache time.
This leads to no SPAT updates in the GLOSA algorithm since that uses a cached reference to the intersection instead of querying the tlc cache every time.
This commit is contained in:
Jannik Beyerstedt 2026-06-22 22:54:37 +02:00 • committed by Jannik Beyerstedt
commit cc31d6226e
2 changed files with 72 additions and 53 deletions
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14
src/applogic/mod.rs
View file

@ -255,6 +255,15 @@ impl State {
info.intersection_id, info.lane_id
);
// ensure that "our" intersection is kept in TLC cache
if self
.tlc_cache
.keep_intersection(info.intersection_id, self.time)
.is_err()
{
info!("GLOSA: Intersection not known any more");
(Some(GlosaState::Idle), None)
} else {
// determine if intersection is left
let intersection = info.intersection.borrow();
if Self::is_intersection_left(
@ -295,8 +304,8 @@ impl State {
.map(core::convert::Into::into)
.unwrap_or_default();
let end_sec =
sig.likely_time()
let end_sec = sig
.likely_time()
.or_else(|| sig.min_end_time())
.map(|time| {
let dur =
@ -322,6 +331,7 @@ impl State {
(None, Some(sig_grps)) // keep state, return signal groups
}
}
}
};
// can't update the state from within the match statement, so do it here

11
src/applogic/tlc.rs
View file

@ -10,7 +10,7 @@ use chrono::Datelike;
use esp_println::println;
use super::v2x::map;
use crate::cache::Cache;
use crate::cache::{Cache, CacheError};
pub struct Data {
intersections: Cache<u16, map::Intersection>,
@ -86,6 +86,15 @@ impl Data {
self.intersections.prune(time_now);
}
/// Bumps the timestamp of a certain intersection to keep it cached
pub fn keep_intersection(
&mut self,
intersection_id: u16,
time_now: chrono::NaiveDateTime,
) -> Result<(), CacheError<u16>> {
self.intersections.update(time_now, intersection_id, |_| {})
}
pub fn handle_spatem(&mut self, time_now: chrono::NaiveDateTime, etsi: &SPATEM) {
for int in &etsi.spat.intersections.0 {
let int_id = int.id.id.0;