diff --git a/Cargo.lock b/Cargo.lock index 4d9cb80..98a4c6a 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -166,29 +166,6 @@ dependencies = [ "generic-array", ] -[[package]] -name = "bt-hci" -version = "0.8.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "211713d2e9fb4793ce4360a712c0764264aff6be48932ccf02ca2a331c0436a9" -dependencies = [ - "btuuid", - "embassy-sync 0.8.0", - "embedded-io 0.7.1", - "embedded-io-async 0.7.0", - "futures-intrusive", - "heapless 0.9.2", -] - -[[package]] -name = "btuuid" -version = "0.1.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "f5f48f1e9b0aad0a4f05d17bdeae0fa20ff798e272a03a6940ca27ad9c5a6ae7" -dependencies = [ - "uuid", -] - [[package]] name = "bumpalo" version = "3.20.2" @@ -267,15 +244,6 @@ version = "1.0.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0b396d1f76d455557e1218ec8066ae14bba60b4b36ecd55577ba979f5db7ecaa" -[[package]] -name = "convert_case" -version = "0.8.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "baaaa0ecca5b51987b9423ccdc971514dd8b0bb7b4060b983d3664dad3f1f89f" -dependencies = [ - "unicode-segmentation", -] - [[package]] name = "cordyceps" version = "0.3.4" @@ -988,7 +956,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "23fbff98b06a96b6ce3791ecec5c668524052a068e23aacd23afe17ddba844ce" dependencies = [ "allocator-api2", - "bt-hci", "cfg-if", "docsplay", "document-features", @@ -1185,14 +1152,11 @@ name = "esp32-c_its-companion" version = "0.1.0" dependencies = [ "assert_float_eq", - "bt-hci", "c-its-parser", "chrono", "critical-section", "crossbeam-queue", "embassy-executor", - "embassy-futures", - "embassy-sync 0.7.2", "embassy-time", "embassy_gps", "embedded-graphics", @@ -1215,8 +1179,6 @@ dependencies = [ "profont", "prost", "prost-build", - "static_cell", - "trouble-host", "ublox", ] @@ -1358,52 +1320,12 @@ version = "2.0.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e6d5a32815ae3f33302d95fdcb2ce17862f8c65363dcfd29360480ba1001fc9c" -[[package]] -name = "futures" -version = "0.3.32" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8b147ee9d1f6d097cef9ce628cd2ee62288d963e16fb287bd9286455b241382d" -dependencies = [ - "futures-channel", - "futures-core", - "futures-io", - "futures-sink", - "futures-task", - "futures-util", -] - -[[package]] -name = "futures-channel" -version = "0.3.32" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "07bbe89c50d7a535e539b8c17bc0b49bdb77747034daa8087407d655f3f7cc1d" -dependencies = [ - "futures-core", - "futures-sink", -] - [[package]] name = "futures-core" version = "0.3.32" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7e3450815272ef58cec6d564423f6e755e25379b217b0bc688e295ba24df6b1d" -[[package]] -name = "futures-intrusive" -version = "0.5.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1d930c203dd0b6ff06e0201a4a2fe9149b43c684fd4420555b26d21b1a02956f" -dependencies = [ - "futures-core", - "lock_api", -] - -[[package]] -name = "futures-io" -version = "0.3.32" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cecba35d7ad927e23624b22ad55235f2239cfa44fd10428eecbeba6d6a717718" - [[package]] name = "futures-sink" version = "0.3.32" @@ -1423,10 +1345,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6" dependencies = [ "futures-core", - "futures-sink", "futures-task", "pin-project-lite", - "slab", ] [[package]] @@ -1641,18 +1561,6 @@ dependencies = [ "syn 2.0.117", ] -[[package]] -name = "js-sys" -version = "0.3.98" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "67df7112613f8bfd9150013a0314e196f4800d3201ae742489d999db2f979f08" -dependencies = [ - "cfg-if", - "futures-util", - "once_cell", - "wasm-bindgen", -] - [[package]] name = "lazy_static" version = "1.5.0" @@ -1695,15 +1603,6 @@ version = "1.0.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "11d3d7f243d5c5a8b9bb5d6dd2b1602c0cb0b9db1621bafc7ed66e35ff9fe092" -[[package]] -name = "lock_api" -version = "0.4.14" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "224399e74b87b5f3557511d98dff8b14089b3dadafcab6bb93eab67d3aace965" -dependencies = [ - "scopeguard", -] - [[package]] name = "log" version = "0.4.29" @@ -2285,12 +2184,6 @@ version = "1.0.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294" -[[package]] -name = "scopeguard" -version = "1.2.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "94143f37725109f92c262ed2cf5e59bce7498c01bcc1502d7b9afe439a4e9f49" - [[package]] name = "semver" version = "1.0.28" @@ -2368,12 +2261,6 @@ version = "1.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64" -[[package]] -name = "slab" -version = "0.4.12" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0c790de23124f9ab44544d7ac05d60440adc586479ce501c1d6d7da3cd8c9cf5" - [[package]] name = "smallvec" version = "1.15.1" @@ -2422,15 +2309,6 @@ version = "1.2.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "6ce2be8dc25455e1f91df71bfa12ad37d7af1092ae736f3a6cd0e37bc7810596" -[[package]] -name = "static_cell" -version = "2.1.1" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "0530892bb4fa575ee0da4b86f86c667132a94b74bb72160f58ee5a4afec74c23" -dependencies = [ - "portable-atomic", -] - [[package]] name = "strsim" version = "0.11.1" @@ -2620,39 +2498,6 @@ dependencies = [ "tracing-log", ] -[[package]] -name = "trouble-host" -version = "0.6.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1df7817cead4b83dfbeeaa59736ecbc97c30b21dc3bfc0cc2ce8a6687f70b37a" -dependencies = [ - "bt-hci", - "embassy-futures", - "embassy-sync 0.7.2", - "embassy-time", - "embedded-io 0.7.1", - "futures", - "heapless 0.9.2", - "rand_core 0.6.4", - "static_cell", - "trouble-host-macros", - "zerocopy", -] - -[[package]] -name = "trouble-host-macros" -version = "0.4.0" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "2d809ae05f510cf8f1d863749281eb28e049d9ae4ad52d92ea7a0ac068a0e17c" -dependencies = [ - "convert_case", - "darling 0.20.11", - "proc-macro2", - "quote", - "syn 2.0.117", - "uuid", -] - [[package]] name = "typenum" version = "1.20.0" @@ -2694,12 +2539,6 @@ version = "1.0.24" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "e6e4313cd5fcd3dad5cafa179702e2b244f760991f45397d14d4ebf38247da75" -[[package]] -name = "unicode-segmentation" -version = "1.13.2" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "9629274872b2bfaf8d66f5f15725007f635594914870f65218920345aa11aa8c" - [[package]] name = "unicode-width" version = "0.1.14" @@ -2731,8 +2570,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "ddd74a9687298c6858e9b88ec8935ec45d22e8fd5e6394fa1bd4e99a87789c76" dependencies = [ "getrandom", - "js-sys", - "wasm-bindgen", ] [[package]] @@ -3038,26 +2875,6 @@ dependencies = [ "syn 2.0.117", ] -[[package]] -name = "zerocopy" -version = "0.8.49" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bce33a6288fa3f072a8c2c7d0f2fdbb90e28298f0135c1f99b96c3db2efcc60b" -dependencies = [ - "zerocopy-derive", -] - -[[package]] -name = "zerocopy-derive" -version = "0.8.49" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8fd425244944f4ab65ccff928e7323354c5a018c75838362fdce749dfad2ee1e" -dependencies = [ - "proc-macro2", - "quote", - "syn 2.0.117", -] - [[package]] name = "zmij" version = "1.0.21" diff --git a/Cargo.toml b/Cargo.toml index 6dc5d8e..45a5a52 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -14,6 +14,12 @@ name = "test" path = "./src/test.rs" required-features = ["std", "cam"] +[[bin]] +## run with cargo run --target host-tuple --bin test-proto --no-default-features -F std,uart,cam +name = "test-proto" +path = "./src/test-proto.rs" +required-features = ["std", "uart", "cam"] + [features] default = ["esp", "spat", "gnss_ubx", "screen"] @@ -23,8 +29,6 @@ esp = [ "dep:esp-rtos", "dep:esp-bootloader-esp-idf", "dep:embassy-executor", - "dep:embassy-futures", - "dep:embassy-sync", "dep:embassy-time", "dep:embedded-io", "dep:embedded-io-async", @@ -32,7 +36,6 @@ esp = [ "dep:esp-backtrace", "dep:esp-println", "dep:esp-radio", - "dep:bt-hci", "esp32-cits-core/esp32c5", "esp32-cits-core/log-04", ] @@ -55,9 +58,7 @@ spat_debug = [] # enable ST7789 based display screen = ["dep:mipidsi", "dep:embedded-graphics", "dep:embedded-hal-bus", "dep:profont"] # enable I/O via UART -uart = ["_uart", "_gnss"] -# enable I/O via BLE -ble = ["_gnss"] +uart = ["_uart", "_gnss", "dep:prost"] # internal feature, that any UART I/O is enabled _uart = [] @@ -71,7 +72,6 @@ esp-rtos = { version = "0.3.0", optional = true, features = [ "embassy", "esp-alloc", "esp-radio", - "embassy", "esp32c5", "log-04", ] } @@ -80,16 +80,14 @@ esp-bootloader-esp-idf = { version = "0.5.0", optional = true, features = ["esp3 log = "0.4.27" critical-section = "1.2.0" -bt-hci = { version = "0.8.0", optional = true } embassy-executor = { version = "0.10.0", optional = true, features = ["log"] } -embassy-futures = { version = "0.1.2", optional = true } -embassy-sync = { version = "0.7", optional = true } embassy-time = { version = "0.5.0", optional = true, features = ["log"] } embedded-io = { version = "0.7.1", optional = true } embedded-io-async = { version = "0.7.0", optional = true } esp-alloc = { version = "0.10.0", optional = true } esp-backtrace = { version = "0.19.0", optional = true, features = [ "esp32c5", + "panic-handler", "println", ] } esp-println = { version = "0.17.0", optional = true, default-features = false, features = ["colors", "critical-section", "jtag-serial", "esp32c5", "log-04"] } @@ -100,10 +98,7 @@ esp-radio = { version = "0.18.0", optional = true, features = [ "unstable", "wifi", "sniffer", - "ble", ] } -trouble-host = { version = "0.6.0", features = ["gatt", "central", "derive", "default-packet-pool"] } -static_cell = "2" embassy_gps = { version = "0.1.0", optional = true, default-features = false, features = ["esp", "log-04"], git = "https://github.com/jbeyerstedt/embassy_gps.git", branch = "feat/rework-gpsfix" } esp32-cits-core = { version = "0.1.0", default-features = false, git = "https://git.hamburg.ccc.de/jtbx/esp32-cits-core", branch = "main" } @@ -122,7 +117,7 @@ geo-types = { version = "0.7.19", default-features = false } mipidsi = { version = "0.10.0", optional = true } num-traits = { version = "0.2.19", default-features = false, features = ["libm"] } profont = { version = "0.7.0", optional = true } -prost = { version = "0.14", default-features = false, features = ["derive"] } +prost = { version = "0.14", optional = true, default-features = false, features = ["derive"] } ublox = { version = "0.10", optional = true, default-features = false, features = ["alloc", "ubx_proto27"] } [dev-dependencies] diff --git a/Readme.md b/Readme.md index 97dfd2b..2ae3aab 100644 --- a/Readme.md +++ b/Readme.md @@ -8,7 +8,7 @@ The code is currently tailored to: - U-Blox M10Q GNSS (connected on GPIO12 (RX), GPIO11 (TX), and GPIO25 (reset)) or Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset)) only available with `gnss_ubx` or `gnss_l67k` feature (which is included in `spat` feature) -- Some ST7789 240*280px screen (connected on GPIO8 (SCL/ SCK), GPIO10 (SDA/ MOSI), GPIO7 (reset), GPIO23 (DC), GPIO24 (CS), GPIO0 (BL)) +- Some ST7789 172*320px screen (connected on GPIO8 (SCL/ SCK), GPIO10 (SDA/ MOSI), GPIO7 (reset), GPIO23 (DC), GPIO24 (CS), TODO GPIO0 (BL)) only available with `screen` feature (which is included in `spat` feature) ## Features @@ -55,13 +55,6 @@ This is **not** implemented in this application! ### UART Enable UART I/O protocol according to [docs/uart-protocol.md](./docs/uart-protocol.md). -### BLE -Enable BLE I/O protocol according to [docs/ble-protocol.md](./docs/ble-protocol.md). -Enabling `denm` feature or `cam` feature is recommended, otherwise no data will be received. - -Note: When changing the set of supported messages on the BLE interface, you may need to turn bluetooth off and on again on your client device. -Otherwise the client may not re-scan the service's characteristics and still use the previous set of characteristics. - ## Usage @@ -77,7 +70,7 @@ rustup target add riscv32imac-unknown-none-elf cargo install espflash --locked ``` -(Project was setup using esp-generate with the options `--chip esp32c5 -o esp32c5-wroom-1-psram -o alloc -o log -o unstable-hal -o wifi -o esp-backtrace -o embassy -o ble-trouble`.) +(Project was setup using esp-generate with the options `--chip esp32c5 -o esp32c5-wroom-1-psram -o alloc -o log -o unstable-hal -o wifi -o esp-backtrace -o embassy`.) To use the proper rustfmt features, enable the nightly toolchain: ```shell @@ -100,8 +93,7 @@ Officially supported feature combinations are: - `esp,spat,gnss_ubx,screen` (default features, "standalone") - `esp,spat,gnss_ubx,screen,cam_tx` ("standalone with CAM") - `esp,spat,gnss_ubx,screen,cam_tx,cam,denm` -- `esp,uart,cam,denm` ("smartphone companion with UART") -- `esp,ble,cam,denm,cam_tx` ("smartphone companion with BLE") +- `esp,uart,cam,denm` ("smartphone companion") Connect your ESP32-C5 and run: diff --git a/docs/ble-protocol.md b/docs/ble-protocol.md index e8ad492..65f68ff 100644 --- a/docs/ble-protocol.md +++ b/docs/ble-protocol.md @@ -19,16 +19,12 @@ V2X data is exposed via the service UUID `c0b70000-d4f4-4000-ada8-f99a02ee315c` UUID | Type | Description ------------------------------------- | --------------- | ----------- c0b70001-d4f4-4001-ada8-f99a02ee315c | `PositionState` | Set position from external source -c0b70001-d4f4-4002-ada8-f99a02ee315c | `RawNotify` | Raw message notification -c0b70001-d4f4-4003-ada8-f99a02ee315c | `RawMsgRx` | Raw CAM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4004-ada8-f99a02ee315c | `CamEvent` | Latest received CAM -c0b70001-d4f4-4005-ada8-f99a02ee315c | `RawMsgRx` | Raw DENM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4006-ada8-f99a02ee315c | `DenmEvent` | Latest received DENM -c0b70001-d4f4-4007-ada8-f99a02ee315c | `RawMsgRx` | Raw MAPEM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4008-ada8-f99a02ee315c | `RawMsgRx` | Raw SPATEM message (de-duplicated/ rate-limited) - -Since a modern BLE notification can only fit up tp 251 bytes of payload, the raw messages can only be polled. -Please subscribe to `c0b70001-d4f4-4002-ada8-f99a02ee315c` and use the message ID to determine from which service to read the incoming value. +c0b70001-d4f4-4001-ada8-f99a02ee315c | `RawMsgRx` | Raw CAM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4002-ada8-f99a02ee315c | `CamEvent` | Latest received CAM +c0b70001-d4f4-4003-ada8-f99a02ee315c | `RawMsgRx` | Raw DENM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4004-ada8-f99a02ee315c | `DenmEvent` | Latest received DENM +c0b70001-d4f4-4005-ada8-f99a02ee315c | `RawMsgRx` | Raw MAPEM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4006-ada8-f99a02ee315c | `RawMsgRx` | Raw SPATEM message (de-duplicated/ rate-limited) ## Message Format @@ -39,65 +35,15 @@ All data types are defined in one `.proto` file: [c_its-messages.proto](./c_its- When there's no GNSS receiver connected to the ESP, position, heading and speed information can be set using a `PositionState` message (see [c_its-messages.proto](./c_its-messages.proto)). -Maximum message size (assuming realistic value ranges): - -field name | tag size | (max.) data size ------------------ | -------- | --------- -timestamp_ms | 1 | 8 (I64) -position | 1 | 1 (LEN(10)) + sub-fields below -\+ latitude_deg | 1 | 4 (I32) -\+ longitude_deg | 1 | 4 (I32) -heading | 1 | 2 (VARINT(3600)) -speed | 1 | 2 (VARINT(~163 m/s)) -**SUM** | 6 + | 21 = 27 byte - - ### DENM Event Each received DENM will be "published" as a `DenmEvent` message (see [c_its-messages.proto](./c_its-messages.proto)). Repetitions of the same message (e.g. no changes to the validity timeframe and location) may be dropped by the BLE server. -Maximum message size (assuming realistic value ranges): - -field name | tag size | (max.) data size ------------------ | -------- | --------- -timestamp | 1 | 8 (I64) -validity_end_ts | 1 | 8 (I64) -station_id | 1 | 8 (I64) -seq_num | 1 | 3 (VARINT(65535)) -event_position | 1 | 1 (LEN(10)) + sub-fields below -\+ latitude_deg | 1 | 4 (I32) -\+ longitude_deg | 1 | 4 (I32) -event_heading_deg | 1 | 1 (VARINT(360)) -direction | 1 | 1 (VARINT(3)) -cause_code | 1 | 1 (VARINT(127)) -sub_cause_code | 1 | 1 (VARINT(127)) -**SUM** | 11 + | 40 = 51 byte - -Note: Cause code and sub-cause code are technically 0..255 in the ASN.1 spec, but that's mainly to ensure backwards-compatibility of the CHOICE with the old wire format. -Realistically only cause codes up to 100 are defined and common sub-cause codes use values up to 22. - ### CAM Event Each received (low-frequency) CAM will be "published" as a `CamEvent` message (see [c_its-messages.proto](./c_its-messages.proto)). -Maximum message size (assuming realistic value ranges): - -field name | tag size | (max.) data size ---------------------- | -------- | --------- -station_id | 1 | 8 (I64) -station_type | 1 | 1 (VARINT(15)) -position | 1 | 1 (LEN(10)) + sub-fields below -\+ latitude_deg | 1 | 4 (I32) -\+ longitude_deg | 1 | 4 (I32) -vehicle_role | 1 | 1 (VARINT(15)) -vehicle_data | 1 | 1 (LEN(11)) + sub-fields below -\+ heading_deg | 1 | 2 (VARINT(360)) -\+ speed | 1 | 2 (VARINT(~163 m/s)) -\+ vehicle_length_dm | 1 | 2 (VARINT(1023)) -\+ vehicle_width_dm | 1 | 1 (VARINT(62)) -**SUM** | 11 + | 27 = 38 byte - ### Raw Received Message Received V2X messages will be "published" as a `RawMsgRx` message (see [c_its-messages.proto](./c_its-messages.proto)). @@ -105,20 +51,3 @@ Repetitions of the same message should be dropped by the BLE server. Consecutive messages with no relevant changes may be dropped by the BLE server while keeping some minimal publishing rate, e.g.: - only publish MAPEMs every 10 seconds (since content doesn't change, but client may be restarted after first MAPEM from an intersection was received) - drop high-frequency CAMs (only publish "full" CAMs which include the low-frequency container) - -Maximum message size (assuming realistic value ranges): - -field name | tag size | (max.) data size ---------------------- | -------- | --------- -msg_type | 1 | 1 (VARINT(21)) -payload | 1 | 2+1394 (LEN(1394) + payload) -**SUM** | 2 + | 1397 = 1399 byte - -### Raw Message Notification - -Maximum message size (assuming realistic value ranges): - -field name | tag size | (max.) data size ---------------------- | -------- | --------- -msg_type | 1 | 1 (VARINT(21)) -**SUM** | 1 + | 1 = 2 byte diff --git a/docs/c_its-messages.proto b/docs/c_its-messages.proto index 9323b3e..af8f802 100644 --- a/docs/c_its-messages.proto +++ b/docs/c_its-messages.proto @@ -71,10 +71,6 @@ message RawMsgTx { optional uint32 stationType = 6; // for source position vector } -message RawNotify { - required uint32 message_type = 1; // ITS `MessageId` integer value -} - // ------------------------------ // Messages // ------------------------------ @@ -87,7 +83,7 @@ message PositionState { } message DenmEvent { - required fixed64 timestamp = 1; // DENM reference time as UNIX time (in seconds) + required fixed64 timestamp = 1; // DENM reference time as UNIX time required fixed64 validity_end_ts = 2; // UNIX time when event validity ends (from denm.management.validityDuration) required fixed32 station_id = 3; // unique ID of the event when combined with `seq_num` required uint32 seq_num = 4; // unique ID of the event when combined with `station_id` diff --git a/feat-permut.sh b/feat-permut.sh index 287dbcb..9c08d65 100755 --- a/feat-permut.sh +++ b/feat-permut.sh @@ -9,14 +9,10 @@ extended=${2:-false} features_base=( uart,cam,denm - ble,cam,denm,cam_tx - uart,ble,cam,denm spat,gnss_ubx,screen spat,gnss_ubx,screen,cam_tx ) features_more=( - spat,gnss_ubx,screen,ble - spat,gnss_ubx,screen,ble,cam_tx spat,gnss_ubx,screen,cam,denm spat,gnss_ubx,screen,cam_tx,cam,denm ) diff --git a/run-smartphone-ble.sh b/run-smartphone-ble.sh deleted file mode 100755 index 266ee7e..0000000 --- a/run-smartphone-ble.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh - -## Builds common config for smartphone connected device -## -> receive CAM and DENMs via BLE and send CAMs based on position data received from BLE - -cargo run --release --no-default-features -F esp,cam,denm,ble,cam_tx diff --git a/run-smartphone-both.sh b/run-smartphone-both.sh deleted file mode 100755 index e6c067b..0000000 --- a/run-smartphone-both.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh - -## Builds common config for smartphone connected device -## -> only receive CAM and DENMs via UART and BLE - -cargo run --release --no-default-features -F esp,cam,denm,uart,ble diff --git a/run-smartphone-uart.sh b/run-smartphone.sh similarity index 69% rename from run-smartphone-uart.sh rename to run-smartphone.sh index b54fb6d..ee5170d 100755 --- a/run-smartphone-uart.sh +++ b/run-smartphone.sh @@ -1,6 +1,6 @@ #!/bin/sh ## Builds common config for smartphone connected device -## -> only receive CAM and DENMs via UART +## -> only receive CAM and DENMs via UART (TODO: and BLE) cargo run --release --no-default-features -F esp,cam,denm,uart diff --git a/src/applogic/mod.rs b/src/applogic/mod.rs index 0ced524..70cc086 100644 --- a/src/applogic/mod.rs +++ b/src/applogic/mod.rs @@ -106,52 +106,7 @@ pub struct GlosaSignalInfo { pub struct SignalGroupData { pub phase: SignalPhase, pub maneuver: map::Maneuvers, - pub timing: Option, -} - -#[cfg(feature = "spat")] -#[derive(Debug, Default, Clone, PartialEq, Eq)] -#[allow(clippy::struct_field_names)] -pub struct TimingData { - pub min_end_sec: i16, - pub likely_end_sec: Option, - pub max_end_sec: Option, -} - -#[cfg(feature = "spat")] -impl TimingData { - pub fn new(value: &map::SignalGroup, now: chrono::DateTime) -> Option { - let min = value - .min_end_time() - .map(|val| Self::time_to_duration_sec(now, val)); - let likely_end_sec = value - .likely_time() - .map(|val| Self::time_to_duration_sec(now, val)); - let max_end_sec = value - .max_end_time() - .map(|val| Self::time_to_duration_sec(now, val)); - - min.map(|min_end_sec| Self { - min_end_sec, - likely_end_sec, - max_end_sec, - }) - } - - fn time_to_duration_sec( - now: chrono::DateTime, - time_point: chrono::DateTime, - ) -> i16 { - use core::ops::Sub as _; - - use num_traits::Float as _; - - let dur = time_point.sub(now).as_seconds_f32(); - #[allow(clippy::cast_possible_truncation)] - let duration_sec = dur.round() as i16; - - duration_sec - } + pub end_sec: Option, } #[cfg(feature = "spat")] @@ -308,7 +263,6 @@ impl State { } #[cfg(feature = "spat")] - #[allow(clippy::too_many_lines)] pub fn run_glosa(&mut self) -> GlosaOutput { let Some(own_heading) = self.pos.heading_deg else { use alloc::string::ToString; @@ -402,17 +356,33 @@ impl State { let sig_grps = approach_sig_grps .iter() .filter_map(|sig| { - if let Some(maneuver) = sig.maneuvers() { + if let Some(manv) = sig.maneuvers() { + use core::ops::Sub; + + use num_traits::Float; + let phase = sig .phase() .map(core::convert::Into::into) .unwrap_or_default(); - let timing = TimingData::new(sig, self.time.and_utc()); + + let end_sec = sig + .likely_time() + .or_else(|| sig.min_end_time()) + .map(|time| { + let dur = + time.sub(self.time.and_utc()).as_seconds_f32(); + + #[allow(clippy::cast_possible_truncation)] + let end_sec = dur.round() as i16; + + end_sec + }); Some(SignalGroupData { phase, - maneuver, - timing, + maneuver: manv, + end_sec, }) } else { None diff --git a/src/applogic/v2x/map.rs b/src/applogic/v2x/map.rs index d7e2195..bac8a69 100644 --- a/src/applogic/v2x/map.rs +++ b/src/applogic/v2x/map.rs @@ -173,12 +173,6 @@ impl Intersection { { sig_grp.likely_time = Some(likely.to_datetime_from_moy(moy, year)); } - if let Some(max) = &timing.max_end_time - && !max.is_out_of_range() - && !max.is_unknown() - { - sig_grp.max_end_time = Some(max.to_datetime_from_moy(moy, year)); - } } } } else { @@ -229,7 +223,6 @@ impl Intersection { target_lanes, phase: None, min_end_time: None, - max_end_time: None, likely_time: None, } }) @@ -417,7 +410,7 @@ pub struct SignalGroup { /// current signal phase phase: Option, min_end_time: Option>, - max_end_time: Option>, + // max_end_time: Option>, likely_time: Option>, } @@ -450,9 +443,6 @@ impl SignalGroup { pub fn likely_time(&self) -> Option> { self.likely_time } - pub fn max_end_time(&self) -> Option> { - self.max_end_time - } pub fn phase_to_str(&self) -> Option { self.phase.map(|v| { diff --git a/src/ble.rs b/src/ble.rs deleted file mode 100644 index bdb32be..0000000 --- a/src/ble.rs +++ /dev/null @@ -1,416 +0,0 @@ -#![allow( - clippy::needless_borrows_for_generic_args, - reason = "gatt_service creates false positives" -)] - -use core::cell::RefCell; - -use critical_section::Mutex; -use crossbeam_queue::ArrayQueue; -use esp_backtrace as _; -use log::{info, warn}; -use trouble_host::prelude::*; - -use crate::io; - -pub const CONTROLLER_SLOTS: usize = 20; -const CONNECTIONS_MAX: usize = 1; -const L2CAP_CHANNELS_MAX: usize = 1; - -pub static CLIENT_CONNECTED: Mutex> = Mutex::new(RefCell::new(false)); -pub static TX_DATA: Mutex>>> = - Mutex::new(RefCell::new(None)); -pub static RX_DATA: Mutex>> = Mutex::new(RefCell::new(None)); - -pub enum BleSendable { - #[cfg(feature = "cam")] - CamRaw(io::msg::RawMsgRx), - #[cfg(feature = "cam")] - Cam(io::msg::CamEvent), - - #[cfg(feature = "denm")] - DenmRaw(io::msg::RawMsgRx), - #[cfg(feature = "denm")] - Denm(io::msg::DenmEvent), - - #[cfg(feature = "spat")] - MapemRaw(io::msg::RawMsgRx), - #[cfg(feature = "spat")] - SpatemRaw(io::msg::RawMsgRx), -} - -#[gatt_server] -struct Server { - c_its_events: CITSEvents, -} - -#[gatt_service(uuid = "c0b70000-d4f4-4000-ada8-f99a02ee315c")] -struct CITSEvents { - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "Position", read, value = "PositionState proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4001-ada8-f99a02ee315c", write)] - position: [u8; 27], - - #[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "Raw_Notify", read, value = "Raw Message Notification", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4002-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::RawNotify::PROTO_SIZE])] - raw_notify: [u8; io::msg::RawNotify::PROTO_SIZE], - - #[cfg(feature = "cam")] - // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM", read, value = "RawMsgRx proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4003-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] - cam_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], - #[cfg(feature = "cam")] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM_Event", read, value = "CamEvent proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4004-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::CamEvent::PROTO_SIZE])] - cam_event: [u8; io::msg::CamEvent::PROTO_SIZE], - - #[cfg(feature = "denm")] - // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM", read, value = "RawMsgRx proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4005-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] - denm_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], - #[cfg(feature = "denm")] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM_Event", read, value = "DenmEvent proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4006-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::DenmEvent::PROTO_SIZE])] - denm_event: [u8; io::msg::DenmEvent::PROTO_SIZE], - - #[cfg(feature = "spat")] - // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "MAPEM", read, value = "RawMsgRx proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4007-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] - mapem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], - #[cfg(feature = "spat")] - // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "SPATEM", read, value = "RawMsgRx proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4008-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] - spatem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], -} - -/// Creates the BLE controller -pub fn make_controller( - bt_peripheral: esp_hal::peripherals::BT<'static>, -) -> bt_hci::controller::ExternalController< - esp_radio::ble::controller::BleConnector<'static>, - CONTROLLER_SLOTS, -> { - critical_section::with(|cs| { - TX_DATA.borrow(cs).replace(Some(ArrayQueue::new(2))); - }); - - let transport = esp_radio::ble::controller::BleConnector::new( - bt_peripheral, - esp_radio::ble::Config::default(), - ) - .unwrap(); - bt_hci::controller::ExternalController::<_, { CONTROLLER_SLOTS }>::new(transport) -} - -/// Run the BLE stack. -#[embassy_executor::task] -pub async fn run( - controller: bt_hci::controller::ExternalController< - esp_radio::ble::controller::BleConnector<'static>, - CONTROLLER_SLOTS, - >, - name: alloc::string::String, -) { - let mut resources: HostResources = - HostResources::new(); - let stack = trouble_host::new(controller, &mut resources); - let Host { - mut peripheral, - runner, - .. - } = stack.build(); - - let mut features = alloc::vec![]; - if cfg!(feature = "cam") { - features.push("cam"); - } - if cfg!(feature = "denm") { - features.push("denm"); - } - if cfg!(feature = "spat") { - features.push("mapem"); - features.push("spatem"); - } - info!( - "Starting advertising and GATT service for {}", - features.join(",") - ); - let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig { - name: &name, - appearance: &appearance::UNKNOWN, - })) - .unwrap(); - - let _ = embassy_futures::join::join(ble_task(runner), async { - loop { - match advertise(&mut peripheral, &server).await { - Ok(conn) => { - info!("BLE: New client connected"); - - // set up tasks when the connection is established to a central, so they don't run when no one is connected. - let a = gatt_events_task(&server, &conn); - let b = publishing_task(&server, &conn); - - // run until any task ends (usually because the connection has been closed), then return to advertising state. - embassy_futures::select::select(a, b).await; - - critical_section::with(|cs| { - let value_ref = CLIENT_CONNECTED.borrow(cs); - let _ = value_ref.replace(false); - }); - } - Err(e) => { - panic!("BLE ADV: fatal error: {e:?}"); - } - } - } - }) - .await; -} - -pub fn update(payload: BleSendable) { - critical_section::with(|cs| { - // only add to queue when someone is connected - if *CLIENT_CONNECTED.borrow(cs).borrow() { - let queue_rc = TX_DATA.borrow(cs).borrow(); - // unwrap is fine b/c we stored something in it before - let queue = queue_rc.as_ref().unwrap(); - - if queue.push(payload).is_err() { - log::error!("BLE TX queue is full"); - } - } - }); -} - -/// Create an advertiser to use to connect to a BLE Central, and wait for it to connect. -async fn advertise<'values, 'server, C: Controller>( - peripheral: &mut Peripheral<'values, C, DefaultPacketPool>, - server: &'server Server<'values>, -) -> Result, BleHostError> { - let mut advertiser_data = [0; 35]; - let service_uuid = Uuid::from(0xc0b7_0000_d4f4_4000_ada8_f99a_02ee_315c_u128) - .as_raw() - .try_into() - .unwrap(); - let len = AdStructure::encode_slice( - &[ - AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED), - AdStructure::ServiceUuids128(&[service_uuid]), - ], - &mut advertiser_data[..], - )?; - - let advertiser = peripheral - .advertise( - &trouble_host::advertise::AdvertisementParameters { - timeout: Some(embassy_time::Duration::from_secs(2)), - ..Default::default() - }, - Advertisement::ConnectableScannableUndirected { - adv_data: &advertiser_data[..len], - scan_data: &[], - }, - ) - .await?; - // info!("[adv] advertising {len} bytes"); - let conn = advertiser.accept().await?.with_attribute_server(server)?; - // info!("[adv] connection established"); - Ok(conn) -} - -async fn ble_task(mut runner: Runner<'_, C, P>) { - loop { - if let Err(e) = runner.run().await { - panic!("BLE Task: fatal error {e:?}"); - } - } -} - -/// Stream Events until the connection closes. -/// -/// This function will handle the GATT events and process them. -/// This is how we interact with read and write requests. -async fn gatt_events_task( - server: &Server<'_>, - conn: &GattConnection<'_, '_, P>, -) -> Result<(), Error> { - let reason = loop { - match conn.next().await { - GattConnectionEvent::Disconnected { reason } => break reason, - GattConnectionEvent::Gatt { event } => { - match &event { - GattEvent::Write(event) - if event.handle() == server.c_its_events.position.handle => - { - use prost::Message as _; - - // parse and send to main thread - match io::msg::PositionState::decode(event.data()) { - Ok(data) => { - critical_section::with(|cs| { - let rx_data_ref = RX_DATA.borrow(cs); - let _ = rx_data_ref.replace(Some(data)); - }); - } - Err(err) => log::error!("BLE: Failed to parse input: {err:?}"), - } - } - - _ => {} - } - - // This step is also performed at drop(), but writing it explicitly is necessary - // in order to ensure reply is sent. - match event.accept() { - Ok(reply) => reply.send().await, - Err(e) => warn!("BLE: error sending response: {e:?}"), - } - } - _ => {} // ignore other Gatt Connection Events - } - }; - - info!("BLE: disconnected b/c {reason:?}"); - Ok(()) -} - -#[allow(clippy::too_many_lines)] -async fn publishing_task(server: &Server<'_>, conn: &GattConnection<'_, '_, P>) { - critical_section::with(|cs| { - let value_ref = CLIENT_CONNECTED.borrow(cs); - let _ = value_ref.replace(true); - }); - - loop { - embassy_time::Timer::after(embassy_time::Duration::from_millis(10)).await; - - let mut new_data = None; - critical_section::with(|cs| { - let queue_rc = TX_DATA.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); - } - }); - - match new_data { - #[cfg(feature = "cam")] - Some(BleSendable::Cam(cam_event)) => match cam_event.serialize_ble_proto() { - Ok(value) => { - if let Err(err) = server.c_its_events.cam_event.notify(conn, &value).await { - warn!("BLE: failed notifying connection of new CAM event: {err:?}"); - } - } - Err(err) => warn!("BLE: CAM event {err}"), - }, - - #[cfg(feature = "denm")] - Some(BleSendable::Denm(denm_event)) => match denm_event.serialize_ble_proto() { - Ok(value) => { - if let Err(err) = server.c_its_events.denm_event.notify(conn, &value).await { - warn!("BLE: failed notifying connection of new DENM event: {err:?}"); - } - } - Err(err) => warn!("BLE: DENM event {err}"), - }, - - #[cfg(feature = "cam")] - Some(BleSendable::CamRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { - Ok(value) => { - if let Err(err) = server.c_its_events.cam_raw.set(server, &value) { - warn!("BLE: failed setting new raw CAM value: {err:?}"); - } - - if let Err(err) = send_raw_notify( - server, - conn, - c_its_parser::standards::extensions::ItsMessageId::Cam, - ) - .await - { - warn!("BLE: {err}"); - } - } - Err(err) => warn!("BLE: Raw CAM too big: {err}"), - }, - #[cfg(feature = "denm")] - Some(BleSendable::DenmRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { - Ok(value) => { - if let Err(err) = server.c_its_events.denm_raw.set(server, &value) { - warn!("BLE: failed setting new raw DENM value: {err:?}"); - } - - if let Err(err) = send_raw_notify( - server, - conn, - c_its_parser::standards::extensions::ItsMessageId::Denm, - ) - .await - { - warn!("BLE: {err}"); - } - } - Err(err) => warn!("BLE: Raw DENM {err}"), - }, - #[cfg(feature = "spat")] - Some(BleSendable::MapemRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { - Ok(value) => { - if let Err(err) = server.c_its_events.mapem_raw.set(server, &value) { - warn!("BLE: failed setting new raw MAPEM value: {err:?}"); - } - - if let Err(err) = send_raw_notify( - server, - conn, - c_its_parser::standards::extensions::ItsMessageId::Mapem, - ) - .await - { - warn!("BLE: {err}"); - } - } - Err(err) => warn!("BLE: Raw MAPEM {err}"), - }, - #[cfg(feature = "spat")] - Some(BleSendable::SpatemRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { - Ok(value) => { - if let Err(err) = server.c_its_events.spatem_raw.set(server, &value) { - warn!("BLE: failed setting new raw SPATEM value: {err:?}"); - } - - if let Err(err) = send_raw_notify( - server, - conn, - c_its_parser::standards::extensions::ItsMessageId::Spatem, - ) - .await - { - warn!("BLE: {err}"); - } - } - Err(err) => warn!("BLE: Raw SPATEM {err}"), - }, - None => {} - } - } -} - -async fn send_raw_notify( - server: &Server<'_>, - conn: &GattConnection<'_, '_, P>, - msg_id: c_its_parser::standards::extensions::ItsMessageId, -) -> Result<(), alloc::string::String> { - let notify_buf = io::msg::RawNotify::from(msg_id) - .serialize_ble_proto() - .expect("BLE: Raw notify too big"); - - server - .c_its_events - .raw_notify - .notify(conn, ¬ify_buf) - .await - .map_err(|err| alloc::format!("failed notifying connection of new raw {msg_id:?}: {err:?}")) -} diff --git a/src/io.rs b/src/io.rs index 642807f..44997ee 100644 --- a/src/io.rs +++ b/src/io.rs @@ -1,14 +1,16 @@ -//! UART and BLE I/O Protocol +//! UART/ BLE I/O Protocol pub mod msg { #![allow(clippy::all, clippy::pedantic, clippy::nursery, dead_code)] include!(concat!(env!("OUT_DIR"), "/c_its_io.rs")); } -#[cfg(feature = "uart")] +use alloc::string::ToString; +use alloc::vec::Vec; + use c_its_parser::gn as geonetworking; +use log::error; -#[cfg(feature = "uart")] impl From for msg::SerialOutputMsg { fn from(value: msg::RawMsgRx) -> Self { use msg::serial_output_msg::Payload; @@ -19,7 +21,6 @@ impl From for msg::SerialOutputMsg { } } -#[cfg(feature = "uart")] impl From for msg::SerialOutputMsg { fn from(value: msg::DenmEvent) -> Self { use msg::serial_output_msg::Payload; @@ -31,110 +32,22 @@ impl From for msg::SerialOutputMsg { } impl msg::RawMsgRx { - #[cfg(feature = "uart")] - pub fn serialize_uart_proto(&self) -> alloc::vec::Vec { + pub fn serialize_uart_proto(&self) -> Vec { serialize_serial_msg(&Into::::into(self.clone())) } } - -#[cfg(feature = "denm")] impl msg::DenmEvent { - #[cfg(feature = "ble")] - pub const PROTO_SIZE: usize = 51; - - #[cfg(feature = "ble")] - pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { - use prost::Message as _; - - let mut data = [0u8; Self::PROTO_SIZE]; - - let mut mut_buf = &mut data[..]; - if let Err(err) = self.encode(&mut mut_buf) { - Err(alloc::format!("Buffer too small: {err:?}")) - } else { - Ok(data) - } + #[allow(unused)] + pub fn serialize_uart_proto(&self) -> Vec { + serialize_serial_msg(&Into::::into(*self)) } } -#[cfg(feature = "cam")] -impl msg::CamEvent { - #[cfg(feature = "ble")] - pub const PROTO_SIZE: usize = 38; - - #[cfg(feature = "ble")] - pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { - use prost::Message as _; - - let mut data = [0u8; Self::PROTO_SIZE]; - - let mut mut_buf = &mut data[..]; - if let Err(err) = self.encode(&mut mut_buf) { - Err(alloc::format!("Buffer too small: {err:?}")) - } else { - Ok(data) - } - } -} - -#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] -impl msg::RawMsgRx { - #[cfg(feature = "ble")] - pub const PROTO_SIZE: usize = 1400; - - #[cfg(feature = "ble")] - pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { - use prost::Message as _; - - let mut data = [0u8; Self::PROTO_SIZE]; - - let mut mut_buf = &mut data[..]; - if let Err(err) = self.encode(&mut mut_buf) { - Err(alloc::format!("Buffer too small: {err:?}")) - } else { - Ok(data) - } - } -} - -#[cfg(all( - feature = "ble", - any(feature = "cam", feature = "denm", feature = "spat") -))] -impl From for msg::RawNotify { - fn from(value: c_its_parser::standards::extensions::ItsMessageId) -> Self { - let message_type = value.as_u8().into(); - Self { message_type } - } -} - -#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] -impl msg::RawNotify { - #[cfg(feature = "ble")] - pub const PROTO_SIZE: usize = 2; - - #[cfg(feature = "ble")] - pub fn serialize_ble_proto(self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { - use prost::Message as _; - - let mut data = [0u8; Self::PROTO_SIZE]; - - let mut mut_buf = &mut data[..]; - if let Err(err) = self.encode(&mut mut_buf) { - Err(alloc::format!("Buffer too small: {err:?}")) - } else { - Ok(data) - } - } -} - -#[cfg(feature = "uart")] #[derive(Debug, Default)] pub struct Parser { buffer: alloc::vec::Vec, } -#[cfg(feature = "uart")] impl Parser { const SOF_LEN: u16 = 4; const SOF1: u8 = 0x56; @@ -178,7 +91,7 @@ impl Parser { Ok(data) => { output.push(data); } - Err(err) => log::error!("Failed to parse input: {err:?}"), + Err(err) => error!("Failed to parse input: {err:?}"), } // consume buffer @@ -209,8 +122,7 @@ impl Parser { } } -#[cfg(feature = "uart")] -fn serialize_serial_msg(msg: &T) -> alloc::vec::Vec +fn serialize_serial_msg(msg: &T) -> Vec where T: prost::Message, { @@ -229,7 +141,6 @@ where out } -#[cfg(any(feature = "uart", feature = "ble"))] impl From for crate::applogic::GnssFix { fn from(value: msg::PositionState) -> Self { let time = @@ -258,7 +169,6 @@ impl From for crate::applogic::GnssFix { } } -#[cfg(feature = "uart")] impl From for esp32_cits_core::PosVel { fn from(value: msg::PositionState) -> Self { let position = geo_types::Point::new( @@ -284,7 +194,6 @@ impl From for esp32_cits_core::PosVel { } } -#[cfg(feature = "uart")] impl From for esp32_cits_core::PosVel { fn from(value: msg::ItsPosition) -> Self { let latitude_deg = f64::from(value.latitude) / 10_000_000.; @@ -299,7 +208,6 @@ impl From for esp32_cits_core::PosVel { } } -#[cfg(feature = "uart")] impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx { fn make_eh( &self, @@ -315,8 +223,6 @@ impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx { ), alloc::string::String, > { - use alloc::string::ToString as _; - let station_type = self .station_type .and_then(|v| { @@ -390,20 +296,14 @@ impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx { fn make_payload( &self, - ) -> Result< - ( - alloc::vec::Vec, - c_its_parser::standards::extensions::ItsMessageId, - ), - alloc::string::String, - > { + ) -> Result<(Vec, c_its_parser::standards::extensions::ItsMessageId), alloc::string::String> + { #[allow(clippy::cast_possible_truncation)] let message_id = (self.message_type as u8).try_into()?; Ok((self.payload.clone(), message_id)) } } -#[cfg(feature = "uart")] impl msg::RawMsgTx { fn make_geobcast( address: [u8; 6], @@ -484,243 +384,12 @@ impl msg::RawMsgTx { } } -#[cfg(feature = "cam")] -impl From<&alloc::boxed::Box> - for msg::CamEvent -{ - fn from( - value: &alloc::boxed::Box, - ) -> Self { - use c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions; - - let station_id = value.header.station_id.0; - let station_type = u32::from(value.cam.cam_parameters.basic_container.station_type.0); - let position = value - .cam - .cam_parameters - .basic_container - .reference_position - .clone() - .into(); - - let vehicle_role = value - .cam - .cam_parameters - .low_frequency_container - .as_ref() - .and_then(|v| match v { - cam_pdu_descriptions::LowFrequencyContainer::basicVehicleContainerLowFrequency( - basic_vehicle_container_low_frequency, - ) => Some(basic_vehicle_container_low_frequency.vehicle_role as u32), - _ => None, - }); - - let vehicle_data = match &value.cam.cam_parameters.high_frequency_container { - cam_pdu_descriptions::HighFrequencyContainer::basicVehicleContainerHighFrequency( - basic_vehicle_container_high_frequency, - ) => Some(basic_vehicle_container_high_frequency.into()), - _ => None, - }; - - Self { - station_id, - station_type, - position, - vehicle_role, - vehicle_data, - } - } -} - -#[cfg(feature = "cam")] -impl From<&c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency> for msg::VehicleContainer { - fn from(value: &c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency) -> Self { - let heading_deg = if value.heading.heading_value.is_unavailable() { - None - } else { - Some(u32::from(value.heading.heading_value.0)) - }; - let speed = if value.speed.speed_value.is_unavailable() { - None - } else { - Some(u32::from(value.speed.speed_value.0)) - }; - let vehicle_length_dm = if value.vehicle_length.vehicle_length_value.is_unavailable() { - None - } else { - Some(u32::from(value.vehicle_length.vehicle_length_value.0)) - }; - let vehicle_width_dm = if value.vehicle_width.is_unavailable() { - None - } else { - Some(u32::from(value.vehicle_width.0)) - }; - - - Self { heading_deg, speed, vehicle_length_dm, vehicle_width_dm } - } -} - -#[cfg(feature = "denm")] -impl From<&alloc::boxed::Box> - for msg::DenmEvent -{ - fn from( - value: &alloc::boxed::Box, - ) -> Self { - let denm_mgmt = &value.denm.management; - - let station_id = value.header.station_id.0; // TODO: or from action ID? - - let ref_time = chrono::DateTime::::from(denm_mgmt.reference_time.clone()); - let end_time = ref_time + chrono::Duration::seconds(denm_mgmt.validity_duration.0.into()); - - #[allow(clippy::cast_sign_loss)] - let timestamp = ref_time.timestamp_millis() as u64; - #[allow(clippy::cast_sign_loss)] - let validity_end_ts = end_time.timestamp_millis() as u64; - let seq_num = denm_mgmt.action_id.sequence_number.0.into(); - - let event_position = Some(denm_mgmt.event_position.clone().into()); - let event_heading_deg = value - .denm - .location - .as_ref() - .and_then(|v| v.event_position_heading.clone()) - .map(|v| { - #[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)] - let conv = v.value.as_deg() as u32; - conv - }); - let direction = denm_mgmt - .traffic_direction - .map(|v| msg::TrafficDir::from(v) as i32); - let cc_tuple = value - .denm - .situation - .as_ref() - .map(|v| v.event_type.cc_and_scc.to_u8_tuple()); - let cause_code = cc_tuple.map(|v| v.0.into()); - let sub_cause_code = cc_tuple.map(|v| v.1.into()); - - Self { - timestamp, - validity_end_ts, - station_id, - seq_num, - event_position, - event_heading_deg, - direction, - cause_code, - sub_cause_code, - } - } -} - -#[cfg(feature = "cam")] -impl From - for msg::Position -{ - fn from(value: c_its_parser::standards::cdd_1_3_1_1::its_container::ReferencePosition) -> Self { - #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)] - let latitude_deg = value.latitude.as_deg() as f32; - #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)] - let longitude_deg = value.longitude.as_deg() as f32; - - Self { - latitude_deg, - longitude_deg, - } - } -} - -#[cfg(feature = "denm")] -impl From for msg::Position { - fn from(value: c_its_parser::standards::cdd_2_2_1::etsi_its_cdd::ReferencePosition) -> Self { - #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)] - let latitude_deg = value.latitude.as_deg() as f32; - #[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)] - let longitude_deg = value.longitude.as_deg() as f32; - - Self { - latitude_deg, - longitude_deg, - } - } -} - -#[cfg(feature = "denm")] -impl From for msg::TrafficDir { - fn from(value: c_its_parser::standards::cdd_2_2_1::etsi_its_cdd::TrafficDirection) -> Self { - use c_its_parser::standards::cdd_2_2_1::etsi_its_cdd::TrafficDirection; - - match value { - TrafficDirection::allTrafficDirections => Self::AllDirections, - TrafficDirection::sameAsReferenceDirection_upstreamOfReferencePosition => { - Self::Upstream - } - TrafficDirection::sameAsReferenceDirection_downstreamOfReferencePosition => { - Self::Downstream - } - TrafficDirection::oppositeToReferenceDirection => Self::Opposite, - } - } -} - -#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] -impl TryFrom<&c_its_parser::ItsMessage<'_>> for msg::RawMsgRx { - type Error = alloc::string::String; - - fn try_from(value: &c_its_parser::ItsMessage<'_>) -> Result { - let msg_id = c_its_parser::standards::extensions::ItsMessageId::from(value); - - let payload = match value { - #[cfg(feature = "denm")] - c_its_parser::ItsMessage::DenmV1 { - geonetworking: _, - transport: _, - etsi, - } => etsi.encode_to_uper(), - #[cfg(feature = "denm")] - c_its_parser::ItsMessage::DenmV2 { - geonetworking: _, - transport: _, - etsi, - } => etsi.encode_to_uper(), - #[cfg(any(feature = "cam", feature = "cam_tx"))] - c_its_parser::ItsMessage::Cam { - geonetworking: _, - transport: _, - etsi, - } => etsi.encode_to_uper(), - #[cfg(feature = "spat")] - c_its_parser::ItsMessage::Spatem { - geonetworking: _, - transport: _, - etsi, - } => etsi.encode_to_uper(), - #[cfg(feature = "spat")] - c_its_parser::ItsMessage::Mapem { - geonetworking: _, - transport: _, - etsi, - } => etsi.encode_to_uper(), - }?; - - Ok(Self { - msg_type: msg_id.as_u8().into(), - payload, - }) - } -} - #[cfg(test)] mod tests { use super::*; use crate::init_test_env_logger; - #[cfg(feature = "uart")] impl From for msg::SerialInputMsg { fn from(value: msg::RawMsgTx) -> Self { use msg::serial_input_msg::Payload; @@ -731,7 +400,6 @@ mod tests { } } - #[cfg(feature = "uart")] impl From for msg::SerialInputMsg { fn from(value: msg::PositionState) -> Self { use msg::serial_input_msg::Payload; @@ -745,9 +413,7 @@ mod tests { // manual example data: // SerialInputMsg(RawMsgTx): 5632582b0040123e0a340202c173256817284029d5b3400f1feaf01ffffffc23b7743e00000fc0007e8138250737feebfff600000dffff7ffff1ce40400010011807220028020d0a // SerialInputMsg(PositionState): 5632582b00170a1509a0bbe2a29f010000120a0d00002842150000b8410d0a - // PositionState: 09a0bbe2a29f010000120a0d00002842150000b841 - #[cfg(feature = "uart")] #[test] fn uart_parser() { // generate some test UART input messages diff --git a/src/main.rs b/src/main.rs index ae2a14e..67e181c 100644 --- a/src/main.rs +++ b/src/main.rs @@ -18,9 +18,6 @@ compile_error!("feature \"cam_tx\" needs a time and position source (either GNSS // we can't have both GNSS drivers enabled at the same time #[cfg(all(feature = "gnss_ubx", feature = "gnss_l67k"))] compile_error!("feature \"gnss_ubx\" and feature \"gnss_l67k\" cannot be enabled at the same time"); -// at least one V2X feature needs to be enabled -#[cfg(not(any(feature = "spat", feature = "cam", feature = "denm")))] -compile_error!("at least one V2X feature (\"spat\", \"cam\" or \"denm\") needs to be enabled"); use alloc::string::ToString as _; use alloc::vec::Vec; @@ -39,7 +36,7 @@ use embassy_gps::gps::l76k; use esp_backtrace as _; use esp_hal::clock::CpuClock; use esp_hal::timer::timg::TimerGroup; -#[cfg(target_arch = "riscv32")] +#[cfg(all(target_arch = "riscv32", feature = "spat"))] use esp_println::println; use esp32_cits_core::radio; use geonetworking::Decode as _; @@ -48,11 +45,9 @@ use log::{error, info, warn}; extern crate alloc; mod applogic; -#[cfg(feature = "ble")] -mod ble; mod cache; mod geo_alg; -#[cfg(any(feature = "uart", feature = "ble"))] +#[cfg(feature = "uart")] mod io; #[cfg(feature = "screen")] mod screen; @@ -68,9 +63,9 @@ const GN_IS_MOBILE: bool = true; #[cfg(feature = "cam_tx")] const OWN_STATION_TYPE: ItsStationType = ItsStationType::Cyclist; #[cfg(feature = "cam_tx")] -const OWN_VEHICLE_WIDTH: u8 = 7; // in 10cm steps! +const OWN_VEHICLE_WIDTH: u8 = 5; // in 10cm steps! #[cfg(feature = "cam_tx")] -const OWN_VEHICLE_LENGTH: u16 = 18; // in 10cm steps! +const OWN_VEHICLE_LENGTH: u16 = 20; // in 10cm steps! #[cfg(feature = "_uart")] const SERIAL_FIFO_SIZE_THLD: u8 = 100; // hardware has max. 128 byte @@ -78,26 +73,6 @@ const SERIAL_FIFO_SIZE_THLD: u8 = 100; // hardware has max. 128 byte // For more information see: esp_bootloader_esp_idf::esp_app_desc!(); -// Print a backtrace and reset (instead of halting) -#[panic_handler] -fn panic_handler(info: &core::panic::PanicInfo) -> ! { - println!(""); - println!("====================== PANIC ======================"); - println!("{}", info); - - println!("\nBacktrace:"); - let backtrace = esp_backtrace::Backtrace::capture(); - for frame in backtrace.frames() { - println!("- 0x{:x}", frame.program_counter()); - } - - println!("================== BACKTRACE END =================="); - - // reboot - println!("-> Doing a SW reset after panic...\n"); - esp_hal::system::software_reset(); -} - #[cfg(feature = "_gnss")] static GNSS_UPDATE: Mutex>> = Mutex::new(RefCell::new(None)); static WIFI_RX_QUEUE: Mutex>>>> = Mutex::new(RefCell::new(None)); @@ -114,7 +89,7 @@ static SERIAL: Mutex ! { // generator version: 1.3.0 - // generator parameters: --chip esp32c5 -o esp32c5-wroom-1-psram -o alloc -o log -o unstable-hal -o wifi -o esp-backtrace -o embassy -o ble-trouble + // generator parameters: --chip esp32c5 -o esp32c5-wroom-1-psram -o alloc -o log -o unstable-hal -o wifi -o esp-backtrace -o embassy esp_println::logger::init_logger_from_env(); @@ -132,8 +107,6 @@ async fn main(spawner: Spawner) -> ! { // - GPIO28 esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536); - // COEX needs more RAM - so we've added some more - esp_alloc::heap_allocator!(size: 64 * 1024); esp_alloc::psram_allocator!(peripherals.PSRAM, esp_hal::psram); let timg0 = TimerGroup::new(peripherals.TIMG0); @@ -154,8 +127,8 @@ async fn main(spawner: Spawner) -> ! { let mut spi_buffer = [0_u8; 512]; #[cfg(feature = "screen")] let mut screen = { - // 240*280px in portrait orientation - let (display, size) = screen::make_large_display( + // 172*320px in landscape orientation + let (display, width, height) = screen::make_small_display( peripherals.GPIO8, peripherals.GPIO10, peripherals.GPIO7, @@ -167,7 +140,7 @@ async fn main(spawner: Spawner) -> ! { ) .expect("Fatal error building screen"); - let mut screen = screen::Handler::new(display, size); + let mut screen = screen::Handler::new(display, width, height); let _ = screen .update(screen::ScreenState::Initial) @@ -215,20 +188,6 @@ async fn main(spawner: Spawner) -> ! { let mac = esp_hal::efuse::base_mac_address(); info!("WiFi MAC: {mac}"); - // Setup BLE - #[cfg(feature = "ble")] - { - let controller = ble::make_controller(peripherals.BT); - let serial = &mac.as_bytes()[3..6]; - let name = alloc::format!( - "ESP32 C-ITS {:02x}{:02x}{:02x}", - serial[0], - serial[1], - serial[2] - ); - spawner.spawn(ble::run(controller, name).expect("Failed to spawn BLE task")); - } - // Setup GNSS: // Seeed XIAO L67K: // RX: D7/ GPIO12 @@ -379,22 +338,15 @@ async fn main(spawner: Spawner) -> ! { println!("{}", ubx::pretty_print_nav_sat(packet)); } ublox::proto27::PacketRef::NavPvt(pvt) => { - // error can be ignored b/c it's just when no GNSS fix yet - if let Ok(pos_state) = applogic::GnssFix::try_from(pvt) { - critical_section::with(|cs| { - let gnss_update_ref = GNSS_UPDATE.borrow(cs); - gnss_update_ref.replace(Some(pos_state)); - }); + match applogic::GnssFix::try_from(pvt) { + Ok(pos_state) => { + critical_section::with(|cs| { + let gnss_update_ref = GNSS_UPDATE.borrow(cs); + gnss_update_ref.replace(Some(pos_state)); + }); + } + Err(err) => warn!("{err}"), } - - // update GNSS HB on screen - let _ = screen.update_gnss(pvt); - } - ublox::proto27::PacketRef::AckNak(nak) => { - error!("UBX: {nak:?}"); - } - ublox::proto27::PacketRef::AckAck(ack) => { - info!("UBX: {ack:?}"); } _ => { println!("UBX: {packet_ref:?}"); @@ -413,17 +365,6 @@ async fn main(spawner: Spawner) -> ! { } } - #[cfg(feature = "ble")] - { - critical_section::with(|cs| { - let mut data_rc = ble::RX_DATA.borrow(cs).borrow_mut(); - if let Some(pos) = data_rc.take() { - let gnss_update_ref = GNSS_UPDATE.borrow(cs); - gnss_update_ref.replace(Some(pos.into())); - } - }); - } - #[cfg(feature = "_gnss")] { let mut new_position = false; @@ -474,9 +415,8 @@ async fn main(spawner: Spawner) -> ! { if let applogic::GlosaOutput::Locked(data) = &glosa_data { for sig in &data.signal_groups { let duration_str = sig - .timing - .as_ref() - .map(|v| alloc::format!("for {} s", v.min_end_sec)) + .end_sec + .map(|v| alloc::format!("for {v} s")) .unwrap_or_default(); println!("GLOSA: {} {} {duration_str}", sig.maneuver, sig.phase); } @@ -513,36 +453,16 @@ async fn main(spawner: Spawner) -> ! { ItsMessage::Mapem { geonetworking: _, transport: _, - ref etsi, - } => { - state.handle_mapem(etsi); - - // Send data to BLE thread - #[cfg(feature = "ble")] - match io::msg::RawMsgRx::try_from(&msg) { - Ok(data) => { - ble::update(ble::BleSendable::MapemRaw(data)); - } - Err(err) => warn!("Failed to create RawMsgRx: {err}"), - } - } + etsi, + } => state.handle_mapem(&etsi), #[cfg(feature = "spat")] ItsMessage::Spatem { geonetworking: _, transport: _, - ref etsi, + etsi, } => { if state.initialized() { - state.handle_spatem(etsi); - } - - // Send data to BLE thread - #[cfg(feature = "ble")] - match io::msg::RawMsgRx::try_from(&msg) { - Ok(data) => { - ble::update(ble::BleSendable::SpatemRaw(data)); - } - Err(err) => warn!("Failed to create RawMsgRx: {err}"), + state.handle_spatem(&etsi); } } @@ -550,49 +470,18 @@ async fn main(spawner: Spawner) -> ! { ItsMessage::Cam { geonetworking: _, transport: _, - ref etsi, + etsi, } => { #[cfg(feature = "cam")] - applogic::cam::handle_cam(etsi); - - // Send data to BLE thread - #[cfg(all(feature = "ble", feature = "cam"))] - { - ble::update(ble::BleSendable::Cam(etsi.into())); - - // raw data only when it's a full CAM - if etsi.cam.cam_parameters.low_frequency_container.is_some() { - match io::msg::RawMsgRx::try_from(&msg) { - Ok(data) => { - ble::update(ble::BleSendable::CamRaw(data)); - } - Err(err) => warn!("Failed to create RawMsgRx: {err}"), - } - } - } + applogic::cam::handle_cam(&etsi); } #[cfg(feature = "denm")] ItsMessage::DenmV2 { geonetworking: _, transport: _, - ref etsi, - } => { - applogic::denm::handle_denm(etsi); - - // Send data to BLE thread - #[cfg(feature = "ble")] - { - ble::update(ble::BleSendable::Denm(etsi.into())); - - match io::msg::RawMsgRx::try_from(&msg) { - Ok(data) => { - ble::update(ble::BleSendable::DenmRaw(data)); - } - Err(err) => warn!("Failed to create RawMsgRx: {err}"), - } - } - } + etsi, + } => applogic::denm::handle_denm(&etsi), #[cfg(feature = "denm")] ItsMessage::DenmV1 { geonetworking: _, @@ -875,8 +764,6 @@ async fn gnss_ubx_config(reset_pin: esp_hal::peripherals::GPIO25<'static>) { cfg_data: &[ ublox::cfg_val::CfgVal::Uart1OutProtNmea(false), ublox::cfg_val::CfgVal::Uart1OutProtUbx(true), - // CFG-RATE-MEAS - ublox::cfg_val::CfgVal::RateMeas(500), // CFG-MSGOUT-UBX_NAV_PVT_UART1 ublox::cfg_val::CfgVal::MsgOutUbxNavPvtUart1(1), // CFG-MSGOUT-UBX_NAV_SAT_UART1 diff --git a/src/screen.rs b/src/screen.rs index 791d086..b2ddf90 100644 --- a/src/screen.rs +++ b/src/screen.rs @@ -5,24 +5,17 @@ use embedded_graphics::{geometry, mono_font, pixelcolor, primitives, text}; use crate::applogic; -pub struct DisplaySize { - width: u16, - height: u16, - offset_top: i32, - corner_radius: i32, -} - pub struct Handler where D: DrawTarget, { target: D, - size: DisplaySize, + width: u16, + height: u16, // internal state prev_state: ScreenState, hb_state: bool, - gnss_hb_state: bool, } #[derive(Debug, Default, PartialEq, Eq)] @@ -86,20 +79,16 @@ where const DEFAULT_TEXT_STYLE: mono_font::MonoTextStyle<'static, pixelcolor::Rgb565> = mono_font::MonoTextStyle::new(&profont::PROFONT_24_POINT, Self::COLOR_FG); - const MID_TEXT_STYLE: mono_font::MonoTextStyle<'static, pixelcolor::Rgb565> = - mono_font::MonoTextStyle::new(&profont::PROFONT_18_POINT, Self::COLOR_FG); const SMALL_TEXT_STYLE: mono_font::MonoTextStyle<'static, pixelcolor::Rgb565> = mono_font::MonoTextStyle::new(&profont::PROFONT_14_POINT, Self::COLOR_FG); - const BIG_HEIGHT_THLD: u16 = 172; - - pub fn new(target: D, display_size: DisplaySize) -> Self { + pub fn new(target: D, width: u16, height: u16) -> Self { Self { target, - size: display_size, + width, + height, prev_state: ScreenState::Uninitialized, hb_state: false, - gnss_hb_state: false, } } @@ -126,19 +115,18 @@ where // Update indicator/ heartbeat { let update_ind_dia = 10; - let circle_x_pos = - i32::from(self.size.width) - update_ind_dia - self.size.corner_radius; + let circle_x_pos = i32::from(self.width) - update_ind_dia - 10; text::Text::with_alignment( "HB", - geometry::Point::new(circle_x_pos - 5, 10 + self.size.offset_top), + geometry::Point::new(circle_x_pos - 5, 10), Self::SMALL_TEXT_STYLE, text::Alignment::Right, ) .draw(&mut self.target)?; primitives::Circle::new( - geometry::Point::new(circle_x_pos, 2 + self.size.offset_top), + geometry::Point::new(circle_x_pos, 2), update_ind_dia.cast_unsigned(), ) .into_styled(if self.hb_state { @@ -155,67 +143,13 @@ where Ok(()) } - // on big screns: uses full screen width and height from 250 to 280 pixels - pub fn update_gnss( - &mut self, - pvt: &ublox::nav_pvt::proto27::NavPvtRef, - ) -> Result<(), D::Error> { - use alloc::string::ToString as _; - - // this only applies to big screens - if !self.is_big_height() { - return Ok(()); - } - - let num_sat = pvt.num_satellites(); - let fix_str = match pvt.fix_type() { - ublox::GnssFixType::NoFix - | ublox::GnssFixType::DeadReckoningOnly - | ublox::GnssFixType::TimeOnlyFix => { - alloc::format!("{num_sat:2} sat") - } - ublox::GnssFixType::Fix2D => "2D fix".to_string(), - ublox::GnssFixType::Fix3D | ublox::GnssFixType::GPSPlusDeadReckoning => { - "3D fix".to_string() - } - _ => " ".to_string(), - }; - - // clear area and write information - // note: text position is x baseline, not top left corner - primitives::Rectangle::new( - geometry::Point::new(0, 250 + self.size.offset_top), - geometry::Size::new(self.size.width.into(), 20), - ) - .into_styled(Self::BK_STYLE) - .draw(&mut self.target)?; - - let colon = if self.gnss_hb_state { ":" } else { " " }; - let message = alloc::format!( - "{fix_str}{colon} {:2.0}km/h, {:3.0}°", - pvt.ground_speed_2d() * 3.6, - pvt.heading_motion() - ); - text::Text::with_alignment( - &message, - geometry::Point::new(self.size.corner_radius / 2, 265 + self.size.offset_top), - Self::SMALL_TEXT_STYLE, - text::Alignment::Left, - ) - .draw(&mut self.target)?; - - self.gnss_hb_state = !self.gnss_hb_state; - - Ok(()) - } - fn clear(&mut self) -> Result<(), D::Error> where D: DrawTarget, { primitives::Rectangle::new( geometry::Point::new(0, 0), - geometry::Size::new(self.size.width.into(), self.size.height.into()), + geometry::Size::new(self.width.into(), self.height.into()), ) .into_styled(Self::BK_STYLE) .draw(&mut self.target)?; @@ -223,10 +157,6 @@ where Ok(()) } - fn is_big_height(&self) -> bool { - self.size.height > Self::BIG_HEIGHT_THLD - } - #[allow(unused)] pub fn test_img(&mut self) -> Result<(), D::Error> { mipidsi::TestImage::new().draw(&mut self.target)?; @@ -241,7 +171,7 @@ where text::Text::with_alignment( msg, - geometry::Point::new(i32::from(self.size.width) / 2, 40 + self.size.offset_top), + geometry::Point::new(i32::from(self.width) / 2, 40), Self::DEFAULT_TEXT_STYLE, text::Alignment::Center, ) @@ -256,8 +186,8 @@ where self.clear()?; text::Text::with_alignment( - "Searching...", - geometry::Point::new(i32::from(self.size.width) / 2, 130 + self.size.offset_top), + "No upcoming SPAT", + geometry::Point::new(i32::from(self.width) / 2, 130), Self::DEFAULT_TEXT_STYLE, text::Alignment::Center, ) @@ -279,7 +209,7 @@ where text::Text::with_alignment( &text, - geometry::Point::new(i32::from(self.size.width) / 2, 130 + self.size.offset_top), + geometry::Point::new(i32::from(self.width) / 2, 130), Self::DEFAULT_TEXT_STYLE, text::Alignment::Center, ) @@ -288,9 +218,6 @@ where Ok(()) } - // uses full screen width and height - // - from 0 to 105+67 = 172 pixels for small screens - // - from 0 to 105+67+20 = 192 pixels for big screens #[allow(unused)] fn draw_glosa( &mut self, @@ -299,8 +226,6 @@ where ) -> Result<(), D::Error> { let num_signals = data.signal_groups.len(); - let is_big_height = self.is_big_height(); - if let Some(prev) = prev_data && prev.signal_groups.len() != num_signals { @@ -308,30 +233,25 @@ where self.clear(); } else { // only clear maneuver and timing area otherwise - let sig_total_height = 67 + if is_big_height { 20 } else { 0 }; + primitives::Rectangle::new( - geometry::Point::new(0, 105 + self.size.offset_top), - geometry::Size::new(self.size.width.into(), sig_total_height), + geometry::Point::new(0, 105), + geometry::Size::new(self.width.into(), 67), ) .into_styled(Self::BK_STYLE) .draw(&mut self.target)?; } - // do nothing more when no signals - if num_signals == 0 { - return Ok(()); - } - // draw intersection ID text::Text::new( &alloc::format!("#{}", data.intersection_id), - geometry::Point::new(self.size.corner_radius + 5, 10 + self.size.offset_top), + geometry::Point::new(15, 10), Self::SMALL_TEXT_STYLE, ) .draw(&mut self.target)?; #[allow(clippy::cast_possible_truncation, clippy::cast_possible_wrap)] - let sig_width = i32::from(self.size.width) / (num_signals as i32); + let sig_width = i32::from(self.width) / (num_signals as i32); for (idx, sig) in data.signal_groups.iter().enumerate() { #[allow(clippy::cast_possible_truncation, clippy::cast_possible_wrap)] @@ -349,7 +269,7 @@ where applogic::SignalPhase::RedYellow | applogic::SignalPhase::Yellow => Self::YE_STYLE, }; primitives::Circle::new( - geometry::Point::new(offset + circle_margin, 15 + self.size.offset_top), + geometry::Point::new(offset + circle_margin, 15), circle_dia.cast_unsigned(), ) .into_styled(style) @@ -360,50 +280,24 @@ where // draw maneuver text::Text::with_alignment( &maneuver_to_str(sig.maneuver), - geometry::Point::new(centerline, 130 + self.size.offset_top), + geometry::Point::new(centerline, 130), Self::DEFAULT_TEXT_STYLE, text::Alignment::Center, ) .draw(&mut self.target)?; - // draw timing indicator(s) - if let Some(timing) = &sig.timing { - if let (Some(likely), Some(max)) = (timing.likely_end_sec, timing.max_end_sec) { - text::Text::with_alignment( - &alloc::format!("{likely}s"), - geometry::Point::new(centerline, 160 + self.size.offset_top), - Self::DEFAULT_TEXT_STYLE, - text::Alignment::Center, - ) - .draw(&mut self.target)?; - - // only for big screen - if is_big_height { - // TODO: show as diff to likely time? - text::Text::with_alignment( - &alloc::format!("{}-{max}", timing.min_end_sec), - geometry::Point::new(centerline, 185 + self.size.offset_top), - Self::MID_TEXT_STYLE, - text::Alignment::Center, - ) - .draw(&mut self.target)?; - } - } else { - text::Text::with_alignment( - &alloc::format!("{}s", timing.min_end_sec), - geometry::Point::new(centerline, 160 + self.size.offset_top), - Self::DEFAULT_TEXT_STYLE, - text::Alignment::Center, - ) - .draw(&mut self.target)?; - } + // draw timing indicator + if let Some(end_sec) = sig.end_sec { + text::Text::with_alignment( + &alloc::format!("{end_sec}s"), + geometry::Point::new(centerline, 160), + Self::DEFAULT_TEXT_STYLE, + text::Alignment::Center, + ) + .draw(&mut self.target)?; } } - // if is_big_height { - // // TODO: Add ETA - // } - Ok(()) } @@ -413,7 +307,7 @@ where self.clear()?; - let sig_width = i32::from(self.size.width) / 3; + let sig_width = i32::from(self.width) / 3; let circle_dia = 50; let circle_margin = (sig_width - circle_dia) / 2; @@ -425,7 +319,7 @@ where let offset = (idx as i32) * sig_width; primitives::Circle::new( - geometry::Point::new(offset + circle_margin, 15 + self.size.offset_top), + geometry::Point::new(offset + circle_margin, 15), circle_dia.cast_unsigned(), ) .into_styled(*style) @@ -433,10 +327,10 @@ where } // draw welcome text - let centerline = i32::from(self.size.width) / 2; + let centerline = i32::from(self.width) / 2; text::Text::with_alignment( - "C-ITS Signal Phase\nWaiting for GNSS...", - geometry::Point::new(centerline, 130 + self.size.offset_top), + "C-ITS Signal Phase Display\nWaiting for GNSS fix...", + geometry::Point::new(centerline, 130), text_style, text::Alignment::Center, ) @@ -459,7 +353,7 @@ fn maneuver_to_str(value: applogic::v2x::map::Maneuvers) -> alloc::string::Strin /// /// # Errors /// Human-readable fatal errors -#[allow(unused, clippy::too_many_arguments, clippy::type_complexity)] +#[allow(clippy::too_many_arguments, clippy::type_complexity)] pub fn make_small_display( scl: IoScl, sda: IoSda, @@ -484,7 +378,8 @@ pub fn make_small_display( mipidsi::models::ST7789, esp_hal::gpio::Output<'_>, >, - DisplaySize, + u16, + u16, ), alloc::string::String, > @@ -501,15 +396,10 @@ where esp_hal::gpio::interconnect::PeripheralOutput<'static> + esp_hal::gpio::OutputPin + 'static, Spi: esp_hal::spi::master::Instance + 'static, { + const DISPLAY_WIDTH: u16 = 320; + const DISPLAY_HEIGHT: u16 = 172; const DISPLAY_HIDDEN_X: u16 = 34; // somehow this display has 34 px of invisible space on the left (in native orientation) - let size = DisplaySize { - width: 320, - height: 172, - offset_top: 0, - corner_radius: 10, - }; - let (spi, cs) = setup_st7789_spi(scl, sda, cs, spi) .map_err(|err| alloc::format!("Failed to build SPI config: {err}"))?; @@ -523,101 +413,18 @@ where let spi_device = embedded_hal_bus::spi::ExclusiveDevice::new_no_delay(spi, cs) .map_err(|err| alloc::format!("Failed to initialize SPI device: {err}"))?; - // Note: height and width are swapped b/c of 90° display rotation let display = mipidsi::Builder::new( mipidsi::models::ST7789, mipidsi::interface::SpiInterface::new(spi_device, dc_output, spi_buffer), ) - .display_size(size.height + DISPLAY_HIDDEN_X, size.width) + .display_size(DISPLAY_HEIGHT + DISPLAY_HIDDEN_X, DISPLAY_WIDTH) .reset_pin(rst_output) .invert_colors(mipidsi::options::ColorInversion::Inverted) .orientation(mipidsi::options::Orientation::new().rotate(mipidsi::options::Rotation::Deg90)) .init(&mut display_delay) .map_err(|err| alloc::format!("Failed to initialize display: {err:?}"))?; - Ok((display, size)) -} - -/// Creates an [`mipidsi::Display`], width, height tuple for an ST7789 240*280px screen in portrait orientation -/// -/// # Errors -/// Human-readable fatal errors -#[allow(unused, clippy::too_many_arguments, clippy::type_complexity)] -pub fn make_large_display( - scl: IoScl, - sda: IoSda, - res: IoRes, - dc: IoDc, - cs: IoCs, - bl: IoBl, - spi: Spi, - spi_buffer: &mut [u8], -) -> Result< - ( - mipidsi::Display< - mipidsi::interface::SpiInterface< - '_, - embedded_hal_bus::spi::ExclusiveDevice< - esp_hal::spi::master::Spi<'_, esp_hal::Blocking>, - esp_hal::gpio::Output<'_>, - embedded_hal_bus::spi::NoDelay, - >, - esp_hal::gpio::Output<'_>, - >, - mipidsi::models::ST7789, - esp_hal::gpio::Output<'_>, - >, - DisplaySize, - ), - alloc::string::String, -> -where - IoScl: esp_hal::gpio::interconnect::PeripheralOutput<'static>, - IoSda: esp_hal::gpio::interconnect::PeripheralOutput<'static>, - IoRes: - esp_hal::gpio::interconnect::PeripheralOutput<'static> + esp_hal::gpio::OutputPin + 'static, - IoDc: - esp_hal::gpio::interconnect::PeripheralOutput<'static> + esp_hal::gpio::OutputPin + 'static, - IoCs: - esp_hal::gpio::interconnect::PeripheralOutput<'static> + esp_hal::gpio::OutputPin + 'static, - IoBl: - esp_hal::gpio::interconnect::PeripheralOutput<'static> + esp_hal::gpio::OutputPin + 'static, - Spi: esp_hal::spi::master::Instance + 'static, -{ - const DISPLAY_HIDDEN_Y: u16 = 20; // somehow this display has 20 px of invisible space on the top (in native orientation) - - let size = DisplaySize { - width: 240, - height: 280 + DISPLAY_HIDDEN_Y, - offset_top: DISPLAY_HIDDEN_Y.into(), - corner_radius: 30, - }; - - let (spi, cs) = setup_st7789_spi(scl, sda, cs, spi) - .map_err(|err| alloc::format!("Failed to build SPI config: {err}"))?; - - let output_config = esp_hal::gpio::OutputConfig::default(); - let dc_output = esp_hal::gpio::Output::new(dc, esp_hal::gpio::Level::Low, output_config); - let rst_output = esp_hal::gpio::Output::new(res, esp_hal::gpio::Level::High, output_config); - let _ = esp_hal::gpio::Output::new(bl, esp_hal::gpio::Level::High, output_config); // enable backlight - - let mut display_delay = esp_hal::delay::Delay::new(); - - let spi_device = embedded_hal_bus::spi::ExclusiveDevice::new_no_delay(spi, cs) - .map_err(|err| alloc::format!("Failed to initialize SPI device: {err}"))?; - - let display = mipidsi::Builder::new( - mipidsi::models::ST7789, - mipidsi::interface::SpiInterface::new(spi_device, dc_output, spi_buffer), - ) - .display_size(size.width, size.height + DISPLAY_HIDDEN_Y) - .reset_pin(rst_output) - .invert_colors(mipidsi::options::ColorInversion::Inverted) - .orientation(mipidsi::options::Orientation::new().rotate(mipidsi::options::Rotation::Deg0)) - .init(&mut display_delay) - .map_err(|err| alloc::format!("Failed to initialize display: {err:?}"))?; - - Ok((display, size)) + Ok((display, DISPLAY_WIDTH, DISPLAY_HEIGHT)) } /// Builds the SPI interface for the ST7789 display diff --git a/src/test-proto.rs b/src/test-proto.rs new file mode 100644 index 0000000..6513428 --- /dev/null +++ b/src/test-proto.rs @@ -0,0 +1,96 @@ +#![cfg(not(target_arch = "riscv32"))] +#![allow(unused)] + +extern crate alloc; + +mod applogic; +mod io; + +use esp32_cits_core::tx; + +fn main() { + use prost::Message as _; + + // env_logger::init(); + + // generate some test UART messages as hex strings + let raw_its = input_from_raw(io::msg::RawMsgTx { + payload: [0xaa, 0xbb, 0xcc, 0xdd].to_vec(), + message_type: 1, + gn_transport: io::msg::GnTransport::Shb.into(), + gn_area: io::msg::GnArea { + area: None, + position: None, + dist_a: None, + dist_b: None, + angle: None, + }, + hop_limit: 2, + station_type: None, + }); + println!("{}", serialize_serial_msg_hex(&raw_its)); + + let pos = io::msg::PositionState { + timestamp_ms: 1785144196000, + position: io::msg::Position { + latitude_deg: 42., + longitude_deg: 23., + }, + heading: None, + speed: None, + }; + println!("{}", serialize_serial_msg_hex(&input_from_position(pos))); + + // generate test BLE message as hex strings + println!("{}", buf_to_hex(&pos.encode_to_vec())); +} + +fn input_from_raw(value: io::msg::RawMsgTx) -> io::msg::SerialInputMsg { + use io::msg::serial_input_msg::Payload; + + io::msg::SerialInputMsg { + payload: Some(Payload::TxMsg(value)), + } +} +fn input_from_position(value: io::msg::PositionState) -> io::msg::SerialInputMsg { + use io::msg::serial_input_msg::Payload; + + io::msg::SerialInputMsg { + payload: Some(Payload::Position(value)), + } +} + +pub(crate) fn serialize_serial_msg_hex(msg: &io::msg::SerialInputMsg) -> alloc::string::String { + use prost::Message as _; + + let mut msg_buf = msg.encode_to_vec(); + + let sof = [0x56u8, 0x32, 0x58, 0x2B]; + let eof = [0x0du8, 0x0a]; + let len: [u8; 2] = (msg_buf.len() as u16).to_be_bytes(); + + let mut out = sof.to_vec(); + out.extend_from_slice(&len); + out.append(&mut msg_buf); + out.extend_from_slice(&eof); + + buf_to_hex(&out) +} + +pub(crate) fn buf_to_hex(data: &[u8]) -> alloc::string::String { + let mut hex_str = alloc::string::String::default(); + for c in data { + hex_str.push_str(format!("{c:02x}").as_str()); + } + + hex_str +} + +// /// Initializes the env-logger to be used inside tests +// fn init_test_env_logger() { +// let _ = env_logger::builder() +// .format_timestamp(None) +// .filter_level(log::LevelFilter::Debug) +// .is_test(true) +// .try_init(); +// }