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22 changed files with 240486 additions and 30 deletions
3
.gitignore
vendored
3
.gitignore
vendored
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@ -28,3 +28,6 @@ target/
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# Ignore KiCad backups and lock files
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hardware/c_its-companion/c_its-companion-backups/
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*.kicad_pro.lck
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# Ignore FreeCAD backups
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*.FCBak
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28
Readme.md
28
Readme.md
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@ -120,6 +120,24 @@ The unit tests in this project are meant to be run on the host:
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cargo test --target host-tuple --bin test --no-default-features -F std,spat
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```
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## PCB and Housing
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A simple PCB to combine the u-blox SAM-M10Q, a XIAO ESP32-C5 and the screen can be found in [hardware/c_its-companion/](./hardware/c_its-companion/) including finished gerber files.
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Additional hardware:
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- SMD Pin-Header 8 pos.: Amphenol 10129380-908001BLF
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- Snap-in stand-off 8mm: WE 702910000
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(You may try to put the display lower with header Samtech TSM-108-04-T-SV and stand-off WE 702917000, but antenna needs to be plugged in before putting the display on then.)
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The housing is a FreeCAD model at [hardware/housing/c_its-companion-housing.FCStd](./hardware/housing/c_its-companion-housing.FCStd), but the same folder also contains finished 3mf models that can be loaded into a 3D printer slicer.
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Exports are available for:
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- 2mm: no battery (just display standoffs)
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- 7mm: EREMIT 654060 (6.5x40x60 mm) LiPo battery
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- 9mm: Some 9x40x60 mm LiPo battery, e.g. LP803860 (2000 mAh)
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The display is expected to be soldered to the pin header directly to save height.
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## Tips and Tricks
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### Create TGA Assets
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@ -130,5 +148,13 @@ You can convert them using [ImageMagick](https://imagemagick.org) like this:
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# resize to 25px height, adding a black background to the white symbol and vice versa
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magick Sinnbild_Radfahrer_StVO_1992-200px-white.png -resize x25 -background black -alpha background -flatten -alpha off -verbose Sinnbild_Radfahrer_StVO_1992-25px-white.tga
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magick Sinnbild_Radfahrer_StVO_1992-200px-black.png -resize x25 -background white -alpha background -flatten -alpha off -verbose Sinnbild_Radfahrer_StVO_1992-25px-black.tga
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```
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magick Stationary_Emergency_Vehicle_Dreieck_Rot.png -resize 200 -background black -alpha background -flatten -alpha off -verbose Stationary_Emergency_Vehicle_Dreieck_Rot-200px.tga
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magick Stationary_Vehicle_Dreieck_Rot.png -resize 200 -background black -alpha background -flatten -alpha off -verbose Stationary_Vehicle_Dreieck_Rot-200px.tga
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magick Work_Zone_Dreieck_Rot.png -resize 200 -background black -alpha background -flatten -alpha off -verbose Work_Zone_Dreieck_Rot-200px.tga
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magick Dreieck_Rot-300x240.png -resize 200 -background black -alpha background -flatten -alpha off -verbose Dreieck_Rot-200px.tga
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magick Stationary_Emergency_Vehicle-140x105.svg -resize 70 -background black -alpha background -flatten -alpha off -verbose Stationary_Emergency_Vehicle-70px.tga
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magick Stationary_Vehicle-140x70.svg -resize 80 -background black -alpha background -flatten -alpha off -verbose Stationary_Vehicle-80px.tga
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magick Work_Zone-140x95.svg -resize 80 -background black -alpha background -flatten -alpha off -verbose Work_Zone-80px.tga
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```
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38
graphics/Stationary_Emergency_Vehicle-140x105.svg
Normal file
38
graphics/Stationary_Emergency_Vehicle-140x105.svg
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@ -0,0 +1,38 @@
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|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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|
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After Width: | Height: | Size: 4.8 KiB |
BIN
graphics/Stationary_Emergency_Vehicle-70px.tga
Normal file
BIN
graphics/Stationary_Emergency_Vehicle-70px.tga
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 11 KiB |
15
graphics/Stationary_Vehicle-140x70.svg
Normal file
15
graphics/Stationary_Vehicle-140x70.svg
Normal file
|
|
@ -0,0 +1,15 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
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|
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|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 4.3 KiB |
BIN
graphics/Stationary_Vehicle-80px.tga
Normal file
BIN
graphics/Stationary_Vehicle-80px.tga
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 9.4 KiB |
17
graphics/Work_Zone-140x95.svg
Normal file
17
graphics/Work_Zone-140x95.svg
Normal file
|
|
@ -0,0 +1,17 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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|
|||
(xy -2.354218 -2.997367) (xy -2.411725 -2.998243) (xy -2.52783 -2.999894) (xy -2.616461 -3.000787)
|
||||
(xy -2.681834 -3.000486) (xy -2.728164 -2.998557) (xy -2.759668 -2.994567) (xy -2.78056 -2.98808)
|
||||
(xy -2.795057 -2.978662) (xy -2.807373 -2.965879) (xy -2.81526 -2.956655) (xy -2.831694 -2.934926)
|
||||
(xy -2.842382 -2.910842) (xy -2.848545 -2.877307) (xy -2.851394 -2.827231) (xy -2.852144 -2.753522)
|
||||
(xy -2.852152 -2.741384) (xy -5.926248 -2.741384) (xy -5.926667 -2.802648) (xy -5.929089 -2.855359)
|
||||
(xy -2.842382 -2.910842) (xy -2.848545 -2.877307) (xy -2.851394 -2.827231) (xy -2.852143 -2.753522)
|
||||
(xy -2.852152 -2.741384) (xy -5.926248 -2.741384) (xy -5.926667 -2.802648) (xy -5.929088 -2.855359)
|
||||
(xy -5.934666 -2.890659) (xy -5.944653 -2.915685) (xy -5.960307 -2.937575) (xy -5.964377 -2.942377)
|
||||
(xy -6.002616 -2.986832) (xy -6.30109 -2.996639) (xy -6.397268 -2.999082) (xy -6.484282 -2.999951)
|
||||
(xy -6.556481 -2.999292) (xy -6.608213 -2.997158) (xy -6.633616 -2.99368) (xy -6.66858 -2.974935)
|
||||
|
|
@ -825,7 +826,7 @@
|
|||
(xy -7.162357 -3.444481) (xy -7.153911 -3.447159) (xy -7.142305 -3.449641) (xy -7.126454 -3.451938)
|
||||
(xy -7.105275 -3.454055) (xy -7.077685 -3.456) (xy -7.042598 -3.457781) (xy -6.998933 -3.459402)
|
||||
(xy -6.945605 -3.460874) (xy -6.88153 -3.462203) (xy -6.805626 -3.463396) (xy -6.716807 -3.464461)
|
||||
(xy -6.613992 -3.465405) (xy -6.496094 -3.466235) (xy -6.362033 -3.466958) (xy -6.210722 -3.467583)
|
||||
(xy -6.613993 -3.465405) (xy -6.496094 -3.466235) (xy -6.362033 -3.466958) (xy -6.210722 -3.467583)
|
||||
(xy -6.04108 -3.468115) (xy -5.852022 -3.468563) (xy -5.642465 -3.468934) (xy -5.411324 -3.469235)
|
||||
(xy -5.157517 -3.469473) (xy -4.879959 -3.469656) (xy -4.577567 -3.469791) (xy -4.249257 -3.469885)
|
||||
(xy -3.893946 -3.469946) (xy -3.51055 -3.46998) (xy -3.097985 -3.469996) (xy -2.655167 -3.47) (xy -2.503555 -3.47)
|
||||
|
|
|
|||
|
|
@ -622,7 +622,7 @@
|
|||
"netlist": "",
|
||||
"plot": "",
|
||||
"specctra_dsn": "",
|
||||
"step": "",
|
||||
"step": "../housing/c_its-companion-v1.0.step",
|
||||
"vrml": ""
|
||||
},
|
||||
"page_layout_descr_file": ""
|
||||
|
|
|
|||
BIN
hardware/housing/ST7789-240x280px-screen.FCStd
Normal file
BIN
hardware/housing/ST7789-240x280px-screen.FCStd
Normal file
Binary file not shown.
BIN
hardware/housing/c_its-companion-assembly.FCStd
Normal file
BIN
hardware/housing/c_its-companion-assembly.FCStd
Normal file
Binary file not shown.
BIN
hardware/housing/c_its-companion-housing-bottom-2mm.3mf
Normal file
BIN
hardware/housing/c_its-companion-housing-bottom-2mm.3mf
Normal file
Binary file not shown.
BIN
hardware/housing/c_its-companion-housing-bottom-7mm.3mf
Normal file
BIN
hardware/housing/c_its-companion-housing-bottom-7mm.3mf
Normal file
Binary file not shown.
BIN
hardware/housing/c_its-companion-housing-bottom-9mm.3mf
Normal file
BIN
hardware/housing/c_its-companion-housing-bottom-9mm.3mf
Normal file
Binary file not shown.
BIN
hardware/housing/c_its-companion-housing-lid.3mf
Normal file
BIN
hardware/housing/c_its-companion-housing-lid.3mf
Normal file
Binary file not shown.
BIN
hardware/housing/c_its-companion-housing.FCStd
Normal file
BIN
hardware/housing/c_its-companion-housing.FCStd
Normal file
Binary file not shown.
240204
hardware/housing/c_its-companion-v1.0.step
Normal file
240204
hardware/housing/c_its-companion-v1.0.step
Normal file
File diff suppressed because it is too large
Load diff
BIN
hardware/housing/overpass-semibold.otf
Normal file
BIN
hardware/housing/overpass-semibold.otf
Normal file
Binary file not shown.
|
|
@ -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
|
||||
}
|
||||
}
|
||||
|
|
|
|||
11
src/main.rs
11
src/main.rs
|
|
@ -578,7 +578,16 @@ 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);
|
||||
}
|
||||
// TODO: cancel screen, if None?
|
||||
_ => {}
|
||||
}
|
||||
|
||||
// Send data to BLE thread
|
||||
#[cfg(feature = "ble")]
|
||||
|
|
|
|||
146
src/screen.rs
146
src/screen.rs
|
|
@ -1,10 +1,15 @@
|
|||
//! 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};
|
||||
|
||||
use crate::applogic;
|
||||
|
||||
#[cfg(feature = "denm")]
|
||||
const DENM_MIN_DISPLAY_TIME: esp_hal::time::Duration = esp_hal::time::Duration::from_secs(5);
|
||||
|
||||
pub struct DisplaySize {
|
||||
width: u16,
|
||||
height: u16,
|
||||
|
|
@ -23,10 +28,20 @@ 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)]
|
||||
|
|
@ -42,6 +57,8 @@ pub enum ScreenState {
|
|||
GlosaFound(applogic::GlosaFound),
|
||||
#[cfg(feature = "spat")]
|
||||
GlosaLocked(applogic::GlosaSignalInfo),
|
||||
#[cfg(feature = "denm")]
|
||||
DenmWarning(cdd_2_2_1::etsi_its_cdd::CauseCodeChoice),
|
||||
}
|
||||
|
||||
#[cfg(feature = "spat")]
|
||||
|
|
@ -99,9 +116,23 @@ 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,
|
||||
|
|
@ -109,12 +140,43 @@ 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 self.prev_state != state
|
||||
&& let ScreenState::DenmWarning(cause_code_choice) = &state
|
||||
{
|
||||
return self.draw_denm_warning(cause_code_choice);
|
||||
}
|
||||
|
||||
// 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()?,
|
||||
|
|
@ -131,6 +193,11 @@ where
|
|||
self.draw_glosa(glosa_data, prev_glosa_data)?;
|
||||
}
|
||||
ScreenState::Error(msg) => self.draw_message(msg)?,
|
||||
#[cfg(feature = "denm")]
|
||||
ScreenState::DenmWarning(cause_code_choice) => {
|
||||
self.denm_display_start_time = now;
|
||||
self.draw_denm_warning(cause_code_choice)?
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -167,6 +234,7 @@ where
|
|||
}
|
||||
|
||||
// on big screns: uses full screen width and height from 250 to 280 pixels
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
pub fn update_gnss(
|
||||
&mut self,
|
||||
pvt: &ublox::nav_pvt::proto27::NavPvtRef,
|
||||
|
|
@ -470,6 +538,76 @@ where
|
|||
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)?;
|
||||
}
|
||||
|
||||
_ => {
|
||||
text::Text::with_alignment(
|
||||
"Unhandled DENM CC",
|
||||
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> {
|
||||
let text_style = mono_font::MonoTextStyle::new(&profont::PROFONT_18_POINT, Self::COLOR_FG);
|
||||
|
|
|
|||
Loading…
Reference in a new issue