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1 commit
| Author | SHA1 | Date | |
|---|---|---|---|
| fd8f28ef33 |
8 changed files with 741 additions and 10 deletions
183
Cargo.lock
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183
Cargo.lock
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@ -166,6 +166,29 @@ dependencies = [
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"generic-array",
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"generic-array",
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]
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]
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[[package]]
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dependencies = [
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"btuuid",
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"embassy-sync 0.8.0",
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"embedded-io 0.7.1",
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"embedded-io-async 0.7.0",
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"futures-intrusive",
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"heapless 0.9.2",
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[[package]]
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dependencies = [
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"uuid",
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]
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[[package]]
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[[package]]
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name = "bumpalo"
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version = "3.20.2"
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@ -244,6 +267,15 @@ version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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"unicode-segmentation",
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[[package]]
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[[package]]
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@ -956,6 +988,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "23fbff98b06a96b6ce3791ecec5c668524052a068e23aacd23afe17ddba844ce"
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"allocator-api2",
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"allocator-api2",
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"bt-hci",
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"cfg-if",
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"cfg-if",
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"docsplay",
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"docsplay",
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"document-features",
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"document-features",
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@ -1152,11 +1185,14 @@ name = "esp32-c_its-companion"
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version = "0.1.0"
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dependencies = [
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"assert_float_eq",
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"assert_float_eq",
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"bt-hci",
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"c-its-parser",
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"c-its-parser",
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"chrono",
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"chrono",
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"critical-section",
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"critical-section",
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"crossbeam-queue",
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"crossbeam-queue",
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"embassy-executor",
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"embassy-executor",
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"embassy-futures",
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"embassy-sync 0.7.2",
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"embassy-time",
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"embassy-time",
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"embassy_gps",
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"embassy_gps",
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"embedded-graphics",
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"embedded-graphics",
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@ -1179,6 +1215,8 @@ dependencies = [
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"profont",
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"profont",
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"prost",
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"prost",
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"prost-build",
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"prost-build",
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"static_cell",
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"trouble-host",
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"ublox",
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"ublox",
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]
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]
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@ -1320,12 +1358,52 @@ version = "2.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "futures"
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version = "0.3.32"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "8b147ee9d1f6d097cef9ce628cd2ee62288d963e16fb287bd9286455b241382d"
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dependencies = [
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"futures-channel",
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"futures-core",
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"futures-io",
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"futures-sink",
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"futures-task",
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"futures-util",
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]
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[[package]]
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name = "futures-channel"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"futures-core",
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"futures-sink",
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]
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[[package]]
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[[package]]
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name = "futures-core"
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name = "futures-core"
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version = "0.3.32"
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version = "0.3.32"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "futures-intrusive"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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"futures-core",
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[[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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[[package]]
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name = "futures-sink"
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version = "0.3.32"
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@ -1345,8 +1423,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
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"pin-project-lite",
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"pin-project-lite",
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"slab",
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]
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[[package]]
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[[package]]
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@ -1561,6 +1641,18 @@ dependencies = [
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"syn 2.0.117",
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"syn 2.0.117",
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]
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]
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[[package]]
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name = "js-sys"
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version = "0.3.98"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "67df7112613f8bfd9150013a0314e196f4800d3201ae742489d999db2f979f08"
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dependencies = [
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"cfg-if",
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"futures-util",
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"once_cell",
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"wasm-bindgen",
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]
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[[package]]
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[[package]]
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name = "lazy_static"
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name = "lazy_static"
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version = "1.5.0"
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version = "1.5.0"
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@ -1603,6 +1695,15 @@ version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "lock_api"
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version = "0.4.14"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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dependencies = [
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"scopeguard",
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]
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[[package]]
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name = "log"
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name = "log"
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version = "0.4.29"
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version = "0.4.29"
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@ -2184,6 +2285,12 @@ version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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[[package]]
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[[package]]
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version = "1.0.28"
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version = "1.0.28"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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[[package]]
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version = "1.15.1"
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version = "1.15.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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[[package]]
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name = "static_cell"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0530892bb4fa575ee0da4b86f86c667132a94b74bb72160f58ee5a4afec74c23"
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dependencies = [
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"portable-atomic",
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]
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version = "0.11.1"
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"tracing-log",
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"tracing-log",
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]
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]
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[[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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"bt-hci",
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"embassy-futures",
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"embassy-sync 0.7.2",
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"embassy-time",
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"embedded-io 0.7.1",
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"futures",
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"heapless 0.9.2",
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"rand_core 0.6.4",
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"static_cell",
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"trouble-host-macros",
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"zerocopy",
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]
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[[package]]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2d809ae05f510cf8f1d863749281eb28e049d9ae4ad52d92ea7a0ac068a0e17c"
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|
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"convert_case",
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"darling 0.20.11",
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"proc-macro2",
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"quote",
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"syn 2.0.117",
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"uuid",
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[[package]]
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@ -2539,6 +2694,12 @@ version = "1.0.24"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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|
||||||
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[[package]]
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[[package]]
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checksum = "ddd74a9687298c6858e9b88ec8935ec45d22e8fd5e6394fa1bd4e99a87789c76"
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"js-sys",
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"wasm-bindgen",
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]
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"syn 2.0.117",
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"syn 2.0.117",
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]
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source = "registry+https://github.com/rust-lang/crates.io-index"
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||||||
|
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]]
|
[[package]]
|
||||||
name = "zmij"
|
name = "zmij"
|
||||||
version = "1.0.21"
|
version = "1.0.21"
|
||||||
|
|
|
||||||
14
Cargo.toml
14
Cargo.toml
|
|
@ -23,6 +23,8 @@ esp = [
|
||||||
"dep:esp-rtos",
|
"dep:esp-rtos",
|
||||||
"dep:esp-bootloader-esp-idf",
|
"dep:esp-bootloader-esp-idf",
|
||||||
"dep:embassy-executor",
|
"dep:embassy-executor",
|
||||||
|
"dep:embassy-futures",
|
||||||
|
"dep:embassy-sync",
|
||||||
"dep:embassy-time",
|
"dep:embassy-time",
|
||||||
"dep:embedded-io",
|
"dep:embedded-io",
|
||||||
"dep:embedded-io-async",
|
"dep:embedded-io-async",
|
||||||
|
|
@ -30,6 +32,7 @@ esp = [
|
||||||
"dep:esp-backtrace",
|
"dep:esp-backtrace",
|
||||||
"dep:esp-println",
|
"dep:esp-println",
|
||||||
"dep:esp-radio",
|
"dep:esp-radio",
|
||||||
|
"dep:bt-hci",
|
||||||
"esp32-cits-core/esp32c5",
|
"esp32-cits-core/esp32c5",
|
||||||
"esp32-cits-core/log-04",
|
"esp32-cits-core/log-04",
|
||||||
]
|
]
|
||||||
|
|
@ -52,7 +55,7 @@ spat_debug = []
|
||||||
# enable ST7789 based display
|
# enable ST7789 based display
|
||||||
screen = ["dep:mipidsi", "dep:embedded-graphics", "dep:embedded-hal-bus", "dep:profont"]
|
screen = ["dep:mipidsi", "dep:embedded-graphics", "dep:embedded-hal-bus", "dep:profont"]
|
||||||
# enable I/O via UART
|
# enable I/O via UART
|
||||||
uart = ["_uart", "_gnss", "dep:prost"]
|
uart = ["_uart", "_gnss"]
|
||||||
|
|
||||||
# internal feature, that any UART I/O is enabled
|
# internal feature, that any UART I/O is enabled
|
||||||
_uart = []
|
_uart = []
|
||||||
|
|
@ -66,6 +69,7 @@ esp-rtos = { version = "0.3.0", optional = true, features = [
|
||||||
"embassy",
|
"embassy",
|
||||||
"esp-alloc",
|
"esp-alloc",
|
||||||
"esp-radio",
|
"esp-radio",
|
||||||
|
"embassy",
|
||||||
"esp32c5",
|
"esp32c5",
|
||||||
"log-04",
|
"log-04",
|
||||||
] }
|
] }
|
||||||
|
|
@ -74,7 +78,10 @@ esp-bootloader-esp-idf = { version = "0.5.0", optional = true, features = ["esp3
|
||||||
log = "0.4.27"
|
log = "0.4.27"
|
||||||
|
|
||||||
critical-section = "1.2.0"
|
critical-section = "1.2.0"
|
||||||
|
bt-hci = { version = "0.8.0", optional = true }
|
||||||
embassy-executor = { version = "0.10.0", optional = true, features = ["log"] }
|
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"] }
|
embassy-time = { version = "0.5.0", optional = true, features = ["log"] }
|
||||||
embedded-io = { version = "0.7.1", optional = true }
|
embedded-io = { version = "0.7.1", optional = true }
|
||||||
embedded-io-async = { version = "0.7.0", optional = true }
|
embedded-io-async = { version = "0.7.0", optional = true }
|
||||||
|
|
@ -92,7 +99,10 @@ esp-radio = { version = "0.18.0", optional = true, features = [
|
||||||
"unstable",
|
"unstable",
|
||||||
"wifi",
|
"wifi",
|
||||||
"sniffer",
|
"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" }
|
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" }
|
esp32-cits-core = { version = "0.1.0", default-features = false, git = "https://git.hamburg.ccc.de/jtbx/esp32-cits-core", branch = "main" }
|
||||||
|
|
@ -111,7 +121,7 @@ geo-types = { version = "0.7.19", default-features = false }
|
||||||
mipidsi = { version = "0.10.0", optional = true }
|
mipidsi = { version = "0.10.0", optional = true }
|
||||||
num-traits = { version = "0.2.19", default-features = false, features = ["libm"] }
|
num-traits = { version = "0.2.19", default-features = false, features = ["libm"] }
|
||||||
profont = { version = "0.7.0", optional = true }
|
profont = { version = "0.7.0", optional = true }
|
||||||
prost = { version = "0.14", optional = true, default-features = false, features = ["derive"] }
|
prost = { version = "0.14", default-features = false, features = ["derive"] }
|
||||||
ublox = { version = "0.10", optional = true, default-features = false, features = ["alloc", "ubx_proto27"] }
|
ublox = { version = "0.10", optional = true, default-features = false, features = ["alloc", "ubx_proto27"] }
|
||||||
|
|
||||||
[dev-dependencies]
|
[dev-dependencies]
|
||||||
|
|
|
||||||
|
|
@ -70,7 +70,7 @@ rustup target add riscv32imac-unknown-none-elf
|
||||||
cargo install espflash --locked
|
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`.)
|
(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`.)
|
||||||
|
|
||||||
To use the proper rustfmt features, enable the nightly toolchain:
|
To use the proper rustfmt features, enable the nightly toolchain:
|
||||||
```shell
|
```shell
|
||||||
|
|
|
||||||
|
|
@ -35,15 +35,65 @@ 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)).
|
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
|
### DENM Event
|
||||||
|
|
||||||
Each received DENM will be "published" as a `DenmEvent` message (see [c_its-messages.proto](./c_its-messages.proto)).
|
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.
|
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
|
### CAM Event
|
||||||
|
|
||||||
Each received (low-frequency) CAM will be "published" as a `CamEvent` message (see [c_its-messages.proto](./c_its-messages.proto)).
|
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
|
### Raw Received Message
|
||||||
|
|
||||||
Received V2X messages will be "published" as a `RawMsgRx` message (see [c_its-messages.proto](./c_its-messages.proto)).
|
Received V2X messages will be "published" as a `RawMsgRx` message (see [c_its-messages.proto](./c_its-messages.proto)).
|
||||||
|
|
|
||||||
|
|
@ -83,7 +83,7 @@ message PositionState {
|
||||||
}
|
}
|
||||||
|
|
||||||
message DenmEvent {
|
message DenmEvent {
|
||||||
required fixed64 timestamp = 1; // DENM reference time as UNIX time
|
required fixed64 timestamp = 1; // DENM reference time as UNIX time (in seconds)
|
||||||
required fixed64 validity_end_ts = 2; // UNIX time when event validity ends (from denm.management.validityDuration)
|
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 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`
|
required uint32 seq_num = 4; // unique ID of the event when combined with `station_id`
|
||||||
|
|
|
||||||
256
src/ble.rs
Normal file
256
src/ble.rs
Normal file
|
|
@ -0,0 +1,256 @@
|
||||||
|
#![allow(
|
||||||
|
clippy::needless_borrows_for_generic_args,
|
||||||
|
reason = "gatt_service creates false positives"
|
||||||
|
)]
|
||||||
|
|
||||||
|
use core::cell::RefCell;
|
||||||
|
|
||||||
|
use critical_section::Mutex;
|
||||||
|
use esp_backtrace as _;
|
||||||
|
use log::{info, warn};
|
||||||
|
use trouble_host::prelude::*;
|
||||||
|
|
||||||
|
pub const CONTROLLER_SLOTS: usize = 20;
|
||||||
|
const CONNECTIONS_MAX: usize = 1;
|
||||||
|
const L2CAP_CHANNELS_MAX: usize = 1;
|
||||||
|
|
||||||
|
pub static TX_DATA: Mutex<RefCell<Option<BleSendable>>> = Mutex::new(RefCell::new(None));
|
||||||
|
pub static RX_DATA: Mutex<RefCell<Option<crate::io::msg::PositionState>>> =
|
||||||
|
Mutex::new(RefCell::new(None));
|
||||||
|
|
||||||
|
pub enum BleSendable {
|
||||||
|
#[cfg(feature = "cam")]
|
||||||
|
Cam(crate::io::msg::CamEvent),
|
||||||
|
#[cfg(feature = "denm")]
|
||||||
|
Denm(crate::io::msg::DenmEvent),
|
||||||
|
}
|
||||||
|
|
||||||
|
#[gatt_server]
|
||||||
|
struct Server {
|
||||||
|
c_its_events: CITSEvents,
|
||||||
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "cam")]
|
||||||
|
const CAM_EVENT_SIZE: usize = 38;
|
||||||
|
#[cfg(feature = "denm")]
|
||||||
|
const DENM_EVENT_SIZE: usize = 51;
|
||||||
|
|
||||||
|
#[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(feature = "cam")]
|
||||||
|
#[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM_Event", read, value = "CamEvent proto msg", type = &'static str)]
|
||||||
|
#[characteristic(uuid = "c0b70001-d4f4-4002-ada8-f99a02ee315c", read, notify, value = [0u8; CAM_EVENT_SIZE])]
|
||||||
|
cam_event: [u8; CAM_EVENT_SIZE],
|
||||||
|
|
||||||
|
#[cfg(feature = "denm")]
|
||||||
|
#[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM_Event", read, value = "DenmEvent proto msg", type = &'static str)]
|
||||||
|
#[characteristic(uuid = "c0b70001-d4f4-4004-ada8-f99a02ee315c", read, notify, value = [0u8; DENM_EVENT_SIZE])]
|
||||||
|
denm_event: [u8; DENM_EVENT_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,
|
||||||
|
> {
|
||||||
|
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,
|
||||||
|
>,
|
||||||
|
) {
|
||||||
|
let mut resources: HostResources<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> =
|
||||||
|
HostResources::new();
|
||||||
|
let stack = trouble_host::new(controller, &mut resources);
|
||||||
|
let Host {
|
||||||
|
mut peripheral,
|
||||||
|
runner,
|
||||||
|
..
|
||||||
|
} = stack.build();
|
||||||
|
|
||||||
|
info!("Starting advertising and GATT service");
|
||||||
|
let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig {
|
||||||
|
name: "ESP32 C-ITS",
|
||||||
|
appearance: &appearance::UNKNOWN,
|
||||||
|
}))
|
||||||
|
.unwrap();
|
||||||
|
|
||||||
|
let _ = embassy_futures::join::join(ble_task(runner), async {
|
||||||
|
loop {
|
||||||
|
match advertise("ESP32 C-ITS", &mut peripheral, &server).await {
|
||||||
|
Ok(conn) => {
|
||||||
|
// 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 = custom_task(&server, &conn, &stack);
|
||||||
|
// run until any task ends (usually because the connection has been closed),
|
||||||
|
// then return to advertising state.
|
||||||
|
embassy_futures::select::select(a, b).await;
|
||||||
|
}
|
||||||
|
Err(e) => {
|
||||||
|
panic!("BLE ADV: fatal error {e:?}");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
})
|
||||||
|
.await;
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Create an advertiser to use to connect to a BLE Central, and wait for it to connect.
|
||||||
|
async fn advertise<'values, 'server, C: Controller>(
|
||||||
|
name: &'values str,
|
||||||
|
peripheral: &mut Peripheral<'values, C, DefaultPacketPool>,
|
||||||
|
server: &'server Server<'values>,
|
||||||
|
) -> Result<GattConnection<'values, 'server, DefaultPacketPool>, BleHostError<C::Error>> {
|
||||||
|
let mut advertiser_data = [0; 35];
|
||||||
|
let len = AdStructure::encode_slice(
|
||||||
|
&[
|
||||||
|
AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED),
|
||||||
|
AdStructure::CompleteLocalName(name.as_bytes()),
|
||||||
|
],
|
||||||
|
&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<C: Controller, P: PacketPool>(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<P: PacketPool>(
|
||||||
|
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 =>
|
||||||
|
{
|
||||||
|
info!("[gatt] Write Event to Position: {:?}", event.data()); // TODO dev only
|
||||||
|
// TODO: parse proto and send to main thread
|
||||||
|
}
|
||||||
|
|
||||||
|
_ => {}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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(())
|
||||||
|
}
|
||||||
|
|
||||||
|
/// Example task to use the BLE notifier interface.
|
||||||
|
/// This task will notify the connected central of a counter value every 2 seconds.
|
||||||
|
/// It will also read the RSSI value every 2 seconds.
|
||||||
|
/// and will stop when the connection is closed by the central or an error occurs.
|
||||||
|
async fn custom_task<C: Controller, P: PacketPool>(
|
||||||
|
server: &Server<'_>,
|
||||||
|
conn: &GattConnection<'_, '_, P>,
|
||||||
|
stack: &Stack<'_, C, P>,
|
||||||
|
) {
|
||||||
|
loop {
|
||||||
|
embassy_time::Timer::after(embassy_time::Duration::from_millis(10)).await;
|
||||||
|
|
||||||
|
let mut new_data = None;
|
||||||
|
critical_section::with(|cs| {
|
||||||
|
let tx_data_ref = TX_DATA.borrow(cs);
|
||||||
|
|
||||||
|
if let Some(tx_data) = tx_data_ref.replace(None) {
|
||||||
|
new_data = Some(tx_data);
|
||||||
|
}
|
||||||
|
});
|
||||||
|
|
||||||
|
match new_data {
|
||||||
|
#[cfg(feature = "cam")]
|
||||||
|
Some(BleSendable::Cam(cam_event)) => {
|
||||||
|
let mut buf = cam_event.serialize_ble_proto();
|
||||||
|
|
||||||
|
if buf.len() <= CAM_EVENT_SIZE {
|
||||||
|
// pad with zeros
|
||||||
|
let pad = alloc::vec![0u8; CAM_EVENT_SIZE - buf.len()];
|
||||||
|
buf.extend_from_slice(&pad);
|
||||||
|
|
||||||
|
// unwrap should be fine since we ensured the vector size before
|
||||||
|
let value = buf.try_into().unwrap();
|
||||||
|
|
||||||
|
if let Err(err) = server.c_its_events.cam_event.notify(conn, &value).await {
|
||||||
|
warn!("BLE: failed notifying connection of new CAM event: {err:?}");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
warn!("BLE: CAM event too big with {} bytes", buf.len());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#[cfg(feature = "denm")]
|
||||||
|
Some(BleSendable::Denm(denm_event)) => {
|
||||||
|
let mut buf = denm_event.serialize_ble_proto();
|
||||||
|
|
||||||
|
if buf.len() <= DENM_EVENT_SIZE {
|
||||||
|
// pad with zeros
|
||||||
|
let pad = alloc::vec![0u8; DENM_EVENT_SIZE - buf.len()];
|
||||||
|
buf.extend_from_slice(&pad);
|
||||||
|
|
||||||
|
// unwrap should be fine since we ensured the vector size before
|
||||||
|
let value = buf.try_into().unwrap();
|
||||||
|
|
||||||
|
if let Err(err) = server.c_its_events.denm_event.notify(conn, &value).await {
|
||||||
|
warn!("BLE: failed notifying connection of new DENM event: {err:?}");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
warn!("BLE: DENM event too big with {} bytes", buf.len());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
None => {}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
213
src/io.rs
213
src/io.rs
|
|
@ -5,12 +5,12 @@ pub mod msg {
|
||||||
include!(concat!(env!("OUT_DIR"), "/c_its_io.rs"));
|
include!(concat!(env!("OUT_DIR"), "/c_its_io.rs"));
|
||||||
}
|
}
|
||||||
|
|
||||||
use alloc::string::ToString;
|
|
||||||
use alloc::vec::Vec;
|
use alloc::vec::Vec;
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
use c_its_parser::gn as geonetworking;
|
use c_its_parser::gn as geonetworking;
|
||||||
use log::error;
|
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl From<msg::RawMsgRx> for msg::SerialOutputMsg {
|
impl From<msg::RawMsgRx> for msg::SerialOutputMsg {
|
||||||
fn from(value: msg::RawMsgRx) -> Self {
|
fn from(value: msg::RawMsgRx) -> Self {
|
||||||
use msg::serial_output_msg::Payload;
|
use msg::serial_output_msg::Payload;
|
||||||
|
|
@ -21,6 +21,7 @@ impl From<msg::RawMsgRx> for msg::SerialOutputMsg {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl From<msg::DenmEvent> for msg::SerialOutputMsg {
|
impl From<msg::DenmEvent> for msg::SerialOutputMsg {
|
||||||
fn from(value: msg::DenmEvent) -> Self {
|
fn from(value: msg::DenmEvent) -> Self {
|
||||||
use msg::serial_output_msg::Payload;
|
use msg::serial_output_msg::Payload;
|
||||||
|
|
@ -32,22 +33,41 @@ impl From<msg::DenmEvent> for msg::SerialOutputMsg {
|
||||||
}
|
}
|
||||||
|
|
||||||
impl msg::RawMsgRx {
|
impl msg::RawMsgRx {
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
pub fn serialize_uart_proto(&self) -> Vec<u8> {
|
pub fn serialize_uart_proto(&self) -> Vec<u8> {
|
||||||
serialize_serial_msg(&Into::<msg::SerialOutputMsg>::into(self.clone()))
|
serialize_serial_msg(&Into::<msg::SerialOutputMsg>::into(self.clone()))
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
impl msg::DenmEvent {
|
impl msg::DenmEvent {
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
#[allow(unused)]
|
#[allow(unused)]
|
||||||
pub fn serialize_uart_proto(&self) -> Vec<u8> {
|
pub fn serialize_uart_proto(&self) -> Vec<u8> {
|
||||||
serialize_serial_msg(&Into::<msg::SerialOutputMsg>::into(*self))
|
serialize_serial_msg(&Into::<msg::SerialOutputMsg>::into(*self))
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "denm")]
|
||||||
|
pub fn serialize_ble_proto(&self) -> Vec<u8> {
|
||||||
|
use prost::Message as _;
|
||||||
|
|
||||||
|
self.encode_to_vec()
|
||||||
|
}
|
||||||
|
}
|
||||||
|
impl msg::CamEvent {
|
||||||
|
#[cfg(feature = "cam")]
|
||||||
|
pub fn serialize_ble_proto(&self) -> Vec<u8> {
|
||||||
|
use prost::Message as _;
|
||||||
|
|
||||||
|
self.encode_to_vec()
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
#[derive(Debug, Default)]
|
#[derive(Debug, Default)]
|
||||||
pub struct Parser {
|
pub struct Parser {
|
||||||
buffer: alloc::vec::Vec<u8>,
|
buffer: alloc::vec::Vec<u8>,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl Parser {
|
impl Parser {
|
||||||
const SOF_LEN: u16 = 4;
|
const SOF_LEN: u16 = 4;
|
||||||
const SOF1: u8 = 0x56;
|
const SOF1: u8 = 0x56;
|
||||||
|
|
@ -91,7 +111,7 @@ impl Parser {
|
||||||
Ok(data) => {
|
Ok(data) => {
|
||||||
output.push(data);
|
output.push(data);
|
||||||
}
|
}
|
||||||
Err(err) => error!("Failed to parse input: {err:?}"),
|
Err(err) => log::error!("Failed to parse input: {err:?}"),
|
||||||
}
|
}
|
||||||
|
|
||||||
// consume buffer
|
// consume buffer
|
||||||
|
|
@ -122,6 +142,7 @@ impl Parser {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
fn serialize_serial_msg<T>(msg: &T) -> Vec<u8>
|
fn serialize_serial_msg<T>(msg: &T) -> Vec<u8>
|
||||||
where
|
where
|
||||||
T: prost::Message,
|
T: prost::Message,
|
||||||
|
|
@ -141,6 +162,7 @@ where
|
||||||
out
|
out
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl From<msg::PositionState> for crate::applogic::GnssFix {
|
impl From<msg::PositionState> for crate::applogic::GnssFix {
|
||||||
fn from(value: msg::PositionState) -> Self {
|
fn from(value: msg::PositionState) -> Self {
|
||||||
let time =
|
let time =
|
||||||
|
|
@ -169,6 +191,7 @@ impl From<msg::PositionState> for crate::applogic::GnssFix {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl From<msg::PositionState> for esp32_cits_core::PosVel {
|
impl From<msg::PositionState> for esp32_cits_core::PosVel {
|
||||||
fn from(value: msg::PositionState) -> Self {
|
fn from(value: msg::PositionState) -> Self {
|
||||||
let position = geo_types::Point::new(
|
let position = geo_types::Point::new(
|
||||||
|
|
@ -194,6 +217,7 @@ impl From<msg::PositionState> for esp32_cits_core::PosVel {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl From<msg::ItsPosition> for esp32_cits_core::PosVel {
|
impl From<msg::ItsPosition> for esp32_cits_core::PosVel {
|
||||||
fn from(value: msg::ItsPosition) -> Self {
|
fn from(value: msg::ItsPosition) -> Self {
|
||||||
let latitude_deg = f64::from(value.latitude) / 10_000_000.;
|
let latitude_deg = f64::from(value.latitude) / 10_000_000.;
|
||||||
|
|
@ -208,6 +232,7 @@ impl From<msg::ItsPosition> for esp32_cits_core::PosVel {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx {
|
impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx {
|
||||||
fn make_eh(
|
fn make_eh(
|
||||||
&self,
|
&self,
|
||||||
|
|
@ -223,6 +248,8 @@ impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx {
|
||||||
),
|
),
|
||||||
alloc::string::String,
|
alloc::string::String,
|
||||||
> {
|
> {
|
||||||
|
use alloc::string::ToString as _;
|
||||||
|
|
||||||
let station_type = self
|
let station_type = self
|
||||||
.station_type
|
.station_type
|
||||||
.and_then(|v| {
|
.and_then(|v| {
|
||||||
|
|
@ -304,6 +331,7 @@ impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl msg::RawMsgTx {
|
impl msg::RawMsgTx {
|
||||||
fn make_geobcast(
|
fn make_geobcast(
|
||||||
address: [u8; 6],
|
address: [u8; 6],
|
||||||
|
|
@ -384,12 +412,189 @@ impl msg::RawMsgTx {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "cam")]
|
||||||
|
impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>>
|
||||||
|
for msg::CamEvent
|
||||||
|
{
|
||||||
|
fn from(
|
||||||
|
value: alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>,
|
||||||
|
) -> 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
|
||||||
|
.into();
|
||||||
|
|
||||||
|
let vehicle_role = value
|
||||||
|
.cam
|
||||||
|
.cam_parameters
|
||||||
|
.low_frequency_container
|
||||||
|
.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<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>>
|
||||||
|
for msg::DenmEvent
|
||||||
|
{
|
||||||
|
fn from(
|
||||||
|
value: alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>,
|
||||||
|
) -> 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::<chrono::Utc>::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
|
||||||
|
.and_then(|v| v.event_position_heading)
|
||||||
|
.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
|
||||||
|
.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,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl From<c_its_parser::standards::cdd_1_3_1_1::its_container::ReferencePosition>
|
||||||
|
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,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl From<c_its_parser::standards::cdd_2_2_1::etsi_its_cdd::ReferencePosition> 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,
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
impl From<c_its_parser::standards::cdd_2_2_1::etsi_its_cdd::TrafficDirection> 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(test)]
|
#[cfg(test)]
|
||||||
mod tests {
|
mod tests {
|
||||||
|
|
||||||
use super::*;
|
use super::*;
|
||||||
use crate::init_test_env_logger;
|
use crate::init_test_env_logger;
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl From<msg::RawMsgTx> for msg::SerialInputMsg {
|
impl From<msg::RawMsgTx> for msg::SerialInputMsg {
|
||||||
fn from(value: msg::RawMsgTx) -> Self {
|
fn from(value: msg::RawMsgTx) -> Self {
|
||||||
use msg::serial_input_msg::Payload;
|
use msg::serial_input_msg::Payload;
|
||||||
|
|
@ -400,6 +605,7 @@ mod tests {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
impl From<msg::PositionState> for msg::SerialInputMsg {
|
impl From<msg::PositionState> for msg::SerialInputMsg {
|
||||||
fn from(value: msg::PositionState) -> Self {
|
fn from(value: msg::PositionState) -> Self {
|
||||||
use msg::serial_input_msg::Payload;
|
use msg::serial_input_msg::Payload;
|
||||||
|
|
@ -414,6 +620,7 @@ mod tests {
|
||||||
// SerialInputMsg(RawMsgTx): 5632582b0040123e0a340202c173256817284029d5b3400f1feaf01ffffffc23b7743e00000fc0007e8138250737feebfff600000dffff7ffff1ce40400010011807220028020d0a
|
// SerialInputMsg(RawMsgTx): 5632582b0040123e0a340202c173256817284029d5b3400f1feaf01ffffffc23b7743e00000fc0007e8138250737feebfff600000dffff7ffff1ce40400010011807220028020d0a
|
||||||
// SerialInputMsg(PositionState): 5632582b00170a1509a0bbe2a29f010000120a0d00002842150000b8410d0a
|
// SerialInputMsg(PositionState): 5632582b00170a1509a0bbe2a29f010000120a0d00002842150000b8410d0a
|
||||||
|
|
||||||
|
#[cfg(feature = "uart")]
|
||||||
#[test]
|
#[test]
|
||||||
fn uart_parser() {
|
fn uart_parser() {
|
||||||
// generate some test UART input messages
|
// generate some test UART input messages
|
||||||
|
|
|
||||||
31
src/main.rs
31
src/main.rs
|
|
@ -45,9 +45,10 @@ use log::{error, info, warn};
|
||||||
extern crate alloc;
|
extern crate alloc;
|
||||||
|
|
||||||
mod applogic;
|
mod applogic;
|
||||||
|
#[cfg(any(feature = "cam", feature = "denm"))]
|
||||||
|
mod ble;
|
||||||
mod cache;
|
mod cache;
|
||||||
mod geo_alg;
|
mod geo_alg;
|
||||||
#[cfg(feature = "uart")]
|
|
||||||
mod io;
|
mod io;
|
||||||
#[cfg(feature = "screen")]
|
#[cfg(feature = "screen")]
|
||||||
mod screen;
|
mod screen;
|
||||||
|
|
@ -89,7 +90,7 @@ static SERIAL: Mutex<RefCell<Option<esp_hal::uart::Uart<'static, esp_hal::Blocki
|
||||||
#[esp_rtos::main]
|
#[esp_rtos::main]
|
||||||
async fn main(spawner: Spawner) -> ! {
|
async fn main(spawner: Spawner) -> ! {
|
||||||
// generator version: 1.3.0
|
// 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
|
// 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
|
||||||
|
|
||||||
esp_println::logger::init_logger_from_env();
|
esp_println::logger::init_logger_from_env();
|
||||||
|
|
||||||
|
|
@ -107,6 +108,8 @@ async fn main(spawner: Spawner) -> ! {
|
||||||
// - GPIO28
|
// - GPIO28
|
||||||
|
|
||||||
esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
|
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);
|
esp_alloc::psram_allocator!(peripherals.PSRAM, esp_hal::psram);
|
||||||
|
|
||||||
let timg0 = TimerGroup::new(peripherals.TIMG0);
|
let timg0 = TimerGroup::new(peripherals.TIMG0);
|
||||||
|
|
@ -188,6 +191,13 @@ async fn main(spawner: Spawner) -> ! {
|
||||||
let mac = esp_hal::efuse::base_mac_address();
|
let mac = esp_hal::efuse::base_mac_address();
|
||||||
info!("WiFi MAC: {mac}");
|
info!("WiFi MAC: {mac}");
|
||||||
|
|
||||||
|
// Setup BLE
|
||||||
|
#[cfg(any(feature = "cam", feature = "denm"))]
|
||||||
|
{
|
||||||
|
let controller = ble::make_controller(peripherals.BT);
|
||||||
|
spawner.spawn(ble::run(controller).expect("Failed to spawn BLE task"));
|
||||||
|
}
|
||||||
|
|
||||||
// Setup GNSS:
|
// Setup GNSS:
|
||||||
// Seeed XIAO L67K:
|
// Seeed XIAO L67K:
|
||||||
// RX: D7/ GPIO12
|
// RX: D7/ GPIO12
|
||||||
|
|
@ -474,6 +484,13 @@ async fn main(spawner: Spawner) -> ! {
|
||||||
} => {
|
} => {
|
||||||
#[cfg(feature = "cam")]
|
#[cfg(feature = "cam")]
|
||||||
applogic::cam::handle_cam(&etsi);
|
applogic::cam::handle_cam(&etsi);
|
||||||
|
|
||||||
|
// Send data to BLE thread
|
||||||
|
#[cfg(feature = "cam")]
|
||||||
|
critical_section::with(|cs| {
|
||||||
|
let ble_update_ref = ble::TX_DATA.borrow(cs);
|
||||||
|
ble_update_ref.replace(Some(ble::BleSendable::Cam(etsi.into())));
|
||||||
|
});
|
||||||
}
|
}
|
||||||
|
|
||||||
#[cfg(feature = "denm")]
|
#[cfg(feature = "denm")]
|
||||||
|
|
@ -481,7 +498,15 @@ async fn main(spawner: Spawner) -> ! {
|
||||||
geonetworking: _,
|
geonetworking: _,
|
||||||
transport: _,
|
transport: _,
|
||||||
etsi,
|
etsi,
|
||||||
} => applogic::denm::handle_denm(&etsi),
|
} => {
|
||||||
|
applogic::denm::handle_denm(&etsi);
|
||||||
|
|
||||||
|
// Send data to BLE thread
|
||||||
|
critical_section::with(|cs| {
|
||||||
|
let ble_update_ref = ble::TX_DATA.borrow(cs);
|
||||||
|
ble_update_ref.replace(Some(ble::BleSendable::Denm(etsi.into())));
|
||||||
|
});
|
||||||
|
}
|
||||||
#[cfg(feature = "denm")]
|
#[cfg(feature = "denm")]
|
||||||
ItsMessage::DenmV1 {
|
ItsMessage::DenmV1 {
|
||||||
geonetworking: _,
|
geonetworking: _,
|
||||||
|
|
|
||||||
Loading…
Add table
Add a link
Reference in a new issue