Compare commits
| Author | SHA1 | Date | |
|---|---|---|---|
| efd73a3f1c |
37 changed files with 463 additions and 30281 deletions
4
.gitignore
vendored
4
.gitignore
vendored
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@ -24,7 +24,3 @@ target/
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# Ignore .DS_Store file in mac
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**/.DS_Store
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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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242
Cargo.lock
generated
242
Cargo.lock
generated
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@ -73,12 +73,6 @@ version = "1.0.102"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c"
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[[package]]
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name = "arbitrary-int"
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version = "2.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "993a810118f8f37e9c4411c86f1c4c940a09a7ab34b7bf2d88d06f50c553fab7"
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[[package]]
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name = "arrayvec"
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version = "0.7.6"
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@ -166,29 +160,6 @@ dependencies = [
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"generic-array",
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]
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[[package]]
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name = "bt-hci"
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version = "0.8.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "211713d2e9fb4793ce4360a712c0764264aff6be48932ccf02ca2a331c0436a9"
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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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]
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[[package]]
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name = "btuuid"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f5f48f1e9b0aad0a4f05d17bdeae0fa20ff798e272a03a6940ca27ad9c5a6ae7"
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dependencies = [
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"uuid",
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]
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[[package]]
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name = "bumpalo"
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version = "3.20.2"
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@ -215,9 +186,9 @@ checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33"
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[[package]]
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name = "c-its-parser"
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version = "2.4.1"
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version = "2.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "7e94d9990b20498f621f164f23ae198c4365115eb4191ae106352ec74d4a4110"
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checksum = "f9bd739e1f76c017fc9fc6c21b9ff2aee4536bef357075d454e387e94a4d6287"
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dependencies = [
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"chrono",
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"etherparse",
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@ -267,15 +238,6 @@ version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0b396d1f76d455557e1218ec8066ae14bba60b4b36ecd55577ba979f5db7ecaa"
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[[package]]
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name = "convert_case"
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version = "0.8.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "baaaa0ecca5b51987b9423ccdc971514dd8b0bb7b4060b983d3664dad3f1f89f"
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dependencies = [
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"unicode-segmentation",
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]
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[[package]]
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name = "cordyceps"
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version = "0.3.4"
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@ -988,7 +950,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "23fbff98b06a96b6ce3791ecec5c668524052a068e23aacd23afe17ddba844ce"
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dependencies = [
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"allocator-api2",
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"bt-hci",
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"cfg-if",
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"docsplay",
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"document-features",
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@ -1185,14 +1146,11 @@ 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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"bt-hci",
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"c-its-parser",
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"chrono",
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"critical-section",
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"crossbeam-queue",
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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_gps",
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"embedded-graphics",
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@ -1207,7 +1165,6 @@ dependencies = [
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"esp-println",
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"esp-radio",
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"esp-rtos",
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"esp32-cits-core",
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"geo-types",
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"log",
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"mipidsi",
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@ -1215,21 +1172,6 @@ dependencies = [
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"profont",
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"prost",
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"prost-build",
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"static_cell",
|
||||
"trouble-host",
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||||
"ublox",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "esp32-cits-core"
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||||
version = "0.1.0"
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||||
source = "git+https://git.hamburg.ccc.de/jtbx/esp32-cits-core?branch=main#a6d0ea6ca2da130fde2b84060a34ef45e772a459"
|
||||
dependencies = [
|
||||
"c-its-parser",
|
||||
"chrono",
|
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"esp-hal",
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||||
"esp-radio",
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"geo-types",
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]
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[[package]]
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@ -1297,9 +1239,9 @@ dependencies = [
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[[package]]
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name = "etherparse"
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||||
version = "0.21.0"
|
||||
version = "0.20.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "17304d06addb3283cdc4bd528e42dd95e73c8ee2d6492ffce415e93660885449"
|
||||
checksum = "3ac016aaf11dfe643edcd088a166234bfcb72e7f06691abfcf21e9af524037f4"
|
||||
dependencies = [
|
||||
"arrayvec",
|
||||
]
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||||
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@ -1358,52 +1300,12 @@ version = "2.0.0"
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|||
source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "e6d5a32815ae3f33302d95fdcb2ce17862f8c65363dcfd29360480ba1001fc9c"
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||||
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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"
|
||||
checksum = "8b147ee9d1f6d097cef9ce628cd2ee62288d963e16fb287bd9286455b241382d"
|
||||
dependencies = [
|
||||
"futures-channel",
|
||||
"futures-core",
|
||||
"futures-io",
|
||||
"futures-sink",
|
||||
"futures-task",
|
||||
"futures-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "futures-channel"
|
||||
version = "0.3.32"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "07bbe89c50d7a535e539b8c17bc0b49bdb77747034daa8087407d655f3f7cc1d"
|
||||
dependencies = [
|
||||
"futures-core",
|
||||
"futures-sink",
|
||||
]
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[[package]]
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||||
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",
|
||||
]
|
||||
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||||
[[package]]
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||||
name = "futures-io"
|
||||
version = "0.3.32"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cecba35d7ad927e23624b22ad55235f2239cfa44fd10428eecbeba6d6a717718"
|
||||
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||||
[[package]]
|
||||
name = "futures-sink"
|
||||
version = "0.3.32"
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||||
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@ -1423,10 +1325,8 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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|||
checksum = "389ca41296e6190b48053de0321d02a77f32f8a5d2461dd38762c0593805c6d6"
|
||||
dependencies = [
|
||||
"futures-core",
|
||||
"futures-sink",
|
||||
"futures-task",
|
||||
"pin-project-lite",
|
||||
"slab",
|
||||
]
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||||
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||||
[[package]]
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||||
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@ -1471,11 +1371,13 @@ dependencies = [
|
|||
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||||
[[package]]
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||||
name = "geonetworking"
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||||
version = "0.4.0"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "6da6fde770112587d5f5f7af439546e35bd35aa77a9e3e47e9968056783fe50d"
|
||||
checksum = "6f6d36111f5057d3be7eb4e312a07edac4737fc791e4b0a73d812c6f710161e7"
|
||||
dependencies = [
|
||||
"arbitrary-int",
|
||||
"bitvec",
|
||||
"bitvec-nom2",
|
||||
"bytes",
|
||||
"nom",
|
||||
"num",
|
||||
"num-traits",
|
||||
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@ -1641,18 +1543,6 @@ dependencies = [
|
|||
"syn 2.0.117",
|
||||
]
|
||||
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||||
[[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"
|
||||
|
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@ -1695,15 +1585,6 @@ version = "1.0.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "11d3d7f243d5c5a8b9bb5d6dd2b1602c0cb0b9db1621bafc7ed66e35ff9fe092"
|
||||
|
||||
[[package]]
|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "log"
|
||||
version = "0.4.29"
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||||
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@ -2285,12 +2166,6 @@ version = "1.0.1"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e1cf6437eb19a8f4a6cc0f7dca544973b0b78843adbfeb3683d1a94a0024a294"
|
||||
|
||||
[[package]]
|
||||
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|
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "1.0.28"
|
||||
|
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@ -2368,12 +2243,6 @@ version = "1.3.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0fda2ff0d084019ba4d7c6f371c95d8fd75ce3524c3cb8fb653a3023f6323e64"
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|
||||
[[package]]
|
||||
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|
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
name = "smallvec"
|
||||
version = "1.15.1"
|
||||
|
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@ -2422,15 +2291,6 @@ 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"
|
||||
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@ -2620,68 +2480,12 @@ dependencies = [
|
|||
"tracing-log",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "trouble-host"
|
||||
version = "0.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
||||
dependencies = [
|
||||
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|
||||
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|
||||
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|
||||
"embassy-time",
|
||||
"embedded-io 0.7.1",
|
||||
"futures",
|
||||
"heapless 0.9.2",
|
||||
"rand_core 0.6.4",
|
||||
"static_cell",
|
||||
"trouble-host-macros",
|
||||
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|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "trouble-host-macros"
|
||||
version = "0.4.0"
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
"uuid",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
|
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@ -2694,12 +2498,6 @@ version = "1.0.24"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
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|
||||
|
||||
[[package]]
|
||||
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||||
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|
||||
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||||
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|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
||||
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@ -2731,8 +2529,6 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
|||
checksum = "ddd74a9687298c6858e9b88ec8935ec45d22e8fd5e6394fa1bd4e99a87789c76"
|
||||
dependencies = [
|
||||
"getrandom",
|
||||
"js-sys",
|
||||
"wasm-bindgen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
|
|
@ -3038,26 +2834,6 @@ dependencies = [
|
|||
"syn 2.0.117",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
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|
||||
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|
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||||
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"
|
||||
|
|
|
|||
40
Cargo.toml
40
Cargo.toml
|
|
@ -12,10 +12,10 @@ path = "./src/main.rs"
|
|||
[[bin]]
|
||||
name = "test"
|
||||
path = "./src/test.rs"
|
||||
required-features = ["std", "cam"]
|
||||
required-features = ["std"]
|
||||
|
||||
[features]
|
||||
default = ["esp", "spat", "gnss_ubx", "screen"]
|
||||
default = ["esp", "spat", "gnss", "screen"]
|
||||
|
||||
# build for ESP (needed to build test for `host-tuple`)
|
||||
esp = [
|
||||
|
|
@ -23,8 +23,6 @@ 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",
|
||||
|
|
@ -32,20 +30,13 @@ esp = [
|
|||
"dep:esp-backtrace",
|
||||
"dep:esp-println",
|
||||
"dep:esp-radio",
|
||||
"dep:bt-hci",
|
||||
"esp32-cits-core/esp32c5",
|
||||
"esp32-cits-core/log-04",
|
||||
]
|
||||
std = ["c-its-parser/std", "esp32-cits-core/std"]
|
||||
std = ["c-its-parser/std"]
|
||||
|
||||
# enable u-blox GNSS module
|
||||
gnss_ubx = ["_gnss", "_uart", "dep:ublox"]
|
||||
# enable L67K GNSS module
|
||||
gnss_l67k = ["_gnss", "dep:embassy_gps"]
|
||||
gnss = ["dep:embassy_gps"]
|
||||
# echo CAM data on serial
|
||||
cam = ["c-its-parser/cam"]
|
||||
# send CAM autonomously
|
||||
cam_tx = ["c-its-parser/cam"]
|
||||
# echo DENM events on serial and BLE
|
||||
denm = ["c-its-parser/denm"]
|
||||
# evaluate SPAT information
|
||||
|
|
@ -54,15 +45,7 @@ spat = ["c-its-parser/spatem", "c-its-parser/mapem"]
|
|||
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"]
|
||||
|
||||
# internal feature, that any UART I/O is enabled
|
||||
_uart = []
|
||||
# internal feature, that any GNSS source is enabled
|
||||
_gnss = []
|
||||
|
||||
[dependencies]
|
||||
esp-hal = { version = "~1.1.0", optional = true, features = ["esp32c5", "log-04", "unstable"] }
|
||||
|
|
@ -71,7 +54,6 @@ esp-rtos = { version = "0.3.0", optional = true, features = [
|
|||
"embassy",
|
||||
"esp-alloc",
|
||||
"esp-radio",
|
||||
"embassy",
|
||||
"esp32c5",
|
||||
"log-04",
|
||||
] }
|
||||
|
|
@ -80,19 +62,17 @@ 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"] }
|
||||
esp-println = { version = "0.17.0", optional = true, features = ["esp32c5", "log-04"] }
|
||||
esp-radio = { version = "0.18.0", optional = true, features = [
|
||||
"esp-alloc",
|
||||
"esp32c5",
|
||||
|
|
@ -100,17 +80,12 @@ 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" }
|
||||
embedded-hal-bus = { version = "0.3.0", optional = true }
|
||||
embedded-graphics = { version = "0.8.2", optional = true }
|
||||
# needs newer GN with removed bitvec dependency
|
||||
c-its-parser = { version = "2.4.0", default-features = false, features = [
|
||||
c-its-parser = { version = "2.3.0", default-features = false, features = [
|
||||
"time",
|
||||
"geo",
|
||||
"libm",
|
||||
|
|
@ -123,7 +98,6 @@ 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"] }
|
||||
ublox = { version = "0.10", optional = true, default-features = false, features = ["alloc", "ubx_proto27"] }
|
||||
|
||||
[dev-dependencies]
|
||||
assert_float_eq = "1.2.0"
|
||||
|
|
|
|||
57
Readme.md
57
Readme.md
|
|
@ -5,16 +5,15 @@ Displays different C-ITS receive-only use cases for cheap.
|
|||
## Hardware Requirements
|
||||
The code is currently tailored to:
|
||||
- Seeed XIAO ESP32-C5 (8MB PSRAM)
|
||||
- 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))
|
||||
- Seeed XIAO L67K (connected on GPIO12 (RX), GPIO11 (TX), GPIO1 (wakeup) and GPIO25 (reset))
|
||||
only available with `gnss` feature (which is included in `spat` feature)
|
||||
- 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
|
||||
|
||||
### GNSS
|
||||
Enable u-blox or L67K GNSS module and in main application logic/ state.
|
||||
Enable L67K GNSS module and in main application logic/ state.
|
||||
|
||||
### SPAT
|
||||
Takes the current position and heading from the GNSS receiver and displays the signal phases of the upcoming intersection.
|
||||
|
|
@ -29,39 +28,6 @@ Shall "publish" the most relevant information of a DENMs via BLE
|
|||
### CAM
|
||||
Just prints a line for each received CAM.
|
||||
|
||||
### CAM-TX
|
||||
Generates and transmits a CAM when a GNSS update was received.
|
||||
Depends on the `gnss` feature.
|
||||
|
||||
Note: In germany, using the 5875 to 5915 MHz frequency band is only permitted for C-ITS use cases which implement transmit power reduction measures with at least 30 dB reduction range (or equivalent measures) and have a maximum EIRP of 33 dBm.
|
||||
This is based on EU regulation 2014/53/EU, so it applies to other EU countries in similar ways.
|
||||
The relevant harmonized standard is ETSI EN 302 571 which mandates (excerpt of most relevant points):
|
||||
|
||||
- a maximum power spectral density of 23 dBm/Mhz EIRP
|
||||
- transmit power control (TCP) in a range from 3 dBm up to the maximum output power of the equipment
|
||||
* used for CEN DSRC and HDR DSRC interference mitigation by implementing measures from ETSI TS 102 792
|
||||
+ Mode A or B: Output power less than 10 dBm EIRP and less than -65 or -45 dBm/MHz EIRP in CEN DSRC band -> **needs to be measured**
|
||||
+ Mode C: Maximum transmission time of less than 1 ms and at least a few 100 ms between transmission (realistically) -> **can't be ensured with big messages**
|
||||
+ Mode D: "any" realistically possible transmission time, but at least 500 ms between transmissions for ~5 ITS stations/ 1000ms for 10 ITS stations -> **safe to assume when we only send CAMs at 1 Hz**
|
||||
+ But modes C and D also need to:
|
||||
- use protected zone information from CAM messages
|
||||
- use a protected zone database, e.g. from www.asecap-pzdb.com
|
||||
* used for dynamic congestion control (DCC)
|
||||
+ mandatory mechanism described in ETSI EN 302 571, chapter 4.2.10
|
||||
|
||||
This is **not** implemented in this application!
|
||||
**So legally, you're not allowed to send with this.**
|
||||
|
||||
### 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 +43,7 @@ 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
|
||||
|
|
@ -86,22 +52,13 @@ rustup component add --toolchain nightly rustfmt
|
|||
|
||||
### Build and Flash
|
||||
In default configuration only signal phases (SPAT) data is displayed for the upcoming intersection.
|
||||
Additional features are available through feature flags:
|
||||
Additional features are available though feature flags:
|
||||
|
||||
- `esp`: Run on ESP (required as feature flag to enable unit tests on host)
|
||||
- `std`: Run on system with `std` library
|
||||
- `spat`: Enable signal phase (and intersection map) data
|
||||
- `spat_debug`: Enable additional debug information for the SPAT/ GLOSA use case
|
||||
- `spat`: Enable signal phase (and intersection map) data
|
||||
- `denm`: Enable DENMs
|
||||
- `cam`: Enable CAMs
|
||||
- `cam_tx`: Enable CAM generation and transmission (needs time and position source)
|
||||
|
||||
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")
|
||||
|
||||
Connect your ESP32-C5 and run:
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -35,17 +35,18 @@ enum GNAreaShape {
|
|||
ETSI_AREASHAPE_CIRCLE = 0;
|
||||
ETSI_AREASHAPE_RECTANGLE = 1;
|
||||
ETSI_AREASHAPE_ELLIPSIS = 2;
|
||||
ETSI_AREASHAPE_UNKNOWN = 15;
|
||||
}
|
||||
|
||||
// GeoNetworking Destination Area/ Source Position
|
||||
message ITSPosition {
|
||||
required int32 latitude = 1; // Latitude in 1/10th of micro degrees
|
||||
required int32 longitude = 2; // Longitude in 1/10th of micro degrees
|
||||
optional int32 latitude = 1; // Latitude in 1/10th of micro degrees
|
||||
optional int32 longitude = 2; // Longitude in 1/10th of micro degrees
|
||||
}
|
||||
|
||||
// GeoNetworking Destination Area
|
||||
message GNArea {
|
||||
optional GNAreaShape area = 1;
|
||||
optional GNAreaShape area = 1 [default = ETSI_AREASHAPE_UNKNOWN];
|
||||
optional ITSPosition position = 2;
|
||||
optional int32 distA = 3; // Distance A of the geometric shape in meters
|
||||
optional int32 distB = 4; // Distance B of the geometric shape in meters, mandatory for rectangle and ellipsis
|
||||
|
|
@ -54,6 +55,8 @@ message GNArea {
|
|||
|
||||
// GeoNetworking Transport
|
||||
enum GNTransport {
|
||||
GN_TRANSPORT_DEFAULT = 0;
|
||||
GN_TRANSPORT_GUC = 2; // GeoUnicast
|
||||
GN_TRANSPORT_GAC = 3; // Geographically-Scoped Anycast
|
||||
GN_TRANSPORT_GBC = 4; // Geographically-Scoped broadcast
|
||||
GN_TRANSPORT_TSB = 5; // Topologically-scoped broadcast
|
||||
|
|
@ -67,12 +70,6 @@ message RawMsgTx {
|
|||
required GNTransport gnTransport = 3;
|
||||
required GNArea gnArea = 4;
|
||||
required uint32 hopLimit = 5;
|
||||
|
||||
optional uint32 stationType = 6; // for source position vector
|
||||
}
|
||||
|
||||
message RawNotify {
|
||||
required uint32 message_type = 1; // ITS `MessageId` integer value
|
||||
}
|
||||
|
||||
// ------------------------------
|
||||
|
|
@ -80,14 +77,13 @@ message RawNotify {
|
|||
// ------------------------------
|
||||
|
||||
message PositionState {
|
||||
required sfixed64 timestamp_ms = 1; // current UNIX time in milliseconds
|
||||
required Position position = 2;
|
||||
required Position position = 1;
|
||||
optional uint32 heading = 3; // heading in 1/10 deg
|
||||
optional uint32 speed = 4; // speed in 1/100 m/s
|
||||
}
|
||||
|
||||
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`
|
||||
|
|
|
|||
|
|
@ -1,74 +0,0 @@
|
|||
#!/bin/bash
|
||||
## Build/ Test/ Clippy all supported feature permutations
|
||||
set -eu
|
||||
|
||||
mode=${1:-help}
|
||||
wasm_target="--chrome --headless"
|
||||
extended=${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
|
||||
)
|
||||
features_test=(
|
||||
spat,cam,denm,uart
|
||||
)
|
||||
|
||||
|
||||
runBuild () {
|
||||
for feat in "${features[@]}"; do
|
||||
echo "cargo build for $feat ..."
|
||||
cargo build --release --no-default-features -F esp,$feat
|
||||
done
|
||||
}
|
||||
|
||||
runTest () {
|
||||
for feat in "${features_test[@]}"; do
|
||||
echo "cargo test for $feat ..."
|
||||
cargo test --target host-tuple --bin test --no-default-features -F std,$feat
|
||||
done
|
||||
}
|
||||
|
||||
runClippy () {
|
||||
for feat in "${features[@]}"; do
|
||||
echo "clippy for $feat ..."
|
||||
cargo clippy --no-default-features -F esp,$feat -- -Wclippy::pedantic
|
||||
done
|
||||
}
|
||||
|
||||
if [ $extended == "--more" ]; then
|
||||
echo "running with extended feature list"
|
||||
features=( "${features_base[@]}" "${features_more[@]}" )
|
||||
else
|
||||
echo "running standard feature list"
|
||||
features=( "${features_base[@]}" )
|
||||
fi
|
||||
|
||||
case $mode in
|
||||
build)
|
||||
runBuild
|
||||
;;
|
||||
clippy)
|
||||
runClippy
|
||||
;;
|
||||
test)
|
||||
runTest
|
||||
;;
|
||||
all)
|
||||
runBuild
|
||||
runClippy
|
||||
runTest
|
||||
;;
|
||||
*)
|
||||
echo "Usage: $0 [build | clippy | test | all] [--more]"
|
||||
esac
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 145 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 142 KiB |
File diff suppressed because it is too large
Load diff
|
|
@ -1,138 +0,0 @@
|
|||
{
|
||||
"board": {
|
||||
"active_layer": 0,
|
||||
"active_layer_preset": "",
|
||||
"auto_track_width": true,
|
||||
"hidden_netclasses": [],
|
||||
"hidden_nets": [],
|
||||
"high_contrast_mode": 0,
|
||||
"net_color_mode": 1,
|
||||
"opacity": {
|
||||
"images": 0.6,
|
||||
"pads": 1.0,
|
||||
"shapes": 1.0,
|
||||
"tracks": 1.0,
|
||||
"vias": 1.0,
|
||||
"zones": 0.6
|
||||
},
|
||||
"prototype_zone_fills": false,
|
||||
"selection_filter": {
|
||||
"dimensions": true,
|
||||
"footprints": true,
|
||||
"graphics": true,
|
||||
"keepouts": true,
|
||||
"lockedItems": false,
|
||||
"otherItems": true,
|
||||
"pads": true,
|
||||
"text": true,
|
||||
"tracks": true,
|
||||
"vias": true,
|
||||
"zones": true
|
||||
},
|
||||
"visible_items": [
|
||||
"vias",
|
||||
"footprint_text",
|
||||
"footprint_anchors",
|
||||
"ratsnest",
|
||||
"grid",
|
||||
"footprints_front",
|
||||
"footprints_back",
|
||||
"footprint_values",
|
||||
"footprint_references",
|
||||
"tracks",
|
||||
"drc_errors",
|
||||
"drawing_sheet",
|
||||
"bitmaps",
|
||||
"pads",
|
||||
"zones",
|
||||
"drc_warnings",
|
||||
"drc_exclusions",
|
||||
"locked_item_shadows",
|
||||
"conflict_shadows",
|
||||
"shapes",
|
||||
"board_outline_area",
|
||||
"ly_points"
|
||||
],
|
||||
"visible_layers": "ffffffff_ffffffff_ffffffff_ffffffff",
|
||||
"zone_display_mode": 0
|
||||
},
|
||||
"git": {
|
||||
"integration_disabled": false,
|
||||
"repo_type": "",
|
||||
"repo_username": "",
|
||||
"ssh_key": ""
|
||||
},
|
||||
"meta": {
|
||||
"filename": "c_its-companion.kicad_prl",
|
||||
"version": 5
|
||||
},
|
||||
"net_inspector_panel": {
|
||||
"col_hidden": [
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false,
|
||||
false
|
||||
],
|
||||
"col_order": [
|
||||
0,
|
||||
1,
|
||||
2,
|
||||
3,
|
||||
4,
|
||||
5,
|
||||
6,
|
||||
7,
|
||||
8,
|
||||
9
|
||||
],
|
||||
"col_widths": [
|
||||
156,
|
||||
141,
|
||||
103,
|
||||
71,
|
||||
103,
|
||||
103,
|
||||
103,
|
||||
74,
|
||||
103,
|
||||
103
|
||||
],
|
||||
"custom_group_rules": [],
|
||||
"expanded_rows": [],
|
||||
"filter_by_net_name": true,
|
||||
"filter_by_netclass": true,
|
||||
"filter_text": "",
|
||||
"group_by_constraint": false,
|
||||
"group_by_netclass": false,
|
||||
"show_time_domain_details": false,
|
||||
"show_unconnected_nets": false,
|
||||
"show_zero_pad_nets": false,
|
||||
"sort_ascending": true,
|
||||
"sorting_column": 0
|
||||
},
|
||||
"open_jobsets": [],
|
||||
"project": {
|
||||
"files": []
|
||||
},
|
||||
"schematic": {
|
||||
"hierarchy_collapsed": [],
|
||||
"selection_filter": {
|
||||
"graphics": true,
|
||||
"images": true,
|
||||
"labels": true,
|
||||
"lockedItems": false,
|
||||
"otherItems": true,
|
||||
"pins": true,
|
||||
"ruleAreas": true,
|
||||
"symbols": true,
|
||||
"text": true,
|
||||
"wires": true
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1,744 +0,0 @@
|
|||
{
|
||||
"board": {
|
||||
"3dviewports": [
|
||||
{
|
||||
"name": "ISO-back",
|
||||
"ww": 1.0,
|
||||
"wx": 23.768348693847656,
|
||||
"wy": 1.82621169090271,
|
||||
"wz": -13.010103225708008,
|
||||
"xw": 0.0,
|
||||
"xx": -0.6424655318260193,
|
||||
"xy": 0.5901128053665161,
|
||||
"xz": -0.4888812303543091,
|
||||
"yw": 0.0,
|
||||
"yx": 0.7663145065307617,
|
||||
"yy": 0.49455612897872925,
|
||||
"yz": -0.41009292006492615,
|
||||
"zw": 0.0,
|
||||
"zx": -0.00022190232994034886,
|
||||
"zy": -0.638107419013977,
|
||||
"zz": -0.7699472904205322
|
||||
},
|
||||
{
|
||||
"name": "ISO-front",
|
||||
"ww": 1.0,
|
||||
"wx": 4.608643054962158,
|
||||
"wy": 18.730253219604492,
|
||||
"wz": -27.170215606689453,
|
||||
"xw": 0.0,
|
||||
"xx": 0.6427879333496094,
|
||||
"xy": -0.5868241190910339,
|
||||
"xz": 0.49240362644195557,
|
||||
"yw": 0.0,
|
||||
"yx": 0.7660443186759949,
|
||||
"yy": 0.4924042820930481,
|
||||
"yz": -0.4131760001182556,
|
||||
"zw": 0.0,
|
||||
"zx": -2.1759660739917308e-08,
|
||||
"zy": 0.6427874565124512,
|
||||
"zz": 0.7660446763038635
|
||||
}
|
||||
],
|
||||
"design_settings": {
|
||||
"defaults": {
|
||||
"apply_defaults_to_fp_barcodes": false,
|
||||
"apply_defaults_to_fp_dimensions": false,
|
||||
"apply_defaults_to_fp_fields": false,
|
||||
"apply_defaults_to_fp_shapes": false,
|
||||
"apply_defaults_to_fp_text": false,
|
||||
"board_outline_line_width": 0.05,
|
||||
"copper_line_width": 0.2,
|
||||
"copper_text_italic": false,
|
||||
"copper_text_size_h": 1.5,
|
||||
"copper_text_size_v": 1.5,
|
||||
"copper_text_thickness": 0.3,
|
||||
"copper_text_upright": false,
|
||||
"courtyard_line_width": 0.05,
|
||||
"dimension_precision": 4,
|
||||
"dimension_units": 3,
|
||||
"dimensions": {
|
||||
"arrow_length": 1270000,
|
||||
"extension_offset": 500000,
|
||||
"keep_text_aligned": true,
|
||||
"suppress_zeroes": true,
|
||||
"text_position": 0,
|
||||
"units_format": 0
|
||||
},
|
||||
"fab_line_width": 0.1,
|
||||
"fab_text_italic": false,
|
||||
"fab_text_size_h": 1.0,
|
||||
"fab_text_size_v": 1.0,
|
||||
"fab_text_thickness": 0.15,
|
||||
"fab_text_upright": false,
|
||||
"other_line_width": 0.1,
|
||||
"other_text_italic": false,
|
||||
"other_text_size_h": 1.0,
|
||||
"other_text_size_v": 1.0,
|
||||
"other_text_thickness": 0.15,
|
||||
"other_text_upright": false,
|
||||
"pads": {
|
||||
"drill": 0.8,
|
||||
"height": 1.27,
|
||||
"width": 1.27
|
||||
},
|
||||
"silk_line_width": 0.1,
|
||||
"silk_text_italic": false,
|
||||
"silk_text_size_h": 1.0,
|
||||
"silk_text_size_v": 1.0,
|
||||
"silk_text_thickness": 0.1,
|
||||
"silk_text_upright": false,
|
||||
"zones": {
|
||||
"border_display_style": 2,
|
||||
"border_hatch_pitch": 0.5,
|
||||
"corner_radius": 0.0,
|
||||
"corner_smoothing": 0,
|
||||
"fill_mode": 0,
|
||||
"hatch_gap": 1.5,
|
||||
"hatch_orientation": 0.0,
|
||||
"hatch_smoothing_level": 0,
|
||||
"hatch_smoothing_value": 0.1,
|
||||
"hatch_thickness": 1.0,
|
||||
"min_clearance": 0.5,
|
||||
"min_island_area": 10.0,
|
||||
"min_thickness": 0.25,
|
||||
"pad_connection": 1,
|
||||
"remove_islands": 0,
|
||||
"thermal_relief_gap": 0.5,
|
||||
"thermal_relief_spoke_width": 0.5
|
||||
}
|
||||
},
|
||||
"diff_pair_dimensions": [
|
||||
{
|
||||
"gap": 0.0,
|
||||
"via_gap": 0.0,
|
||||
"width": 0.0
|
||||
}
|
||||
],
|
||||
"drc_exclusions": [],
|
||||
"meta": {
|
||||
"version": 2
|
||||
},
|
||||
"rule_severities": {
|
||||
"annular_width": "error",
|
||||
"clearance": "error",
|
||||
"connection_width": "warning",
|
||||
"copper_edge_clearance": "error",
|
||||
"copper_sliver": "warning",
|
||||
"courtyards_overlap": "error",
|
||||
"creepage": "error",
|
||||
"diff_pair_gap_out_of_range": "error",
|
||||
"diff_pair_uncoupled_length_too_long": "error",
|
||||
"drill_out_of_range": "error",
|
||||
"duplicate_footprints": "warning",
|
||||
"extra_footprint": "warning",
|
||||
"footprint": "error",
|
||||
"footprint_filters_mismatch": "ignore",
|
||||
"footprint_symbol_field_mismatch": "warning",
|
||||
"footprint_symbol_mismatch": "warning",
|
||||
"footprint_type_mismatch": "ignore",
|
||||
"hole_clearance": "error",
|
||||
"hole_to_hole": "warning",
|
||||
"holes_co_located": "warning",
|
||||
"invalid_outline": "error",
|
||||
"isolated_copper": "warning",
|
||||
"item_on_disabled_layer": "error",
|
||||
"items_not_allowed": "error",
|
||||
"length_out_of_range": "error",
|
||||
"lib_footprint_issues": "warning",
|
||||
"lib_footprint_mismatch": "warning",
|
||||
"malformed_courtyard": "error",
|
||||
"microvia_drill_out_of_range": "error",
|
||||
"mirrored_text_on_front_layer": "warning",
|
||||
"missing_courtyard": "ignore",
|
||||
"missing_footprint": "warning",
|
||||
"missing_tuning_profile": "warning",
|
||||
"net_conflict": "warning",
|
||||
"nonmirrored_text_on_back_layer": "warning",
|
||||
"npth_inside_courtyard": "error",
|
||||
"padstack": "warning",
|
||||
"pth_inside_courtyard": "error",
|
||||
"shorting_items": "error",
|
||||
"silk_edge_clearance": "warning",
|
||||
"silk_over_copper": "warning",
|
||||
"silk_overlap": "warning",
|
||||
"skew_out_of_range": "error",
|
||||
"solder_mask_bridge": "error",
|
||||
"starved_thermal": "error",
|
||||
"text_height": "warning",
|
||||
"text_on_edge_cuts": "error",
|
||||
"text_thickness": "warning",
|
||||
"through_hole_pad_without_hole": "error",
|
||||
"too_many_vias": "error",
|
||||
"track_angle": "error",
|
||||
"track_dangling": "warning",
|
||||
"track_not_centered_on_via": "ignore",
|
||||
"track_on_post_machined_layer": "error",
|
||||
"track_segment_length": "error",
|
||||
"track_width": "error",
|
||||
"tracks_crossing": "error",
|
||||
"tuning_profile_track_geometries": "ignore",
|
||||
"unconnected_items": "error",
|
||||
"unresolved_variable": "error",
|
||||
"via_dangling": "warning",
|
||||
"zones_intersect": "error"
|
||||
},
|
||||
"rules": {
|
||||
"max_error": 0.005,
|
||||
"min_clearance": 0.0,
|
||||
"min_connection": 0.0,
|
||||
"min_copper_edge_clearance": 0.5,
|
||||
"min_groove_width": 0.0,
|
||||
"min_hole_clearance": 0.25,
|
||||
"min_hole_to_hole": 0.25,
|
||||
"min_microvia_diameter": 0.2,
|
||||
"min_microvia_drill": 0.1,
|
||||
"min_resolved_spokes": 2,
|
||||
"min_silk_clearance": 0.0,
|
||||
"min_text_height": 0.8,
|
||||
"min_text_thickness": 0.08,
|
||||
"min_through_hole_diameter": 0.3,
|
||||
"min_track_width": 0.2,
|
||||
"min_via_annular_width": 0.1,
|
||||
"min_via_diameter": 0.5,
|
||||
"solder_mask_to_copper_clearance": 0.005,
|
||||
"use_height_for_length_calcs": true
|
||||
},
|
||||
"teardrop_options": [
|
||||
{
|
||||
"td_onpthpad": true,
|
||||
"td_onroundshapesonly": false,
|
||||
"td_onsmdpad": true,
|
||||
"td_ontrackend": false,
|
||||
"td_onvia": true
|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
}
|
||||
],
|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
"pattern": "GND"
|
||||
},
|
||||
{
|
||||
"netclass": "Power",
|
||||
"pattern": "+3V3"
|
||||
},
|
||||
{
|
||||
"netclass": "Power",
|
||||
"pattern": "/BAT*"
|
||||
},
|
||||
{
|
||||
"netclass": "Power",
|
||||
"pattern": "/V_*"
|
||||
}
|
||||
]
|
||||
},
|
||||
"pcbnew": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
"bom_fmt_settings": {
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
},
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
{
|
||||
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|
||||
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|
||||
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|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Qty",
|
||||
"name": "${QUANTITY}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Value",
|
||||
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|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "DNP",
|
||||
"name": "${DNP}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Exclude from BOM",
|
||||
"name": "${EXCLUDE_FROM_BOM}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Exclude from Board",
|
||||
"name": "${EXCLUDE_FROM_BOARD}",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": true,
|
||||
"label": "Footprint",
|
||||
"name": "Footprint",
|
||||
"show": true
|
||||
},
|
||||
{
|
||||
"group_by": false,
|
||||
"label": "Datasheet",
|
||||
"name": "Datasheet",
|
||||
"show": true
|
||||
}
|
||||
],
|
||||
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|
||||
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|
||||
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|
||||
"name": "Default Editing",
|
||||
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|
||||
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|
||||
},
|
||||
"bus_aliases": {},
|
||||
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|
||||
"drawing": {
|
||||
"dashed_lines_dash_length_ratio": 12.0,
|
||||
"dashed_lines_gap_length_ratio": 3.0,
|
||||
"default_line_thickness": 6.0,
|
||||
"default_text_size": 50.0,
|
||||
"field_names": [],
|
||||
"hop_over_size_choice": 0,
|
||||
"intersheets_ref_own_page": false,
|
||||
"intersheets_ref_prefix": "",
|
||||
"intersheets_ref_short": false,
|
||||
"intersheets_ref_show": false,
|
||||
"intersheets_ref_suffix": "",
|
||||
"junction_size_choice": 3,
|
||||
"label_size_ratio": 0.375,
|
||||
"operating_point_overlay_i_precision": 3,
|
||||
"operating_point_overlay_i_range": "~A",
|
||||
"operating_point_overlay_v_precision": 3,
|
||||
"operating_point_overlay_v_range": "~V",
|
||||
"overbar_offset_ratio": 1.23,
|
||||
"pin_symbol_size": 25.0,
|
||||
"text_offset_ratio": 0.15
|
||||
},
|
||||
"legacy_lib_dir": "",
|
||||
"legacy_lib_list": [],
|
||||
"meta": {
|
||||
"version": 1
|
||||
},
|
||||
"page_layout_descr_file": "",
|
||||
"plot_directory": "",
|
||||
"reuse_designators": true,
|
||||
"subpart_first_id": 65,
|
||||
"subpart_id_separator": 0,
|
||||
"top_level_sheets": [
|
||||
{
|
||||
"filename": "c_its-companion.kicad_sch",
|
||||
"name": "Root",
|
||||
"uuid": "9ad468b0-d7e4-4d4a-b652-c4a81a952e30"
|
||||
}
|
||||
],
|
||||
"used_designators": "C1,#PWR1-10,J1-2,SW1,TP1,U1-2,#FLG1-3",
|
||||
"variants": []
|
||||
},
|
||||
"sheets": [
|
||||
[
|
||||
"9ad468b0-d7e4-4d4a-b652-c4a81a952e30",
|
||||
"Root"
|
||||
]
|
||||
],
|
||||
"text_variables": {},
|
||||
"tuning_profiles": {
|
||||
"meta": {
|
||||
"version": 0
|
||||
},
|
||||
"tuning_profiles_impedance_geometric": []
|
||||
}
|
||||
}
|
||||
File diff suppressed because it is too large
Load diff
|
|
@ -1 +0,0 @@
|
|||
{"ARCHIVE_NAME": "", "EXTRA_LAYERS": "", "ALL_ACTIVE_LAYERS": false, "EXTEND_EDGE_CUT": false, "ALTERNATIVE_EDGE_CUT": false, "AUTO TRANSLATE": true, "AUTO FILL": true, "EXCLUDE DNP": false, "OPEN BROWSER": true, "BACKUP_OPT": true}
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
(fp_lib_table
|
||||
(version 7)
|
||||
(lib (name "library") (type "KiCad") (uri "${KIPRJMOD}/library") (options "") (descr ""))
|
||||
)
|
||||
File diff suppressed because it is too large
Load diff
|
|
@ -1,542 +0,0 @@
|
|||
(footprint "XIAO-ESP32-C5-DIP"
|
||||
(version 20241229)
|
||||
(generator "pcbnew")
|
||||
(generator_version "9.0")
|
||||
(layer "F.Cu")
|
||||
(property "Reference" "REF**"
|
||||
(at -0.275 -10.275 0)
|
||||
(unlocked yes)
|
||||
(layer "F.SilkS")
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(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "8038b67b-b3bf-4a3e-b790-40857963c957")
|
||||
)
|
||||
(pad "5" smd roundrect
|
||||
(at 0.835 -7.96)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "84711cb2-d222-464e-bcd5-f76af75cc612")
|
||||
)
|
||||
(pad "6" smd roundrect
|
||||
(at 0.835 -5.42)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "aabcfc3b-fa72-4e48-95d1-d53474158cc0")
|
||||
)
|
||||
(pad "7" smd roundrect
|
||||
(at 0.835 -2.88)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "3e086061-1f3f-4b1e-9354-920126d40249")
|
||||
)
|
||||
(pad "8" smd roundrect
|
||||
(at 17 -2.88)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "974a7e29-b5d3-475c-b481-2bc14f5b3495")
|
||||
)
|
||||
(pad "9" smd roundrect
|
||||
(at 17 -5.42)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "a553cc0b-22bc-49aa-9fb7-680c812e8abd")
|
||||
)
|
||||
(pad "10" smd roundrect
|
||||
(at 17 -7.96)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "b650936d-c436-4d93-abb7-7957add5cfb1")
|
||||
)
|
||||
(pad "11" smd roundrect
|
||||
(at 17 -10.5)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
(solder_mask_margin 0.0508)
|
||||
(thermal_bridge_angle 45)
|
||||
(uuid "177728f1-7b02-41a6-9de4-bdaee546f6d9")
|
||||
)
|
||||
(pad "12" smd roundrect
|
||||
(at 17 -13.04)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
||||
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|
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(thermal_bridge_angle 45)
|
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|
||||
)
|
||||
(pad "13" smd roundrect
|
||||
(at 17 -15.58)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
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||||
(roundrect_rratio 0.25)
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|
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(thermal_bridge_angle 45)
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||||
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|
||||
)
|
||||
(pad "14" smd roundrect
|
||||
(at 17 -18.12)
|
||||
(size 2.75 2)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
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||||
(roundrect_rratio 0.25)
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(thermal_bridge_angle 45)
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|
||||
)
|
||||
(pad "15" smd circle
|
||||
(at 7.6166 -19.1415)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
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(uuid "ad890579-1e55-4b71-9d59-080a59598896")
|
||||
)
|
||||
(pad "16" smd circle
|
||||
(at 10.1566 -19.1415)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(uuid "25d6fdae-01ac-4ca4-8702-55badc8bcbc8")
|
||||
)
|
||||
(pad "17" smd circle
|
||||
(at 7.6166 -16.6015)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(uuid "e73ae295-736f-4acf-8ee1-0c120ebcebea")
|
||||
)
|
||||
(pad "18" smd circle
|
||||
(at 10.1566 -16.6015)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(uuid "7adfba87-f861-42a5-bb73-c3f9fac53180")
|
||||
)
|
||||
(pad "19" smd circle
|
||||
(at 7.6166 -14.0615)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
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(uuid "619dc2a5-519d-48ac-9c78-8c438df2a14d")
|
||||
)
|
||||
(pad "20" smd circle
|
||||
(at 10.1566 -14.0615)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
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(uuid "aa8b72d0-17bf-47d4-94b1-df9199638a29")
|
||||
)
|
||||
(pad "21" smd circle
|
||||
(at 7.6166 -11.5215)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
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(uuid "8539b5cc-db2c-4fa4-9ead-b842a1885293")
|
||||
)
|
||||
(pad "22" smd circle
|
||||
(at 10.064 -11.5783)
|
||||
(size 1.7 1.7)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(uuid "313edcfe-ad25-4ea7-b786-d8290dfb479a")
|
||||
)
|
||||
(pad "23" smd roundrect
|
||||
(at 7.3086 -4.9683 270)
|
||||
(size 2.5 1.1)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
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(thermal_bridge_angle 45)
|
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|
||||
)
|
||||
(pad "24" smd roundrect
|
||||
(at 9.8486 -4.9683 270)
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||||
(size 2.5 1.1)
|
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||||
(roundrect_rratio 0.25)
|
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(thermal_bridge_angle 45)
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|
||||
)
|
||||
(pad "25" smd roundrect
|
||||
(at 9.949 -8.412 270)
|
||||
(size 3.1 1.9)
|
||||
(layers "F.Cu" "F.Mask" "F.Paste")
|
||||
(roundrect_rratio 0.25)
|
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(thermal_bridge_angle 45)
|
||||
(uuid "00be3957-5a21-4898-8292-59f5f447623f")
|
||||
)
|
||||
(embedded_fonts no)
|
||||
)
|
||||
Binary file not shown.
|
|
@ -1,4 +0,0 @@
|
|||
(sym_lib_table
|
||||
(version 7)
|
||||
(lib (name "Seeed_Studio_XIAO_Series") (type "KiCad") (uri "${KIPRJMOD}/library/Seeed_Studio_XIAO_Series.kicad_sym") (options "") (descr ""))
|
||||
)
|
||||
|
|
@ -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
|
||||
|
|
@ -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
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/sh
|
||||
|
||||
## Builds common config for smartphone connected device
|
||||
## -> only receive CAM and DENMs via UART
|
||||
|
||||
cargo run --release --no-default-features -F esp,cam,denm,uart
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/sh
|
||||
|
||||
## Builds common config for standalone device with automatic CAM transmission
|
||||
## -> enable SPAT/ GLOSA with GNSS and a screen + CAM transmission
|
||||
|
||||
cargo run --release -F cam_tx
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
#!/bin/sh
|
||||
|
||||
## Builds common config for standalone device
|
||||
## -> enable SPAT/ GLOSA with GNSS and a screen
|
||||
|
||||
cargo run --release
|
||||
|
|
@ -1,465 +0,0 @@
|
|||
//! C-ITS CAM Transmission
|
||||
|
||||
use alloc::vec::Vec;
|
||||
|
||||
use c_its_parser::gn as geonetworking;
|
||||
use c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions;
|
||||
use c_its_parser::standards::cdd_1_3_1_1::its_container;
|
||||
use c_its_parser::standards::extensions;
|
||||
|
||||
const PH_MAX_LENGHT_M: f32 = 500.;
|
||||
const PH_MAX_ITEMS: usize = 23;
|
||||
const PH_MIN_DIST_M: f32 = 20.;
|
||||
|
||||
/// Stand-alone CAM generator
|
||||
///
|
||||
/// Generates CAM messages from time and [`PosVel`] updates
|
||||
///
|
||||
/// # Send a message
|
||||
/// ```
|
||||
/// use esp32_cits_core::tx::GnItsPayload as _;
|
||||
///
|
||||
/// let (mut seq_no, mac_bytes) = {
|
||||
/// // unwrap is fine since [`esp_hal::efuse::MacAddress`] is just an `[u8; 6]`
|
||||
/// let mac_bytes = mac.as_bytes().try_into().unwrap();
|
||||
///
|
||||
/// (0, mac_bytes)
|
||||
/// };
|
||||
///
|
||||
/// let mut cam = {
|
||||
/// let station_id = make_station_id(mac);
|
||||
/// info!("V2X Station ID: {station_id}");
|
||||
///
|
||||
/// applogic::cam_tx::CamState::new(
|
||||
/// station_id,
|
||||
/// OWN_STATION_TYPE,
|
||||
/// OWN_VEHICLE_LENGTH,
|
||||
/// OWN_VEHICLE_WIDTH,
|
||||
/// )
|
||||
/// };
|
||||
///
|
||||
/// cam.update(time, fix.clone().into());
|
||||
/// match cam.encode_packet(mac_bytes, pos_vel, time, GN_IS_MOBILE, &mut seq_no) {
|
||||
/// Ok(data) => {
|
||||
/// if let Err(err) =
|
||||
/// radio::send_80211_bcast_frame(&mut wlan_iface, &mac_bytes.clone(), &data)
|
||||
/// {
|
||||
/// warn!("Failed to send 802.11 frame: {err}");
|
||||
/// }
|
||||
/// }
|
||||
/// Err(err) => warn!("Failed to create CAM: {err}"),
|
||||
/// }
|
||||
/// ```
|
||||
#[derive(Debug)]
|
||||
pub struct CamState {
|
||||
station_id: u32,
|
||||
station_type: its_container::StationType,
|
||||
|
||||
vehicle_length_dm: u16, // vehicle length is in 10cm steps
|
||||
vehicle_width_dm: u8, // vehicle width is in 10cm steps
|
||||
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
pos_state: esp32_cits_core::PosVel,
|
||||
|
||||
/// database for path history, oldest item at the back of the vector
|
||||
path_history: Vec<PathPoint>,
|
||||
}
|
||||
|
||||
#[derive(Debug, Clone, Copy, PartialEq)]
|
||||
struct PathPoint {
|
||||
pos: geo_types::Point,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
/// distance to previous point. Ignore on last point!
|
||||
dist_m: f32,
|
||||
}
|
||||
|
||||
impl PathPoint {
|
||||
fn new_from_pos(pos: &esp32_cits_core::PosVel, time: chrono::DateTime<chrono::Utc>) -> Self {
|
||||
Self {
|
||||
pos: pos.position,
|
||||
time,
|
||||
dist_m: 0.,
|
||||
}
|
||||
}
|
||||
|
||||
fn new_from_pos_with_dist(
|
||||
pos: &esp32_cits_core::PosVel,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
dist_m: f32,
|
||||
) -> Self {
|
||||
Self {
|
||||
pos: pos.position,
|
||||
time,
|
||||
dist_m,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl CamState {
|
||||
pub fn new(
|
||||
station_id: u32,
|
||||
station_type: c_its_parser::standards::extensions::ItsStationType,
|
||||
vehicle_length_dm: u16,
|
||||
vehicle_width_dm: u8,
|
||||
) -> Self {
|
||||
Self {
|
||||
station_id,
|
||||
station_type: station_type.into(),
|
||||
vehicle_length_dm,
|
||||
vehicle_width_dm,
|
||||
time: chrono::DateTime::<chrono::Utc>::default(),
|
||||
pos_state: esp32_cits_core::PosVel::default(),
|
||||
path_history: Vec::with_capacity(PH_MAX_ITEMS + 1),
|
||||
}
|
||||
}
|
||||
|
||||
pub fn update(&mut self, time: chrono::DateTime<chrono::Utc>, pos: esp32_cits_core::PosVel) {
|
||||
self.time = time;
|
||||
self.pos_state = pos;
|
||||
|
||||
// Update path history
|
||||
Self::update_ph(&mut self.path_history, time, &self.pos_state);
|
||||
}
|
||||
|
||||
// this is a function, not a method for easier testing
|
||||
fn update_ph(
|
||||
path_history: &mut Vec<PathPoint>,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
pos: &esp32_cits_core::PosVel,
|
||||
) {
|
||||
// Update path history
|
||||
if path_history.is_empty() {
|
||||
// prime with current position if empty
|
||||
path_history.push(PathPoint::new_from_pos(pos, time));
|
||||
} else {
|
||||
// unwrap is fine since we checked for non-empty before
|
||||
let prev = path_history.first().unwrap();
|
||||
|
||||
// only add a point, if we moved more than PH_MIN_DIST_M
|
||||
#[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
|
||||
let dist = crate::geo_alg::haversine_dist(&prev.pos, &pos.position) as f32;
|
||||
if dist > PH_MIN_DIST_M {
|
||||
// new items shall be at the front of the vector
|
||||
path_history.insert(0, PathPoint::new_from_pos_with_dist(pos, time, dist));
|
||||
}
|
||||
}
|
||||
|
||||
// check length (PH_MAX_LENGHT_M and PH_MAX_ITEMS points max)
|
||||
if path_history.len() > PH_MAX_ITEMS {
|
||||
let _ = path_history.pop();
|
||||
}
|
||||
|
||||
let (_, cutoff_idx) =
|
||||
path_history
|
||||
.iter()
|
||||
.enumerate()
|
||||
.fold((0., None), |(len, cutoff_idx), (idx, item)| {
|
||||
if cutoff_idx.is_none() {
|
||||
let new_len = len + item.dist_m;
|
||||
let new_cutoff_idx = if len > PH_MAX_LENGHT_M {
|
||||
Some(idx)
|
||||
} else {
|
||||
None
|
||||
};
|
||||
|
||||
(new_len, new_cutoff_idx)
|
||||
} else {
|
||||
(len, cutoff_idx)
|
||||
}
|
||||
});
|
||||
if let Some(idx) = cutoff_idx {
|
||||
path_history.drain(idx..);
|
||||
}
|
||||
}
|
||||
|
||||
fn make_ph(&self) -> Vec<its_container::PathPoint> {
|
||||
let mut ph = alloc::vec![];
|
||||
|
||||
self.path_history.iter().fold(
|
||||
PathPoint::new_from_pos(&self.pos_state, self.time),
|
||||
|prev_point, pt| {
|
||||
// calculate delta position and append to `ph`
|
||||
|
||||
let delta_time = pt.time - prev_point.time;
|
||||
let delta_lat = pt.pos.y() - prev_point.pos.y();
|
||||
let delta_lon = pt.pos.x() - prev_point.pos.x();
|
||||
|
||||
// delta time is in 1/100 second / 10 ms steps
|
||||
let path_delta_time = its_container::PathDeltaTime(
|
||||
(delta_time.num_milliseconds().abs() / 10)
|
||||
.min(65_535) // clamp to max value
|
||||
.into(),
|
||||
);
|
||||
let delta_latitude = its_container::DeltaLatitude::from_deg(delta_lat);
|
||||
let delta_longitude = its_container::DeltaLongitude::from_deg(delta_lon);
|
||||
let delta_altitude = its_container::DeltaAltitude::unavailable();
|
||||
|
||||
let ppoint = its_container::PathPoint::new(
|
||||
its_container::DeltaReferencePosition::new(
|
||||
delta_latitude,
|
||||
delta_longitude,
|
||||
delta_altitude,
|
||||
),
|
||||
Some(path_delta_time),
|
||||
);
|
||||
|
||||
ph.push(ppoint);
|
||||
|
||||
*pt
|
||||
},
|
||||
);
|
||||
|
||||
ph
|
||||
}
|
||||
|
||||
#[allow(clippy::too_many_lines)]
|
||||
fn make_cam(&self) -> Result<cam_pdu_descriptions::CAM, alloc::string::String> {
|
||||
let header = its_container::ItsPduHeader::new(
|
||||
2,
|
||||
extensions::ItsMessageId::Cam.as_u8(),
|
||||
its_container::StationID(self.station_id),
|
||||
);
|
||||
|
||||
let generation_delta_time = {
|
||||
let its_timestamp = c_its_parser::time_utils::TimestampIts::from(self.time);
|
||||
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let ts_mod = (its_timestamp.0 % 65_536) as u16;
|
||||
|
||||
cam_pdu_descriptions::GenerationDeltaTime(ts_mod)
|
||||
};
|
||||
|
||||
let heading = match self.pos_state.heading_deg {
|
||||
Some(value) => its_container::Heading {
|
||||
heading_value: its_container::HeadingValue::from_deg(value)
|
||||
.map_err(|err| alloc::format!("Failed to make HeadingValue: {err}"))?,
|
||||
heading_confidence: its_container::HeadingConfidence(127), // unavailable for now
|
||||
},
|
||||
None => its_container::Heading {
|
||||
heading_value: its_container::HeadingValue(0),
|
||||
heading_confidence: its_container::HeadingConfidence(127), // unavailable for now
|
||||
},
|
||||
};
|
||||
let speed = match self.pos_state.speed_mps {
|
||||
Some(value) => its_container::Speed {
|
||||
speed_value: its_container::SpeedValue::from_mps(value)
|
||||
.map_err(|err| alloc::format!("Failed to make SpeedValue: {err}"))?,
|
||||
speed_confidence: its_container::SpeedConfidence(127), // unavailable for now
|
||||
},
|
||||
None => its_container::Speed {
|
||||
speed_value: its_container::SpeedValue(0),
|
||||
speed_confidence: its_container::SpeedConfidence(127), // unavailable for now
|
||||
},
|
||||
};
|
||||
let reference_position = its_container::ReferencePosition {
|
||||
latitude: its_container::Latitude::from_deg(self.pos_state.position.y()),
|
||||
longitude: its_container::Longitude::from_deg(self.pos_state.position.x()),
|
||||
position_confidence_ellipse: its_container::PosConfidenceEllipse {
|
||||
semi_major_confidence: its_container::SemiAxisLength(4095), // unavailable for now
|
||||
semi_minor_confidence: its_container::SemiAxisLength(4095), // unavailable for now
|
||||
semi_major_orientation: its_container::HeadingValue::unavailable(),
|
||||
},
|
||||
altitude: its_container::Altitude {
|
||||
altitude_value: its_container::AltitudeValue(800_001), // unavailable for now
|
||||
altitude_confidence: its_container::AltitudeConfidence::unavailable,
|
||||
},
|
||||
};
|
||||
|
||||
let basic_container = cam_pdu_descriptions::BasicContainer::new(
|
||||
self.station_type.clone(),
|
||||
reference_position,
|
||||
);
|
||||
let high_frequency_container =
|
||||
cam_pdu_descriptions::HighFrequencyContainer::basicVehicleContainerHighFrequency(
|
||||
cam_pdu_descriptions::BasicVehicleContainerHighFrequency {
|
||||
heading,
|
||||
speed,
|
||||
drive_direction: its_container::DriveDirection::unavailable,
|
||||
vehicle_length: its_container::VehicleLength {
|
||||
vehicle_length_value: its_container::VehicleLengthValue(
|
||||
self.vehicle_length_dm,
|
||||
),
|
||||
vehicle_length_confidence_indication:
|
||||
its_container::VehicleLengthConfidenceIndication::unavailable,
|
||||
},
|
||||
vehicle_width: its_container::VehicleWidth(self.vehicle_width_dm),
|
||||
longitudinal_acceleration: its_container::LongitudinalAcceleration {
|
||||
longitudinal_acceleration_value:
|
||||
its_container::LongitudinalAccelerationValue::unavailable(),
|
||||
longitudinal_acceleration_confidence: its_container::AccelerationConfidence(
|
||||
102, // unavailable
|
||||
),
|
||||
},
|
||||
curvature: its_container::Curvature {
|
||||
curvature_value: its_container::CurvatureValue::unavailable(),
|
||||
curvature_confidence: its_container::CurvatureConfidence::unavailable,
|
||||
},
|
||||
curvature_calculation_mode:
|
||||
its_container::CurvatureCalculationMode::unavailable,
|
||||
yaw_rate: its_container::YawRate {
|
||||
yaw_rate_value: its_container::YawRateValue::unavailable(),
|
||||
yaw_rate_confidence: its_container::YawRateConfidence::unavailable,
|
||||
},
|
||||
acceleration_control: None,
|
||||
lane_position: None,
|
||||
steering_wheel_angle: None,
|
||||
lateral_acceleration: None,
|
||||
vertical_acceleration: None,
|
||||
performance_class: None,
|
||||
cen_dsrc_tolling_zone: None,
|
||||
},
|
||||
);
|
||||
let low_frequency_container =
|
||||
cam_pdu_descriptions::LowFrequencyContainer::basicVehicleContainerLowFrequency(
|
||||
cam_pdu_descriptions::BasicVehicleContainerLowFrequency {
|
||||
vehicle_role: its_container::VehicleRole::default,
|
||||
exterior_lights: its_container::ExteriorLights::default(),
|
||||
path_history: its_container::PathHistory(self.make_ph()),
|
||||
},
|
||||
);
|
||||
|
||||
let cam_parameters = cam_pdu_descriptions::CamParameters::new(
|
||||
basic_container,
|
||||
high_frequency_container,
|
||||
Some(low_frequency_container),
|
||||
None,
|
||||
);
|
||||
|
||||
Ok(cam_pdu_descriptions::CAM::new(
|
||||
header,
|
||||
cam_pdu_descriptions::CoopAwareness::new(generation_delta_time, cam_parameters),
|
||||
))
|
||||
}
|
||||
}
|
||||
|
||||
impl esp32_cits_core::tx::GnItsPayload for CamState {
|
||||
fn make_eh(
|
||||
&self,
|
||||
address: [u8; 6],
|
||||
own_position: &esp32_cits_core::PosVel,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
_seq_no: &mut u16,
|
||||
) -> Result<
|
||||
(
|
||||
geonetworking::en302636_4_1::ExtendedHeader,
|
||||
Option<geonetworking::en302636_4_1::AreaType>,
|
||||
u8,
|
||||
),
|
||||
alloc::string::String,
|
||||
> {
|
||||
let station_type = geonetworking::en302636_4_1::StationType::try_from(self.station_type.0)
|
||||
.unwrap_or_default();
|
||||
|
||||
// CAM always uses SHB, hop-limit 1
|
||||
Ok((
|
||||
esp32_cits_core::tx::gn::make_shb_eh(address, station_type, own_position, time)?,
|
||||
None,
|
||||
1,
|
||||
))
|
||||
}
|
||||
|
||||
fn make_payload(
|
||||
&self,
|
||||
) -> Result<(Vec<u8>, c_its_parser::standards::extensions::ItsMessageId), alloc::string::String>
|
||||
{
|
||||
let msg = self.make_cam()?;
|
||||
let uper = msg.encode_to_uper()?;
|
||||
Ok((uper, c_its_parser::standards::extensions::ItsMessageId::Cam))
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use alloc::vec;
|
||||
|
||||
use super::*;
|
||||
use crate::init_test_env_logger;
|
||||
|
||||
fn posstate_from_pos(position: geo_types::Point) -> esp32_cits_core::PosVel {
|
||||
esp32_cits_core::PosVel {
|
||||
position,
|
||||
heading_deg: None,
|
||||
speed_mps: None,
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn cam_path_history_update() {
|
||||
init_test_env_logger();
|
||||
|
||||
let time = chrono::DateTime::from_timestamp(0, 0).unwrap();
|
||||
let p1 = geo_types::Point::new(10., 53.5);
|
||||
let p2 = geo_types::Point::new(10., 53.5 + 0.000045); // ~5m further (< PH_MIN_DIST_M)
|
||||
let p3 = geo_types::Point::new(10., 53.5 + 0.00027); // ~30m further (> PH_MIN_DIST_M)
|
||||
|
||||
let ps1 = posstate_from_pos(p1);
|
||||
let pp1 = PathPoint::new_from_pos(&ps1, time);
|
||||
let ps2 = posstate_from_pos(p2);
|
||||
let pp2 = PathPoint::new_from_pos(&ps2, time);
|
||||
let ps3 = posstate_from_pos(p3);
|
||||
let pp3 = PathPoint::new_from_pos_with_dist(&ps3, time, 30.02267);
|
||||
|
||||
let mut path_history: Vec<PathPoint> = vec![];
|
||||
|
||||
// add first point, expect one point in PH
|
||||
CamState::update_ph(&mut path_history, time, &posstate_from_pos(p1));
|
||||
assert_eq!(1, path_history.len());
|
||||
assert_eq!(&pp1, path_history.first().unwrap());
|
||||
|
||||
// add insignificant point, expect still one point in PH
|
||||
CamState::update_ph(&mut path_history, time, &posstate_from_pos(p2));
|
||||
assert_eq!(1, path_history.len());
|
||||
assert_eq!(&pp1, path_history.first().unwrap());
|
||||
|
||||
// add significantly moved point, expect [pp3, pp1] vector
|
||||
CamState::update_ph(&mut path_history, time, &posstate_from_pos(p3));
|
||||
assert_eq!(2, path_history.len());
|
||||
assert_eq!(&pp3, path_history.first().unwrap());
|
||||
assert_eq!(&pp1, path_history.last().unwrap());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn cam_path_history_max_len() {
|
||||
init_test_env_logger();
|
||||
|
||||
let time = chrono::DateTime::from_timestamp(0, 0).unwrap();
|
||||
let p1 = geo_types::Point::new(10., 53.5);
|
||||
let p2 = geo_types::Point::new(10., 53.5 + 0.00023); // at ~25m from p1 (> PH_MIN_DIST_M)
|
||||
let p3 = geo_types::Point::new(10., 53.5 + 0.00445); // at ~495m from p1 (slightly less than PH_MAX_LENGHT_M)
|
||||
let p4 = geo_types::Point::new(10., 53.5 + 0.00477); // at ~530m from p1 (slightly more than PH_MAX_LENGHT_M)
|
||||
|
||||
let ps1 = posstate_from_pos(p1);
|
||||
let pp1 = PathPoint::new_from_pos(&ps1, time);
|
||||
let ps2 = posstate_from_pos(p2);
|
||||
let pp2 = PathPoint::new_from_pos(&ps2, time);
|
||||
let ps3 = posstate_from_pos(p3);
|
||||
let pp3 = PathPoint::new_from_pos(&ps3, time);
|
||||
let ps4 = posstate_from_pos(p4);
|
||||
let pp4 = PathPoint::new_from_pos(&ps4, time);
|
||||
|
||||
let mut path_history: Vec<PathPoint> = vec![];
|
||||
|
||||
// prime with p3, p4 (should give a length of ~470m)
|
||||
CamState::update_ph(&mut path_history, time, &posstate_from_pos(p4));
|
||||
CamState::update_ph(&mut path_history, time, &posstate_from_pos(p3));
|
||||
assert_eq!(2, path_history.len());
|
||||
|
||||
// Add p2, should drop p4 from vector because of > PH_MAX_LENGHT_M
|
||||
CamState::update_ph(&mut path_history, time, &posstate_from_pos(p2));
|
||||
assert_eq!(2, path_history.len());
|
||||
assert_eq!(p2, path_history.get(0).unwrap().pos);
|
||||
assert_eq!(469.24323, path_history.get(0).unwrap().dist_m);
|
||||
assert_eq!(p3, path_history.get(1).unwrap().pos);
|
||||
assert_eq!(35.582424, path_history.get(1).unwrap().dist_m);
|
||||
|
||||
// Add p1, should not drop anything from vector because still < PH_MAX_LENGHT_M
|
||||
CamState::update_ph(&mut path_history, time, &posstate_from_pos(p1));
|
||||
assert_eq!(3, path_history.len());
|
||||
assert_eq!(p1, path_history.get(0).unwrap().pos);
|
||||
assert_eq!(25.57487, path_history.get(0).unwrap().dist_m);
|
||||
assert_eq!(p2, path_history.get(1).unwrap().pos);
|
||||
assert_eq!(469.24323, path_history.get(1).unwrap().dist_m);
|
||||
assert_eq!(p3, path_history.get(2).unwrap().pos);
|
||||
assert_eq!(35.582424, path_history.get(2).unwrap().dist_m);
|
||||
}
|
||||
}
|
||||
|
|
@ -6,7 +6,7 @@ use alloc::rc::Rc;
|
|||
use alloc::vec::Vec;
|
||||
|
||||
use log::info;
|
||||
#[cfg(feature = "spat")]
|
||||
#[cfg(any(feature = "gnss", feature = "spat"))]
|
||||
use log::warn;
|
||||
#[cfg(feature = "spat")]
|
||||
use log::{debug, error};
|
||||
|
|
@ -18,8 +18,6 @@ pub mod v2x;
|
|||
|
||||
#[cfg(feature = "cam")]
|
||||
pub mod cam;
|
||||
#[cfg(any(feature = "cam_tx", test))]
|
||||
pub mod cam_tx;
|
||||
#[cfg(feature = "denm")]
|
||||
pub mod denm;
|
||||
#[cfg(feature = "spat")]
|
||||
|
|
@ -33,13 +31,13 @@ const PRUNE_INTERVAL: chrono::Duration = chrono::Duration::seconds(5);
|
|||
#[cfg(feature = "spat")]
|
||||
const GLOSA_SEARCH_DIST_M: f32 = 400.;
|
||||
#[cfg(feature = "spat")]
|
||||
const GLOSA_SEARCH_ANGLE_PARAMS: [(f32, f32); 2] = [(400., 45.), (50., 180.)]; // far and near (distance, angle) tuple
|
||||
const GLOSA_SEARCH_ANGLE_PARAMS: [(f32, f32); 2] = [(400., 20.), (50., 180.)]; // far and near (distance, angle) tuple
|
||||
#[cfg(feature = "spat")]
|
||||
const GLOSA_LANE_HEADING_DIFF_DEG: f32 = 35.;
|
||||
#[cfg(feature = "spat")]
|
||||
const GLOSA_AT_LANE_OFFSET_M: f64 = 10.;
|
||||
const GLOSA_AT_LANE_OFFSET_M: f64 = 30.;
|
||||
#[cfg(feature = "spat")]
|
||||
const GLOSA_LANE_LEFT_OFFSET_M: f64 = 20.;
|
||||
const GLOSA_LANE_LEFT_OFFSET_M: f64 = 50.;
|
||||
#[cfg(feature = "spat")]
|
||||
const GLOSA_STOP_LINE_PASSED_M: f64 = 5.;
|
||||
|
||||
|
|
@ -49,7 +47,7 @@ pub struct State {
|
|||
time: chrono::NaiveDateTime,
|
||||
|
||||
#[allow(unused)]
|
||||
pos: esp32_cits_core::PosVel,
|
||||
pos: PositionState,
|
||||
|
||||
#[cfg(feature = "spat")]
|
||||
last_prune: chrono::NaiveDateTime,
|
||||
|
|
@ -106,52 +104,7 @@ pub struct GlosaSignalInfo {
|
|||
pub struct SignalGroupData {
|
||||
pub phase: SignalPhase,
|
||||
pub maneuver: map::Maneuvers,
|
||||
pub timing: Option<TimingData>,
|
||||
}
|
||||
|
||||
#[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<i16>,
|
||||
pub max_end_sec: Option<i16>,
|
||||
}
|
||||
|
||||
#[cfg(feature = "spat")]
|
||||
impl TimingData {
|
||||
pub fn new(value: &map::SignalGroup, now: chrono::DateTime<chrono::Utc>) -> Option<Self> {
|
||||
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<chrono::Utc>,
|
||||
time_point: chrono::DateTime<chrono::Utc>,
|
||||
) -> 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<i16>,
|
||||
}
|
||||
|
||||
#[cfg(feature = "spat")]
|
||||
|
|
@ -175,7 +128,15 @@ pub struct GnssFix {
|
|||
pub speed_mps: Option<f32>,
|
||||
}
|
||||
|
||||
impl From<&GnssFix> for esp32_cits_core::PosVel {
|
||||
#[allow(unused)]
|
||||
#[derive(Debug, Default, Clone, PartialEq)]
|
||||
pub struct PositionState {
|
||||
pub position: geo_types::Point,
|
||||
pub heading_deg: Option<f32>,
|
||||
pub speed_mps: Option<f32>,
|
||||
}
|
||||
|
||||
impl From<&GnssFix> for PositionState {
|
||||
fn from(value: &GnssFix) -> Self {
|
||||
let position = geo_types::Point::new(value.longitude_deg, value.latitude_deg);
|
||||
|
||||
|
|
@ -186,7 +147,7 @@ impl From<&GnssFix> for esp32_cits_core::PosVel {
|
|||
}
|
||||
}
|
||||
}
|
||||
impl From<GnssFix> for esp32_cits_core::PosVel {
|
||||
impl From<GnssFix> for PositionState {
|
||||
fn from(value: GnssFix) -> Self {
|
||||
(&value).into()
|
||||
}
|
||||
|
|
@ -249,7 +210,7 @@ impl State {
|
|||
Self {
|
||||
initialized: false,
|
||||
time: chrono::NaiveDateTime::default(),
|
||||
pos: esp32_cits_core::PosVel::default(),
|
||||
pos: PositionState::default(),
|
||||
#[cfg(feature = "spat")]
|
||||
last_prune: chrono::NaiveDateTime::default(),
|
||||
#[cfg(feature = "spat")]
|
||||
|
|
@ -308,7 +269,6 @@ 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 +362,33 @@ 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
|
||||
|
|
@ -661,11 +637,6 @@ impl State {
|
|||
pub fn time(&self) -> chrono::prelude::NaiveDateTime {
|
||||
self.time
|
||||
}
|
||||
|
||||
#[allow(unused)]
|
||||
pub fn pos(&self) -> &esp32_cits_core::PosVel {
|
||||
&self.pos
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
|
|
@ -717,13 +688,13 @@ mod tests {
|
|||
let own_pos_passed = geo_types::Point::new(9.977217, 53.5560602);
|
||||
let own_heading = 90.;
|
||||
|
||||
state.pos.heading_deg = Some(own_heading);
|
||||
state.heading_deg = Some(own_heading);
|
||||
|
||||
state.pos.position = own_pos_infront;
|
||||
state.position = own_pos_infront;
|
||||
state.run_glosa();
|
||||
assert!(matches!(state.glosa_state, GlosaState::Idle));
|
||||
|
||||
state.pos.position = own_pos_inside;
|
||||
state.position = own_pos_inside;
|
||||
state.run_glosa();
|
||||
assert!(matches!(state.glosa_state, GlosaState::Locked(_)));
|
||||
if let GlosaState::Locked(info) = &state.glosa_state {
|
||||
|
|
@ -731,7 +702,7 @@ mod tests {
|
|||
assert!(info.lane_id == 1 || info.lane_id == 2);
|
||||
}
|
||||
|
||||
state.pos.position = own_pos_inside;
|
||||
state.position = own_pos_inside;
|
||||
state.run_glosa();
|
||||
assert!(matches!(state.glosa_state, GlosaState::Locked(_)));
|
||||
if let GlosaState::Locked(info) = &state.glosa_state {
|
||||
|
|
@ -739,7 +710,7 @@ mod tests {
|
|||
assert!(info.lane_id == 1 || info.lane_id == 2);
|
||||
}
|
||||
|
||||
state.pos.position = own_pos_passed;
|
||||
state.position = own_pos_passed;
|
||||
state.run_glosa();
|
||||
assert!(matches!(state.glosa_state, GlosaState::Idle));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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<etsi_its_dsrc::MovementPhaseState>,
|
||||
min_end_time: Option<chrono::DateTime<chrono::Utc>>,
|
||||
max_end_time: Option<chrono::DateTime<chrono::Utc>>,
|
||||
// max_end_time: Option<chrono::DateTime<chrono::Utc>>,
|
||||
likely_time: Option<chrono::DateTime<chrono::Utc>>,
|
||||
}
|
||||
|
||||
|
|
@ -450,9 +443,6 @@ impl SignalGroup {
|
|||
pub fn likely_time(&self) -> Option<chrono::prelude::DateTime<chrono::prelude::Utc>> {
|
||||
self.likely_time
|
||||
}
|
||||
pub fn max_end_time(&self) -> Option<chrono::prelude::DateTime<chrono::prelude::Utc>> {
|
||||
self.max_end_time
|
||||
}
|
||||
|
||||
pub fn phase_to_str(&self) -> Option<String> {
|
||||
self.phase.map(|v| {
|
||||
|
|
|
|||
416
src/ble.rs
416
src/ble.rs
|
|
@ -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<RefCell<bool>> = Mutex::new(RefCell::new(false));
|
||||
pub static TX_DATA: Mutex<RefCell<Option<ArrayQueue<BleSendable>>>> =
|
||||
Mutex::new(RefCell::new(None));
|
||||
pub static RX_DATA: Mutex<RefCell<Option<io::msg::PositionState>>> = 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<DefaultPacketPool, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX> =
|
||||
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<GattConnection<'values, 'server, DefaultPacketPool>, BleHostError<C::Error>> {
|
||||
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<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 =>
|
||||
{
|
||||
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<P: PacketPool>(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<P: PacketPool>(
|
||||
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:?}"))
|
||||
}
|
||||
802
src/io.rs
802
src/io.rs
|
|
@ -1,14 +1,10 @@
|
|||
//! 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 c_its_parser::gn as geonetworking;
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
impl From<msg::RawMsgRx> for msg::SerialOutputMsg {
|
||||
fn from(value: msg::RawMsgRx) -> Self {
|
||||
use msg::serial_output_msg::Payload;
|
||||
|
|
@ -19,7 +15,6 @@ impl From<msg::RawMsgRx> for msg::SerialOutputMsg {
|
|||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
impl From<msg::DenmEvent> for msg::SerialOutputMsg {
|
||||
fn from(value: msg::DenmEvent) -> Self {
|
||||
use msg::serial_output_msg::Payload;
|
||||
|
|
@ -30,236 +25,7 @@ impl From<msg::DenmEvent> for msg::SerialOutputMsg {
|
|||
}
|
||||
}
|
||||
|
||||
impl msg::RawMsgRx {
|
||||
#[cfg(feature = "uart")]
|
||||
pub fn serialize_uart_proto(&self) -> alloc::vec::Vec<u8> {
|
||||
serialize_serial_msg(&Into::<msg::SerialOutputMsg>::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)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[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<c_its_parser::standards::extensions::ItsMessageId> 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<u8>,
|
||||
}
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
impl Parser {
|
||||
const SOF_LEN: u16 = 4;
|
||||
const SOF1: u8 = 0x56;
|
||||
const SOF2: u8 = 0x32;
|
||||
const SOF3: u8 = 0x58;
|
||||
const SOF4: u8 = 0x2B;
|
||||
const EOF_LEN: u16 = 2;
|
||||
#[allow(unused)]
|
||||
const EOF1: u8 = 0x0d;
|
||||
#[allow(unused)]
|
||||
const EOF2: u8 = 0x0a;
|
||||
const LENGTH_LEN: u16 = 2;
|
||||
|
||||
/// Parses incoming data and return list of messages
|
||||
pub fn parse(&mut self, input: &[u8]) -> alloc::vec::Vec<msg::SerialInputMsg> {
|
||||
use prost::Message as _;
|
||||
|
||||
// combine with existing data
|
||||
self.buffer.append(&mut input.to_vec());
|
||||
|
||||
// find start of frame and parse
|
||||
let mut output = alloc::vec![];
|
||||
while let Some(pos) = Self::find_sof(&self.buffer) {
|
||||
// drop everything before the SOF
|
||||
self.buffer.drain(..pos);
|
||||
|
||||
// get length field and check buffer size
|
||||
if let Some(len_bytes) = self
|
||||
.buffer
|
||||
.get(usize::from(Self::SOF_LEN)..usize::from(Self::SOF_LEN + Self::LENGTH_LEN))
|
||||
{
|
||||
// unwrap is fine since we queried 2 bytes before, so we can also convert to 2-byte slice
|
||||
let msg_size = u16::from_be_bytes(len_bytes.try_into().unwrap());
|
||||
|
||||
let required_buf_size = Self::SOF_LEN + Self::LENGTH_LEN + msg_size + Self::EOF_LEN;
|
||||
if let Some(payload) = self.buffer.get(
|
||||
usize::from(Self::SOF_LEN + Self::LENGTH_LEN)
|
||||
..usize::from(required_buf_size - 2),
|
||||
) {
|
||||
match msg::SerialInputMsg::decode(payload) {
|
||||
Ok(data) => {
|
||||
output.push(data);
|
||||
}
|
||||
Err(err) => log::error!("Failed to parse input: {err:?}"),
|
||||
}
|
||||
|
||||
// consume buffer
|
||||
self.buffer.drain(..usize::from(required_buf_size));
|
||||
} else {
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
output
|
||||
}
|
||||
|
||||
/// Returns the start index of the SOF sequence, if present
|
||||
fn find_sof(input: &[u8]) -> Option<usize> {
|
||||
// search for SOF
|
||||
if let Some(sof1_pos) = input.iter().position(|i| *i == Self::SOF1) {
|
||||
// drop everything before sof1_pos and check if remainder continues with SOF sequence
|
||||
let (_, msg) = input.split_at(sof1_pos);
|
||||
if msg.starts_with(&[Self::SOF1, Self::SOF2, Self::SOF3, Self::SOF4]) {
|
||||
// found the SOF sequence
|
||||
return Some(sof1_pos);
|
||||
}
|
||||
}
|
||||
|
||||
// if we reach this position, SOF sequence wasn't found
|
||||
None
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
fn serialize_serial_msg<T>(msg: &T) -> alloc::vec::Vec<u8>
|
||||
where
|
||||
T: prost::Message,
|
||||
{
|
||||
let mut msg_buf = msg.encode_to_vec();
|
||||
|
||||
let sof = [0x56u8, 0x32, 0x58, 0x2B];
|
||||
let eof = [0x0du8, 0x0a];
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
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);
|
||||
|
||||
out
|
||||
}
|
||||
|
||||
#[cfg(any(feature = "uart", feature = "ble"))]
|
||||
impl From<msg::PositionState> for crate::applogic::GnssFix {
|
||||
fn from(value: msg::PositionState) -> Self {
|
||||
let time =
|
||||
chrono::DateTime::from_timestamp_millis(value.timestamp_ms).map(|v| v.naive_utc());
|
||||
|
||||
let latitude_deg = value.position.latitude_deg.into();
|
||||
let longitude_deg = value.position.longitude_deg.into();
|
||||
let heading_deg = value.heading.map(|v| {
|
||||
#[allow(clippy::cast_precision_loss)]
|
||||
let val = (v as f32) / 10.;
|
||||
val
|
||||
});
|
||||
let speed_mps = value.speed.map(|v| {
|
||||
#[allow(clippy::cast_precision_loss)]
|
||||
let val = (v as f32) / 100.;
|
||||
val
|
||||
});
|
||||
|
||||
Self {
|
||||
time,
|
||||
latitude_deg,
|
||||
longitude_deg,
|
||||
heading_deg,
|
||||
speed_mps,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
impl From<msg::PositionState> for esp32_cits_core::PosVel {
|
||||
impl From<msg::PositionState> for crate::applogic::PositionState {
|
||||
fn from(value: msg::PositionState) -> Self {
|
||||
let position = geo_types::Point::new(
|
||||
value.position.longitude_deg.into(),
|
||||
|
|
@ -283,567 +49,3 @@ impl From<msg::PositionState> for esp32_cits_core::PosVel {
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
impl From<msg::ItsPosition> for esp32_cits_core::PosVel {
|
||||
fn from(value: msg::ItsPosition) -> Self {
|
||||
let latitude_deg = f64::from(value.latitude) / 10_000_000.;
|
||||
let longitude_deg = f64::from(value.longitude) / 10_000_000.;
|
||||
let position = geo_types::Point::new(longitude_deg, latitude_deg);
|
||||
|
||||
Self {
|
||||
position,
|
||||
heading_deg: None,
|
||||
speed_mps: None,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
impl esp32_cits_core::tx::GnItsPayload for msg::RawMsgTx {
|
||||
fn make_eh(
|
||||
&self,
|
||||
address: [u8; 6],
|
||||
own_position: &esp32_cits_core::PosVel,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
seq_no: &mut u16,
|
||||
) -> Result<
|
||||
(
|
||||
c_its_parser::gn::en302636_4_1::ExtendedHeader,
|
||||
Option<c_its_parser::gn::en302636_4_1::AreaType>,
|
||||
u8,
|
||||
),
|
||||
alloc::string::String,
|
||||
> {
|
||||
use alloc::string::ToString as _;
|
||||
|
||||
let station_type = self
|
||||
.station_type
|
||||
.and_then(|v| {
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let raw_val = v as u8;
|
||||
geonetworking::en302636_4_1::StationType::try_from(raw_val).ok()
|
||||
})
|
||||
.unwrap_or_default();
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let hop_limit = self.hop_limit as u8;
|
||||
|
||||
Ok(match self.gn_transport() {
|
||||
msg::GnTransport::Gac => {
|
||||
if self.gn_area.position.is_none() {
|
||||
return Err("Failed to create GAC: gnArea.position missing".to_string());
|
||||
}
|
||||
|
||||
*seq_no += 1;
|
||||
|
||||
let (atype, geoanycast) = Self::make_geobcast(
|
||||
address,
|
||||
station_type,
|
||||
own_position,
|
||||
time,
|
||||
self.gn_area,
|
||||
*seq_no,
|
||||
)?;
|
||||
let eh = geonetworking::en302636_4_1::ExtendedHeader::GAC(geoanycast);
|
||||
(eh, Some(atype), hop_limit)
|
||||
}
|
||||
msg::GnTransport::Gbc => {
|
||||
if self.gn_area.position.is_none() {
|
||||
return Err("Failed to create GAC: gnArea.position missing".to_string());
|
||||
}
|
||||
|
||||
*seq_no += 1;
|
||||
|
||||
let (atype, geoanycast) = Self::make_geobcast(
|
||||
address,
|
||||
station_type,
|
||||
own_position,
|
||||
time,
|
||||
self.gn_area,
|
||||
*seq_no,
|
||||
)?;
|
||||
let eh = geonetworking::en302636_4_1::ExtendedHeader::GBC(geoanycast);
|
||||
(eh, Some(atype), hop_limit)
|
||||
}
|
||||
msg::GnTransport::Tsb => {
|
||||
*seq_no += 1;
|
||||
|
||||
(
|
||||
esp32_cits_core::tx::gn::make_tsb_eh(
|
||||
address,
|
||||
station_type,
|
||||
own_position,
|
||||
time,
|
||||
*seq_no,
|
||||
)?,
|
||||
None,
|
||||
hop_limit,
|
||||
)
|
||||
}
|
||||
msg::GnTransport::Shb => (
|
||||
esp32_cits_core::tx::gn::make_shb_eh(address, station_type, own_position, time)?,
|
||||
None,
|
||||
1,
|
||||
),
|
||||
})
|
||||
}
|
||||
|
||||
fn make_payload(
|
||||
&self,
|
||||
) -> Result<
|
||||
(
|
||||
alloc::vec::Vec<u8>,
|
||||
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],
|
||||
station_type: geonetworking::en302636_4_1::StationType,
|
||||
own_position: &esp32_cits_core::PosVel,
|
||||
time: chrono::DateTime<chrono::Utc>,
|
||||
gn_area: msg::GnArea,
|
||||
sequence_number: u16,
|
||||
) -> Result<
|
||||
(
|
||||
c_its_parser::gn::en302636_4_1::AreaType,
|
||||
geonetworking::en302636_4_1::GeoBroadcast,
|
||||
),
|
||||
alloc::string::String,
|
||||
> {
|
||||
let source_position_vector =
|
||||
esp32_cits_core::tx::gn::make_lpv(address, station_type, own_position, time)?;
|
||||
|
||||
let (atype, dist_a, dist_b, angle) = match gn_area.area() {
|
||||
msg::GnAreaShape::EtsiAreashapeCircle => (
|
||||
c_its_parser::gn::en302636_4_1::AreaType::Circular,
|
||||
gn_area.dist_a,
|
||||
None,
|
||||
None,
|
||||
),
|
||||
msg::GnAreaShape::EtsiAreashapeRectangle => (
|
||||
c_its_parser::gn::en302636_4_1::AreaType::Rectangular,
|
||||
gn_area.dist_a,
|
||||
gn_area.dist_b,
|
||||
gn_area.angle,
|
||||
),
|
||||
msg::GnAreaShape::EtsiAreashapeEllipsis => (
|
||||
c_its_parser::gn::en302636_4_1::AreaType::Ellipsoidal,
|
||||
gn_area.dist_a,
|
||||
gn_area.dist_b,
|
||||
gn_area.angle,
|
||||
),
|
||||
};
|
||||
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let latitude_deg = own_position.position.y() as f32;
|
||||
#[allow(clippy::cast_possible_truncation)]
|
||||
let longitude_deg = own_position.position.x() as f32;
|
||||
let distance_a = dist_a
|
||||
.map(|v| {
|
||||
#[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)]
|
||||
let val = v as u16;
|
||||
val
|
||||
})
|
||||
.unwrap_or_default();
|
||||
let distance_b = dist_b
|
||||
.map(|v| {
|
||||
#[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)]
|
||||
let val = v as u16;
|
||||
val
|
||||
})
|
||||
.unwrap_or_default();
|
||||
let angle = angle
|
||||
.map(|v| {
|
||||
#[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)]
|
||||
let val = v as u16;
|
||||
val
|
||||
})
|
||||
.unwrap_or_default();
|
||||
|
||||
let gac = geonetworking::en302636_4_1::GeoAnycast::try_from_values(
|
||||
sequence_number,
|
||||
source_position_vector,
|
||||
latitude_deg,
|
||||
longitude_deg,
|
||||
distance_a,
|
||||
distance_b,
|
||||
angle,
|
||||
)
|
||||
.map_err(|err| alloc::format!("{err}"))?;
|
||||
|
||||
Ok((atype, gac))
|
||||
}
|
||||
}
|
||||
|
||||
#[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
|
||||
.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<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
|
||||
.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<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,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "denm")]
|
||||
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,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "denm")]
|
||||
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(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<Self, Self::Error> {
|
||||
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<msg::RawMsgTx> for msg::SerialInputMsg {
|
||||
fn from(value: msg::RawMsgTx) -> Self {
|
||||
use msg::serial_input_msg::Payload;
|
||||
|
||||
Self {
|
||||
payload: Some(Payload::TxMsg(value)),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
impl From<msg::PositionState> for msg::SerialInputMsg {
|
||||
fn from(value: msg::PositionState) -> Self {
|
||||
use msg::serial_input_msg::Payload;
|
||||
|
||||
Self {
|
||||
payload: Some(Payload::Position(value)),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// manual example data:
|
||||
// SerialInputMsg(RawMsgTx): 5632582b0040123e0a340202c173256817284029d5b3400f1feaf01ffffffc23b7743e00000fc0007e8138250737feebfff600000dffff7ffff1ce40400010011807220028020d0a
|
||||
// SerialInputMsg(PositionState): 5632582b00170a1509a0bbe2a29f010000120a0d00002842150000b8410d0a
|
||||
// PositionState: 09a0bbe2a29f010000120a0d00002842150000b841
|
||||
|
||||
#[cfg(feature = "uart")]
|
||||
#[test]
|
||||
fn uart_parser() {
|
||||
// generate some test UART input messages
|
||||
let raw_tx = msg::RawMsgTx {
|
||||
payload: crate::testdata::CAM_SMALL.to_vec(),
|
||||
message_type: 1,
|
||||
gn_transport: msg::GnTransport::Shb.into(),
|
||||
gn_area: msg::GnArea {
|
||||
area: None,
|
||||
position: None,
|
||||
dist_a: None,
|
||||
dist_b: None,
|
||||
angle: None,
|
||||
},
|
||||
hop_limit: 2,
|
||||
station_type: None,
|
||||
};
|
||||
let raw_tx_buf = serialize_serial_msg::<msg::SerialInputMsg>(&raw_tx.clone().into());
|
||||
|
||||
let pos_state = msg::PositionState {
|
||||
timestamp_ms: 1785144196000,
|
||||
position: msg::Position {
|
||||
latitude_deg: 42.,
|
||||
longitude_deg: 23.,
|
||||
},
|
||||
heading: None,
|
||||
speed: None,
|
||||
};
|
||||
let pos_state_buf = serialize_serial_msg::<msg::SerialInputMsg>(&pos_state.clone().into());
|
||||
|
||||
let mut parser = Parser::default();
|
||||
|
||||
// feed individual complete messages to parser
|
||||
let output = parser.parse(&raw_tx_buf);
|
||||
assert_eq!(1, output.len());
|
||||
assert_eq!(
|
||||
&msg::SerialInputMsg::from(raw_tx.clone()),
|
||||
output.get(0).unwrap()
|
||||
);
|
||||
|
||||
let output = parser.parse(&pos_state_buf);
|
||||
assert_eq!(1, output.len());
|
||||
assert_eq!(
|
||||
&msg::SerialInputMsg::from(pos_state.clone()),
|
||||
output.get(0).unwrap()
|
||||
);
|
||||
|
||||
// feed multiple complete messages to parser
|
||||
let mut combined_buf = pos_state_buf.clone();
|
||||
combined_buf.extend_from_slice(&raw_tx_buf);
|
||||
|
||||
let output = parser.parse(&combined_buf);
|
||||
assert_eq!(2, output.len());
|
||||
assert_eq!(
|
||||
&msg::SerialInputMsg::from(pos_state.clone()),
|
||||
output.get(0).unwrap()
|
||||
);
|
||||
assert_eq!(
|
||||
&msg::SerialInputMsg::from(raw_tx.clone()),
|
||||
output.get(1).unwrap()
|
||||
);
|
||||
|
||||
// feed partial messages to parser
|
||||
let buf1 = &raw_tx_buf[0..3];
|
||||
let buf2 = &raw_tx_buf[3..];
|
||||
|
||||
let output = parser.parse(buf1);
|
||||
assert_eq!(0, output.len());
|
||||
|
||||
let output = parser.parse(buf2);
|
||||
assert_eq!(1, output.len());
|
||||
assert_eq!(
|
||||
&msg::SerialInputMsg::from(raw_tx.clone()),
|
||||
output.get(0).unwrap()
|
||||
);
|
||||
|
||||
// feed messages with garbage in between
|
||||
let mut buf1 = vec![0xabu8, 0xcd]; // prepend some garbage
|
||||
buf1.extend_from_slice(&raw_tx_buf[0..3]);
|
||||
let mut buf2 = (&raw_tx_buf[3..]).to_vec();
|
||||
buf2.extend_from_slice(&[0xfeu8, 0x42]); // append some garbage
|
||||
buf2.extend_from_slice(&pos_state_buf); // append second message
|
||||
buf2.extend_from_slice(&[0x11u8, 0x22]); // append some more garbage
|
||||
|
||||
let output = parser.parse(&buf1);
|
||||
assert_eq!(0, output.len());
|
||||
|
||||
let output = parser.parse(&buf2);
|
||||
assert_eq!(2, output.len());
|
||||
assert_eq!(
|
||||
&msg::SerialInputMsg::from(raw_tx.clone()),
|
||||
output.get(0).unwrap()
|
||||
);
|
||||
assert_eq!(
|
||||
&msg::SerialInputMsg::from(pos_state.clone()),
|
||||
output.get(1).unwrap()
|
||||
);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
591
src/main.rs
591
src/main.rs
|
|
@ -7,21 +7,6 @@
|
|||
)]
|
||||
// #![deny(clippy::large_stack_frames)]
|
||||
|
||||
// we can't use UART I/O and GNSS at the same time
|
||||
#[cfg(all(feature = "uart", feature = "gnss_ubx", feature = "gnss_l67k"))]
|
||||
compile_error!(
|
||||
"feature \"uart\" and features \"gnss_ubx\" or \"gnss_l67k\" cannot be enabled at the same time"
|
||||
);
|
||||
// autonomous CAM generation need a time and position source (aka _gnss)
|
||||
#[cfg(all(feature = "cam_tx", not(feature = "_gnss")))]
|
||||
compile_error!("feature \"cam_tx\" needs a time and position source (either GNSS or UART)");
|
||||
// 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;
|
||||
use core::cell::RefCell;
|
||||
|
|
@ -29,83 +14,41 @@ use core::cell::RefCell;
|
|||
use core::cell::UnsafeCell;
|
||||
|
||||
use c_its_parser::gn as geonetworking;
|
||||
#[cfg(feature = "cam_tx")]
|
||||
use c_its_parser::standards::extensions::ItsStationType;
|
||||
use critical_section::Mutex;
|
||||
use crossbeam_queue::ArrayQueue;
|
||||
use embassy_executor::Spawner;
|
||||
#[cfg(feature = "gnss_l67k")]
|
||||
#[cfg(feature = "gnss")]
|
||||
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 esp_radio::wifi;
|
||||
use geonetworking::Decode as _;
|
||||
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"))]
|
||||
mod io;
|
||||
mod radio;
|
||||
#[cfg(feature = "screen")]
|
||||
mod screen;
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
mod ubx;
|
||||
|
||||
const WIFI_CHANNEL: radio::Channel = 180;
|
||||
const WIFI_TXPOWER: i8 = 10; // dBm, 2..20
|
||||
#[cfg(feature = "spat")]
|
||||
const SPAT_RATE_LIMIT: u8 = 5; // keep every n-th message
|
||||
#[cfg(any(feature = "cam_tx", feature = "uart"))]
|
||||
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!
|
||||
#[cfg(feature = "cam_tx")]
|
||||
const OWN_VEHICLE_LENGTH: u16 = 18; // in 10cm steps!
|
||||
#[cfg(feature = "_uart")]
|
||||
const SERIAL_FIFO_SIZE_THLD: u8 = 100; // hardware has max. 128 byte
|
||||
|
||||
// This creates a default app-descriptor required by the esp-idf bootloader.
|
||||
// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
|
||||
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")]
|
||||
#[cfg(feature = "gnss")]
|
||||
static GNSS_UPDATE: Mutex<RefCell<Option<applogic::GnssFix>>> = Mutex::new(RefCell::new(None));
|
||||
static WIFI_RX_QUEUE: Mutex<RefCell<Option<ArrayQueue<Vec<u8>>>>> = Mutex::new(RefCell::new(None));
|
||||
#[cfg(feature = "_uart")]
|
||||
static UART_RX_BUF: Mutex<RefCell<Option<Vec<u8>>>> = Mutex::new(RefCell::new(None));
|
||||
#[cfg(feature = "_uart")]
|
||||
static SERIAL: Mutex<RefCell<Option<esp_hal::uart::Uart<'static, esp_hal::Blocking>>>> =
|
||||
Mutex::new(RefCell::new(None));
|
||||
|
||||
#[allow(
|
||||
clippy::large_stack_frames,
|
||||
|
|
@ -114,7 +57,7 @@ static SERIAL: Mutex<RefCell<Option<esp_hal::uart::Uart<'static, esp_hal::Blocki
|
|||
#[esp_rtos::main]
|
||||
async fn main(spawner: Spawner) -> ! {
|
||||
// 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 +75,6 @@ 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 +95,8 @@ 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 +108,7 @@ 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)
|
||||
|
|
@ -176,38 +117,21 @@ async fn main(spawner: Spawner) -> ! {
|
|||
screen
|
||||
};
|
||||
|
||||
// Setup UART I/O channel
|
||||
#[cfg(feature = "uart")]
|
||||
setup_uart0(
|
||||
115_200,
|
||||
Some(b'\n'),
|
||||
peripherals.GPIO12,
|
||||
peripherals.GPIO11,
|
||||
peripherals.UART0,
|
||||
serial_handler,
|
||||
)
|
||||
.expect("Failed to initialize UART");
|
||||
|
||||
// Setup WiFi
|
||||
// sadly, it doesn't work any more when we move `esp_radio::wifi::new` to `setup_wifi_sniffer`
|
||||
let (mut wifi_controller, interfaces) = esp_radio::wifi::new(
|
||||
let (mut wifi_controller, mut interfaces) = esp_radio::wifi::new(
|
||||
peripherals.WIFI,
|
||||
esp_radio::wifi::ControllerConfig::default(),
|
||||
)
|
||||
.expect("Failed to initialize Wi-Fi controller");
|
||||
|
||||
if let Err(err) = wifi_controller.set_band_mode(esp_radio::wifi::BandMode::_5G) {
|
||||
error!("Failed to set WiFi to 5GHz only: {err}");
|
||||
}
|
||||
if let Err(err) = wifi_controller.set_max_tx_power(WIFI_TXPOWER * 4) {
|
||||
error!("Failed to set WiFi TX power: {err}");
|
||||
}
|
||||
|
||||
critical_section::with(|cs| {
|
||||
WIFI_RX_QUEUE.borrow(cs).replace(Some(ArrayQueue::new(2)));
|
||||
});
|
||||
let mut wlan_iface = interfaces.sniffer;
|
||||
radio::setup_wifi_sniffer(WIFI_CHANNEL, &mut wlan_iface, handle_frame)
|
||||
radio::setup_wifi_sniffer(WIFI_CHANNEL, &mut interfaces.sniffer, handle_frame)
|
||||
.expect("Fatal error initializing 802.11p sniffer");
|
||||
|
||||
info!("WiFi promiscuous mode on channel {WIFI_CHANNEL} running");
|
||||
|
|
@ -215,29 +139,14 @@ 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:
|
||||
// Setup GNSS: Seeed XIAO L67K:
|
||||
// RX: D7/ GPIO12
|
||||
// TX: D6/ GPIO11
|
||||
// WAKEUP: D0/ GPIO1 -> HIGH for active, LOW for Sleep
|
||||
// RESET: D2/ GPIO25 -> HIGH for normal, LOW for Reset
|
||||
#[cfg(feature = "gnss_l67k")]
|
||||
#[cfg(feature = "gnss")]
|
||||
spawner.spawn(
|
||||
gnss_l67k_task(
|
||||
gnss_task(
|
||||
peripherals.GPIO1,
|
||||
peripherals.GPIO25,
|
||||
peripherals.UART0,
|
||||
|
|
@ -246,185 +155,14 @@ async fn main(spawner: Spawner) -> ! {
|
|||
)
|
||||
.expect("Failed to spawn GNSS task"),
|
||||
);
|
||||
|
||||
// U-Blox module:
|
||||
// RX: D7/ GPIO12
|
||||
// TX: D6/ GPIO11
|
||||
// RESET: D2/ GPIO25 -> HIGH for normal, LOW for Reset
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
{
|
||||
setup_uart0(
|
||||
9600,
|
||||
Some(b'\n'),
|
||||
peripherals.GPIO12,
|
||||
peripherals.GPIO11,
|
||||
peripherals.UART0,
|
||||
serial_handler,
|
||||
)
|
||||
.expect("Failed to initialize UART for GNSS");
|
||||
|
||||
// do some settings (UART receive and parsing runs in main loop)
|
||||
spawner
|
||||
.spawn(gnss_ubx_config(peripherals.GPIO25).expect("Failed to spawn GNSS config task"));
|
||||
}
|
||||
|
||||
#[cfg(feature = "_gnss")]
|
||||
#[cfg(feature = "gnss")]
|
||||
info!("GNSS task started, waiting for GNSS fix...");
|
||||
|
||||
#[cfg(any(feature = "cam_tx", feature = "uart"))]
|
||||
let (mut seq_no, mac_bytes) = {
|
||||
// unwrap is fine since [`esp_hal::efuse::MacAddress`] is just an `[u8; 6]`
|
||||
let mac_bytes = mac.as_bytes().try_into().unwrap();
|
||||
|
||||
(0, mac_bytes)
|
||||
};
|
||||
|
||||
let mut state = applogic::State::new();
|
||||
#[cfg(feature = "cam_tx")]
|
||||
let mut cam = {
|
||||
let station_id = make_station_id(mac);
|
||||
info!("V2X Station ID: {station_id}");
|
||||
|
||||
applogic::cam_tx::CamState::new(
|
||||
station_id,
|
||||
OWN_STATION_TYPE,
|
||||
OWN_VEHICLE_LENGTH,
|
||||
OWN_VEHICLE_WIDTH,
|
||||
)
|
||||
};
|
||||
#[cfg(feature = "uart")]
|
||||
let mut uart_input = io::Parser::default();
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
let mut ubx_parser = ublox::Parser::default();
|
||||
loop {
|
||||
embassy_time::Timer::after(embassy_time::Duration::from_millis(1)).await;
|
||||
|
||||
#[cfg(feature = "_uart")]
|
||||
{
|
||||
let mut new_data = None;
|
||||
critical_section::with(|cs| {
|
||||
let mut buf_rc = UART_RX_BUF.borrow(cs).borrow_mut();
|
||||
// unwrap is fine b/c we stored something in it before
|
||||
let buf = buf_rc.as_mut().unwrap();
|
||||
|
||||
// we move the buffer to new_data to do the processing outside of the critical section lock
|
||||
if !buf.is_empty() {
|
||||
new_data = Some(core::mem::take(buf));
|
||||
}
|
||||
});
|
||||
|
||||
if let Some(data) = new_data {
|
||||
#[cfg(feature = "uart")]
|
||||
{
|
||||
for msg in uart_input.parse(&data) {
|
||||
match msg.payload {
|
||||
Some(io::msg::serial_input_msg::Payload::Position(fix)) => {
|
||||
let pos_state = fix.into();
|
||||
|
||||
critical_section::with(|cs| {
|
||||
let gnss_update_ref = GNSS_UPDATE.borrow(cs);
|
||||
gnss_update_ref.replace(Some(pos_state));
|
||||
});
|
||||
}
|
||||
Some(io::msg::serial_input_msg::Payload::TxMsg(tx_request)) => {
|
||||
use esp32_cits_core::tx::GnItsPayload as _;
|
||||
|
||||
info!(
|
||||
"UART: Got new TX message: Type {} with {} bytes",
|
||||
tx_request.message_type,
|
||||
tx_request.payload.len()
|
||||
);
|
||||
let own_position = state.pos();
|
||||
let time = state.time().and_utc();
|
||||
|
||||
match tx_request.encode_packet(
|
||||
mac_bytes,
|
||||
own_position,
|
||||
time,
|
||||
GN_IS_MOBILE,
|
||||
&mut seq_no,
|
||||
) {
|
||||
Ok(data) => {
|
||||
if let Err(err) = radio::send_80211_bcast_frame(
|
||||
&mut wlan_iface,
|
||||
&mac_bytes.clone(),
|
||||
&data,
|
||||
) {
|
||||
warn!("Failed to send 802.11 frame: {err}");
|
||||
}
|
||||
}
|
||||
Err(err) => warn!("Failed to create GN message: {err}"),
|
||||
}
|
||||
}
|
||||
None => {}
|
||||
}
|
||||
}
|
||||
}
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
{
|
||||
let mut it = ubx_parser.consume_ubx(&data);
|
||||
loop {
|
||||
match it.next() {
|
||||
Some(Ok(ublox::UbxPacket::Proto27(packet_ref))) => match &packet_ref {
|
||||
ublox::proto27::PacketRef::MonVer(packet) => {
|
||||
println!("{}", ubx::pretty_print_mon_ver(packet));
|
||||
}
|
||||
ublox::proto27::PacketRef::MonComms(packet) => {
|
||||
println!("{}", ubx::pretty_print_mon_comms(packet));
|
||||
}
|
||||
ublox::proto27::PacketRef::MonRf(packet) => {
|
||||
println!("{}", ubx::pretty_print_mon_rf(packet));
|
||||
}
|
||||
ublox::proto27::PacketRef::NavSat(packet) => {
|
||||
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));
|
||||
});
|
||||
}
|
||||
|
||||
// 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:?}");
|
||||
}
|
||||
},
|
||||
Some(Err(_)) => {
|
||||
// Received a malformed packet
|
||||
}
|
||||
None => {
|
||||
// The internal buffer is now empty
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[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")]
|
||||
#[cfg(feature = "gnss")]
|
||||
{
|
||||
let mut new_position = false;
|
||||
critical_section::with(|cs| {
|
||||
|
|
@ -433,33 +171,6 @@ async fn main(spawner: Spawner) -> ! {
|
|||
if let Some(fix) = gnss_update_ref.replace(None) {
|
||||
state.update_with_gpsfix(&fix);
|
||||
new_position = true;
|
||||
|
||||
#[cfg(feature = "cam_tx")]
|
||||
{
|
||||
use esp32_cits_core::tx::GnItsPayload as _;
|
||||
let time = state.time().and_utc();
|
||||
|
||||
cam.update(time, fix.clone().into());
|
||||
|
||||
match cam.encode_packet(
|
||||
mac_bytes,
|
||||
&fix.into(),
|
||||
time,
|
||||
GN_IS_MOBILE,
|
||||
&mut seq_no,
|
||||
) {
|
||||
Ok(data) => {
|
||||
if let Err(err) = radio::send_80211_bcast_frame(
|
||||
&mut wlan_iface,
|
||||
&mac_bytes.clone(),
|
||||
&data,
|
||||
) {
|
||||
warn!("Failed to send 802.11 frame: {err}");
|
||||
}
|
||||
}
|
||||
Err(err) => warn!("Failed to create CAM: {err}"),
|
||||
}
|
||||
}
|
||||
}
|
||||
});
|
||||
|
||||
|
|
@ -474,9 +185,8 @@ 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);
|
||||
}
|
||||
|
|
@ -513,86 +223,32 @@ 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);
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(any(feature = "cam", feature = "cam_tx"))]
|
||||
#[cfg(feature = "cam")]
|
||||
ItsMessage::Cam {
|
||||
geonetworking: _,
|
||||
transport: _,
|
||||
ref 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}"),
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
etsi,
|
||||
} => 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: _,
|
||||
|
|
@ -621,7 +277,7 @@ async fn main(spawner: Spawner) -> ! {
|
|||
reason = "adhering to callback interface"
|
||||
)]
|
||||
#[allow(clippy::too_many_lines)]
|
||||
fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) {
|
||||
fn handle_frame(frame: wifi::sniffer::PromiscuousPkt<'_>) {
|
||||
#[cfg(feature = "spat")]
|
||||
const PRUNE_INTERVAL: chrono::Duration = chrono::Duration::seconds(60);
|
||||
#[cfg(feature = "spat")]
|
||||
|
|
@ -642,18 +298,27 @@ fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) {
|
|||
.naive_utc()
|
||||
};
|
||||
|
||||
match esp32_cits_core::rx::is_broadcast_frame(&frame) {
|
||||
Err(err) => {
|
||||
warn!("{err}");
|
||||
return;
|
||||
}
|
||||
Ok(false) => {
|
||||
// drop frame
|
||||
return;
|
||||
}
|
||||
Ok(true) => {
|
||||
// continue
|
||||
}
|
||||
// Ignore frames with errors and non-data frames
|
||||
if frame.rx_cntl.rx_state != 0 {
|
||||
warn!("Received frame has RX error: {}", frame.rx_cntl.rx_state);
|
||||
return;
|
||||
}
|
||||
if !radio::PromiscuousPktType::Data.matches(frame.frame_type) {
|
||||
return;
|
||||
}
|
||||
|
||||
// Ignore non-broadcast frames
|
||||
if frame.len < (4 + 6) {
|
||||
warn!(
|
||||
"Received frame too small to be a valid broadcast frame: {} bytes",
|
||||
frame.len
|
||||
);
|
||||
return;
|
||||
}
|
||||
let dest_mac = &frame.data[4..10];
|
||||
if dest_mac != [0xff; 6] {
|
||||
warn!("Received frame is not broadcast frame: Dest MAC {dest_mac:02x?}");
|
||||
return;
|
||||
}
|
||||
|
||||
// info!("Received frame with {} bytes", frame.len);
|
||||
|
|
@ -721,18 +386,6 @@ fn handle_frame(frame: esp_radio::wifi::sniffer::PromiscuousPkt<'_>) {
|
|||
error!("V2X RX queue is full");
|
||||
}
|
||||
});
|
||||
|
||||
// Send data to UART
|
||||
#[cfg(feature = "uart")]
|
||||
{
|
||||
let message = io::msg::RawMsgRx {
|
||||
msg_type: message_id.as_u8().into(),
|
||||
payload: frame.data.to_vec(),
|
||||
}
|
||||
.serialize_uart_proto();
|
||||
|
||||
send_uart0(&message);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -800,10 +453,10 @@ fn get_its_header<'p>(
|
|||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "gnss_l67k")]
|
||||
#[cfg(feature = "gnss")]
|
||||
#[allow(clippy::large_stack_frames, reason = "GNSS driver needs some space")]
|
||||
#[embassy_executor::task]
|
||||
async fn gnss_l67k_task(
|
||||
async fn gnss_task(
|
||||
gps_wakeup: esp_hal::peripherals::GPIO1<'static>,
|
||||
gps_reset: esp_hal::peripherals::GPIO25<'static>,
|
||||
uart: esp_hal::peripherals::UART0<'static>,
|
||||
|
|
@ -853,40 +506,6 @@ async fn gnss_l67k_task(
|
|||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "gnss_ubx")]
|
||||
#[embassy_executor::task]
|
||||
async fn gnss_ubx_config(reset_pin: esp_hal::peripherals::GPIO25<'static>) {
|
||||
// reset the module
|
||||
let mut gnss_reset = esp_hal::gpio::Output::new(
|
||||
reset_pin,
|
||||
esp_hal::gpio::Level::Low,
|
||||
esp_hal::gpio::OutputConfig::default(),
|
||||
);
|
||||
embassy_time::Timer::after(embassy_time::Duration::from_millis(2)).await;
|
||||
gnss_reset.set_high();
|
||||
|
||||
embassy_time::Timer::after(embassy_time::Duration::from_secs(1)).await;
|
||||
|
||||
info!("UBX: Enabling ubx protocol with NAV-PVT and NAV-SAT");
|
||||
let buffer = ublox::packets::cfg_val::CfgValSetBuilder {
|
||||
version: 1,
|
||||
layers: ublox::packets::cfg_val::CfgLayerSet::RAM,
|
||||
reserved1: 0,
|
||||
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
|
||||
// ublox::cfg_val::CfgVal::MsgOutUbxNavSatUart1(10),
|
||||
],
|
||||
}
|
||||
.into_packet_vec();
|
||||
send_uart0(&buffer);
|
||||
}
|
||||
|
||||
#[cfg(feature = "screen")]
|
||||
fn log_screen_error<E>(error: &E)
|
||||
where
|
||||
|
|
@ -894,111 +513,3 @@ where
|
|||
{
|
||||
error!("graphics failed: {error:?}");
|
||||
}
|
||||
|
||||
#[cfg(feature = "_uart")]
|
||||
/// Configures UART0 with an interrupt handler and saves it to `SERIAL`
|
||||
fn setup_uart0(
|
||||
baud: u32,
|
||||
cmd_char: Option<u8>,
|
||||
gpio12: esp_hal::peripherals::GPIO12<'static>,
|
||||
gpio11: esp_hal::peripherals::GPIO11<'static>,
|
||||
uart0: esp_hal::peripherals::UART0<'static>,
|
||||
handler: esp_hal::interrupt::InterruptHandler,
|
||||
) -> Result<(), alloc::string::String> {
|
||||
critical_section::with(|cs| {
|
||||
UART_RX_BUF
|
||||
.borrow(cs)
|
||||
.replace(Some(alloc::vec::Vec::with_capacity(255)));
|
||||
});
|
||||
|
||||
let mut uart = esp_hal::uart::Uart::new(
|
||||
uart0,
|
||||
esp_hal::uart::Config::default()
|
||||
.with_baudrate(baud)
|
||||
.with_rx(
|
||||
esp_hal::uart::RxConfig::default()
|
||||
.with_fifo_full_threshold(u16::from(SERIAL_FIFO_SIZE_THLD))
|
||||
.with_timeout(50),
|
||||
),
|
||||
)
|
||||
.map_err(|err| alloc::format!("UART0 config error: {err}"))?
|
||||
.with_rx(gpio12)
|
||||
.with_tx(gpio11);
|
||||
|
||||
if let Some(char) = cmd_char {
|
||||
uart.set_at_cmd(
|
||||
esp_hal::uart::AtCmdConfig::default()
|
||||
.with_cmd_char(char)
|
||||
.with_char_num(1)
|
||||
.with_pre_idle_count(0) // command start can be right after other data
|
||||
.with_post_idle_count(0) // we don't expect a gap between the command start and subsequent text
|
||||
.with_gap_timeout(5), // needs to be >0 to work
|
||||
);
|
||||
}
|
||||
uart.set_interrupt_handler(handler);
|
||||
uart.listen(
|
||||
esp_hal::uart::UartInterrupt::AtCmd
|
||||
| esp_hal::uart::UartInterrupt::RxTimeout
|
||||
| esp_hal::uart::UartInterrupt::RxFifoFull, // just to be save
|
||||
);
|
||||
|
||||
critical_section::with(|cs| SERIAL.borrow_ref_mut(cs).replace(uart));
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
#[cfg(feature = "_uart")]
|
||||
#[esp_hal::handler]
|
||||
fn serial_handler() {
|
||||
critical_section::with(|cs| {
|
||||
let mut serial = SERIAL.borrow_ref_mut(cs);
|
||||
let mut uart_buf = UART_RX_BUF.borrow_ref_mut(cs);
|
||||
|
||||
if let (Some(serial), Some(uart_buf)) = (serial.as_mut(), uart_buf.as_mut()) {
|
||||
let mut buf = [0u8; SERIAL_FIFO_SIZE_THLD as usize];
|
||||
|
||||
match serial.read_buffered(&mut buf) {
|
||||
Ok(0) => {}
|
||||
Ok(len) => {
|
||||
uart_buf.extend_from_slice(&buf[..len]);
|
||||
}
|
||||
Err(err) => error!("Failed to read from UART: {err}"),
|
||||
}
|
||||
|
||||
serial.clear_interrupts(
|
||||
esp_hal::uart::UartInterrupt::RxFifoFull
|
||||
| esp_hal::uart::UartInterrupt::RxTimeout
|
||||
| esp_hal::uart::UartInterrupt::AtCmd,
|
||||
);
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
#[cfg(feature = "_uart")]
|
||||
fn send_uart0(data: &[u8]) {
|
||||
critical_section::with(|cs| {
|
||||
let mut serial = SERIAL.borrow_ref_mut(cs);
|
||||
|
||||
if let Some(serial) = serial.as_mut()
|
||||
&& let Err(err) = serial.write(data)
|
||||
{
|
||||
error!("Failed to write to UART: {err:?}");
|
||||
}
|
||||
});
|
||||
}
|
||||
|
||||
#[cfg(all(feature = "esp", feature = "cam_tx"))]
|
||||
/// Creates a station ID from the WLAN MAC address
|
||||
///
|
||||
/// Will use `0xC173` as static prefix and uses last 16 bit from MAC address for the remainder.
|
||||
///
|
||||
/// # Panics
|
||||
/// Won't panic in practive b/c of pre-conditions
|
||||
#[must_use]
|
||||
pub fn make_station_id(mac: esp_hal::efuse::MacAddress) -> u32 {
|
||||
// unwrap is fine here since we can be sure that the MacAddress is 6 byte
|
||||
// and a slice of 2 bytes can be converted to [u8; 2]
|
||||
let mac_last_16bit = u16::from_be_bytes(mac.as_bytes().get(4..6).unwrap().try_into().unwrap());
|
||||
|
||||
0xC173_0000 | u32::from(mac_last_16bit)
|
||||
}
|
||||
|
|
|
|||
288
src/radio.rs
Normal file
288
src/radio.rs
Normal file
|
|
@ -0,0 +1,288 @@
|
|||
//! IEEE 802.11p C-ITS Capture with ESP32-C5
|
||||
#![allow(unused)]
|
||||
|
||||
// -----------------------------
|
||||
// missing interface definitions
|
||||
// -----------------------------
|
||||
|
||||
pub type Channel = core::ffi::c_int;
|
||||
|
||||
unsafe extern "C" {
|
||||
/// Changes the 802.11 PHY channel
|
||||
///
|
||||
/// C function signature: `void phy_change_channel(int,int,int,int)`
|
||||
///
|
||||
/// Options:
|
||||
/// - `primary`: Channel frequency in MHz
|
||||
/// - `ignored1`: Ignored (set to 1)
|
||||
/// - `ignored2`: Ignored (set to 0)
|
||||
/// - `ht_mode`: Probably HT mode
|
||||
unsafe fn phy_change_channel(
|
||||
primary: Channel,
|
||||
ignored1: core::ffi::c_int,
|
||||
ignored2: core::ffi::c_int,
|
||||
ht_mode: core::ffi::c_int,
|
||||
) -> core::ffi::c_int;
|
||||
|
||||
/// Enables 802.11p mode on the ESP32-C5
|
||||
///
|
||||
/// C function signature: `void phy_11p_set(int,int)`
|
||||
///
|
||||
/// Options:
|
||||
/// - `enable`: Boolean option to enable 802.11p mode
|
||||
/// - `half_rate`: 5 MHz mode
|
||||
unsafe fn phy_11p_set(enable: u8, half_rate: u8);
|
||||
|
||||
}
|
||||
|
||||
/// Enum values for `wifi_promiscuous_pkt_type_t` used in `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type`
|
||||
///
|
||||
/// Original value is actually `core::ffi::c_uint`, but that can't be used in `#[repr()]` attributes,
|
||||
/// so we're using `u8` as the smallest suitable type here that can be casted to a bigger type.
|
||||
#[repr(u8)]
|
||||
#[derive(Debug, Clone, Copy)]
|
||||
#[allow(dead_code)]
|
||||
pub(crate) enum PromiscuousPktType {
|
||||
/// Management frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t`
|
||||
Mgmt = 0,
|
||||
/// Control frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t`
|
||||
Ctrl = 1,
|
||||
/// Data frame, indicates 'buf' argument is `wifi_promiscuous_pkt_t`
|
||||
Data = 2,
|
||||
/// Other type, such as MIMO etc. 'buf' argument is `wifi_promiscuous_pkt_t` but the payload is zero length.
|
||||
Misc = 3,
|
||||
}
|
||||
|
||||
impl PromiscuousPktType {
|
||||
#[allow(dead_code)]
|
||||
pub fn as_repr(self) -> u8 {
|
||||
self as u8
|
||||
}
|
||||
|
||||
/// Converts to underlying type of `wifi_promiscuous_pkt_type_t` (used by `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type`)
|
||||
pub fn as_frame_type(self) -> core::ffi::c_uint {
|
||||
core::ffi::c_uint::from(self.as_repr())
|
||||
}
|
||||
|
||||
/// Determines if we are the same frame type as `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type`
|
||||
pub fn matches(self, frame_type: core::ffi::c_uint) -> bool {
|
||||
self.as_frame_type() == frame_type
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "esp")]
|
||||
/// Configure WiFi Sniffer to a certain 802.11p channel
|
||||
pub fn setup_wifi_sniffer(
|
||||
channel: Channel,
|
||||
sniffer: &mut esp_radio::wifi::sniffer::Sniffer,
|
||||
callback: fn(esp_radio::wifi::sniffer::PromiscuousPkt<'_>),
|
||||
) -> Result<(), alloc::string::String> {
|
||||
sniffer
|
||||
.set_promiscuous_mode(true)
|
||||
.map_err(|err| alloc::format!("Failed to enable promiscuous mode: {err:?}"))?;
|
||||
|
||||
sniffer.set_receive_cb(callback);
|
||||
|
||||
// convert channel number to frequency in MHz
|
||||
let primary = 5000 + (channel * 5);
|
||||
|
||||
unsafe {
|
||||
phy_11p_set(1, 0);
|
||||
match phy_change_channel(primary, 1, 0, 0) {
|
||||
0 => Ok(()),
|
||||
ret => Err(alloc::format!("Failed to change channel: {ret}")),
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "esp")]
|
||||
/// Sends 802.11p broadcast frame
|
||||
///
|
||||
/// Expects `data` to contain GN header (BTP header and ITS payload) to be a valid C-ITS/ ITS-G5 packet/ frame.
|
||||
///
|
||||
/// # Errors
|
||||
/// Fails when MAC is not the right size or returns frame send error
|
||||
pub fn send_80211_bcast_frame(
|
||||
sniffer: &mut esp_radio::wifi::sniffer::Sniffer,
|
||||
mac_addr: &[u8],
|
||||
data: &[u8],
|
||||
) -> Result<(), alloc::string::String> {
|
||||
const HEADER_SIZE: usize = 24 + 8;
|
||||
|
||||
let mac = mac_addr
|
||||
.try_into()
|
||||
.map_err(|err| alloc::format!("Unexpected MAC address size: {err}"))?;
|
||||
|
||||
// assemble frame
|
||||
let mut frame_buf = alloc::vec::Vec::with_capacity(HEADER_SIZE + data.len());
|
||||
frame_buf.extend_from_slice(&DataFrameHeader::new_80211p(mac).to_binary());
|
||||
frame_buf.extend_from_slice(&LlcHeader::new_80211p().to_binary());
|
||||
frame_buf.extend_from_slice(data);
|
||||
|
||||
// send
|
||||
sniffer
|
||||
.send_raw_frame(true, &frame_buf, true)
|
||||
.map_err(|err| alloc::format!("Failed to send 802.11p frame: {err:?}"))
|
||||
}
|
||||
|
||||
/// IEEE 802.11p frame header
|
||||
#[derive(Debug, Default)]
|
||||
struct DataFrameHeader {
|
||||
/// byte 0: subtype in upper nibble, type in lower nibble
|
||||
/// "normal" data frame: 0x08, QoS data frame: 0x88
|
||||
pub type_and_subtype: u8,
|
||||
/// byte 1: frame contol field, 0x00 for 802.11p
|
||||
pub fcf_flags: u8,
|
||||
/// byte 2..3: duration in micros, usually 0x0000 for 802.11p (toDS = 0, fromDS = 0)
|
||||
pub duration: u16,
|
||||
/// byte 4..9: receiver/ destination for 802.11p
|
||||
pub address_1: [u8; 6],
|
||||
/// byte 10..15: transmitter/ source for 802.11p
|
||||
pub address_2: [u8; 6],
|
||||
/// byte 16..21: BSSID for 802.11p
|
||||
pub address_3: [u8; 6],
|
||||
/// byte 22..24: upper 12 bits: seq. no, lower 4 bits: fragment no
|
||||
pub sequence_control: u16,
|
||||
// Note: address 4 is not used in 802.11p
|
||||
// pub qos: Option<[u8; 2]>, // QoS frames are supported by radio library
|
||||
// Note: 802.11p does not use HT mode(s)
|
||||
}
|
||||
|
||||
impl DataFrameHeader {
|
||||
const BCAST_MAC: [u8; 6] = [0xFF; 6];
|
||||
|
||||
/// Create an 802.11p (non-QoS) data frame header with a source MAC address
|
||||
pub(crate) fn new_80211p(source_mac: &[u8; 6]) -> Self {
|
||||
Self {
|
||||
type_and_subtype: 0x08,
|
||||
address_1: Self::BCAST_MAC,
|
||||
address_2: *source_mac,
|
||||
address_3: Self::BCAST_MAC,
|
||||
..Default::default()
|
||||
}
|
||||
}
|
||||
|
||||
pub(crate) fn to_binary(&self) -> [u8; 24] {
|
||||
let mut buf = [0u8; 24];
|
||||
|
||||
buf[0] = self.type_and_subtype;
|
||||
|
||||
buf[1] = self.fcf_flags;
|
||||
|
||||
Self::write_u16(&mut buf, 2, self.duration);
|
||||
Self::write_mac_addr(&mut buf, 4, &self.address_1);
|
||||
Self::write_mac_addr(&mut buf, 10, &self.address_2);
|
||||
Self::write_mac_addr(&mut buf, 16, &self.address_3);
|
||||
Self::write_u16(&mut buf, 22, self.sequence_control);
|
||||
|
||||
buf
|
||||
}
|
||||
|
||||
fn write_u16(buf: &mut [u8; 24], offset: usize, data: u16) {
|
||||
for (idx, byte) in data.to_be_bytes().iter().enumerate() {
|
||||
buf[idx + offset] = *byte;
|
||||
}
|
||||
}
|
||||
|
||||
fn write_mac_addr(buf: &mut [u8; 24], offset: usize, data: &[u8; 6]) {
|
||||
for (idx, byte) in data.iter().enumerate() {
|
||||
buf[idx + offset] = *byte;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// IEEE 802.11p LLC header
|
||||
#[derive(Debug, Default)]
|
||||
struct LlcHeader {
|
||||
/// byte 0: SNAP (0xaa) in 802.11p
|
||||
pub dsap: u8, // SNAP in
|
||||
/// byte 1: SNAP (0xaa) in 802.11p
|
||||
pub lsap: u8, // SNAP in
|
||||
/// byte 2: SNAP (0xaa) in 802.11p
|
||||
pub control_1: u8, // 0x03
|
||||
// Note: optional second control byte not used in 802.11p
|
||||
|
||||
// SNAP fields
|
||||
/// set to 0 since ethertype is used for protocol ID in 802.11p
|
||||
pub oui: [u8; 3],
|
||||
/// ethertype GeoNetworking (0x8947) in 802.11p
|
||||
pub protocol_id: u16,
|
||||
}
|
||||
|
||||
impl LlcHeader {
|
||||
pub(crate) fn new_80211p() -> Self {
|
||||
Self {
|
||||
dsap: 0xaa,
|
||||
lsap: 0xaa,
|
||||
control_1: 0x03,
|
||||
oui: [0; 3],
|
||||
protocol_id: 0x8947,
|
||||
}
|
||||
}
|
||||
|
||||
pub(crate) fn to_binary(&self) -> [u8; 8] {
|
||||
let mut buf: [u8; 8] = [
|
||||
self.dsap,
|
||||
self.lsap,
|
||||
self.control_1,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
0x00,
|
||||
];
|
||||
|
||||
buf[3] = self.oui[0];
|
||||
buf[4] = self.oui[1];
|
||||
buf[5] = self.oui[2];
|
||||
|
||||
buf[6] = self.protocol_id.to_be_bytes()[0];
|
||||
buf[7] = self.protocol_id.to_be_bytes()[1];
|
||||
|
||||
buf
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
|
||||
use super::*;
|
||||
|
||||
#[test]
|
||||
fn data_frame_test() {
|
||||
// build a typical IEEE 802.11p frame
|
||||
const OWN_MAC: [u8; 6] = [0x12, 0x34, 0x56, 0x78, 0xab, 0xcd];
|
||||
const REF_HEADER: [u8; 24] = [
|
||||
0x08, 0x00, 0x00, 0x00, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x12, 0x34, 0x56, 0x78,
|
||||
0xab, 0xcd, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x00, 0x00,
|
||||
];
|
||||
|
||||
let frame = DataFrameHeader::new_80211p(&OWN_MAC);
|
||||
|
||||
assert_eq!(0x08, frame.type_and_subtype); // data frame, subtype 0
|
||||
assert_eq!(0x0000, frame.fcf_flags);
|
||||
assert_eq!(0x0000, frame.duration);
|
||||
assert_eq!([0xFF; 6], frame.address_1);
|
||||
assert_eq!(OWN_MAC, frame.address_2);
|
||||
assert_eq!([0xFF; 6], frame.address_3);
|
||||
assert_eq!(0x0000, frame.sequence_control);
|
||||
|
||||
assert_eq!(REF_HEADER, frame.to_binary());
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn llc_test() {
|
||||
// build a typical IEEE 802.11p LLC header
|
||||
const REF_HEADER: [u8; 8] = [0xaa, 0xaa, 0x03, 0x00, 0x00, 0x00, 0x89, 0x47];
|
||||
|
||||
let llc = LlcHeader::new_80211p();
|
||||
|
||||
assert_eq!(0xaa, llc.dsap);
|
||||
assert_eq!(0xaa, llc.lsap);
|
||||
assert_eq!(0x03, llc.control_1);
|
||||
assert_eq!([0x00; 3], llc.oui);
|
||||
assert_eq!(0x8947, llc.protocol_id);
|
||||
|
||||
assert_eq!(REF_HEADER, llc.to_binary());
|
||||
}
|
||||
}
|
||||
275
src/screen.rs
275
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<D>
|
||||
where
|
||||
D: DrawTarget<Color = pixelcolor::Rgb565>,
|
||||
{
|
||||
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<Color = pixelcolor::Rgb565>,
|
||||
{
|
||||
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<IoScl, IoSda, IoRes, IoDc, IoCs, IoBl, Spi>(
|
||||
scl: IoScl,
|
||||
sda: IoSda,
|
||||
|
|
@ -484,7 +378,8 @@ pub fn make_small_display<IoScl, IoSda, IoRes, IoDc, IoCs, IoBl, Spi>(
|
|||
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<IoScl, IoSda, IoRes, IoDc, IoCs, IoBl, Spi>(
|
||||
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
|
||||
|
|
|
|||
|
|
@ -6,7 +6,7 @@ extern crate alloc;
|
|||
mod applogic;
|
||||
mod cache;
|
||||
mod geo_alg;
|
||||
mod io;
|
||||
mod radio;
|
||||
mod testdata;
|
||||
|
||||
fn main() {
|
||||
|
|
|
|||
|
|
@ -455,11 +455,3 @@ pub const CAM: &[u8] = &[
|
|||
0x00, 0x06, 0xc6, 0x70, 0x00, 0xdf, 0x80, 0x8d, 0x5f, 0xde, 0x66, 0x27, 0x00, 0x07, 0x3c, 0x04,
|
||||
0x76, 0xfd, 0x67, 0x31, 0x9c, 0x00, 0x58, 0x60, 0x41, 0x37, 0xd3, 0x15, 0x89, 0xc0, 0x06, 0xdc,
|
||||
];
|
||||
|
||||
#[cfg(any(feature = "cam_tx", feature = "uart"))]
|
||||
pub const CAM_SMALL: &[u8] = &[
|
||||
0x2, 0x2, 0xc1, 0x73, 0x25, 0x68, 0x17, 0x28, 0x40, 0x29, 0xd5, 0xb3, 0x40, 0xf, 0x1f, 0xea,
|
||||
0xf0, 0x1f, 0xff, 0xff, 0xfc, 0x23, 0xb7, 0x74, 0x3e, 0x0, 0x0, 0xf, 0xc0, 0x0, 0x7e, 0x81,
|
||||
0x38, 0x25, 0x7, 0x37, 0xfe, 0xeb, 0xff, 0xf6, 0x0, 0x0, 0xd, 0xff, 0xff, 0x7f, 0xff, 0xf1,
|
||||
0xce, 0x40, 0x40, 0x0,
|
||||
];
|
||||
|
|
|
|||
106
src/ubx.rs
106
src/ubx.rs
|
|
@ -1,106 +0,0 @@
|
|||
//! u-blox helpers
|
||||
#![allow(unused)]
|
||||
|
||||
use alloc::vec::Vec;
|
||||
|
||||
pub fn pretty_print_mon_ver(packet: &ublox::mon_ver::MonVerRef) -> alloc::string::String {
|
||||
alloc::format!(
|
||||
"UBX-MON-VER: SW version: {} HW version: {}; Extensions: {:?}",
|
||||
packet.software_version(),
|
||||
packet.hardware_version(),
|
||||
packet.extension().collect::<Vec<&str>>()
|
||||
)
|
||||
}
|
||||
|
||||
pub fn pretty_print_mon_comms(packet: &ublox::mon_comms::MonCommsRef) -> alloc::string::String {
|
||||
alloc::format!(
|
||||
"UBX-MON-COMMS: {} ports ({:?}), {} tx err, info {:?}",
|
||||
packet.n_ports(),
|
||||
packet.prot_ids(),
|
||||
packet.tx_errors(),
|
||||
packet
|
||||
.ports()
|
||||
.map(|v| alloc::format!("{v:?}"))
|
||||
.collect::<Vec<_>>()
|
||||
)
|
||||
}
|
||||
|
||||
pub fn pretty_print_mon_rf(packet: &ublox::mon_rf::MonRfRef) -> alloc::string::String {
|
||||
alloc::format!(
|
||||
"UBX-MON-RF: {:?}",
|
||||
packet
|
||||
.blocks()
|
||||
.map(|v| alloc::format!("{v:?}"))
|
||||
.collect::<Vec<_>>()
|
||||
)
|
||||
}
|
||||
|
||||
pub fn pretty_print_nav_sat(packet: &ublox::nav_sat::NavSatRef) -> alloc::string::String {
|
||||
// sort by quality flags
|
||||
let mut sat_infos = packet.svs().collect::<Vec<_>>();
|
||||
sat_infos.sort_unstable_by_key(|v| v.flags_raw() & 0x7);
|
||||
sat_infos.reverse();
|
||||
|
||||
let sat_info_strings = sat_infos
|
||||
.iter()
|
||||
.map(|v| {
|
||||
alloc::format!(
|
||||
"- {}/{:3}: E {:3.0}, A {:3.0}, CNO {:2.1} dBHz, {:?}, {:?}",
|
||||
v.gnss_id(),
|
||||
v.sv_id(),
|
||||
v.elev(),
|
||||
v.azim(),
|
||||
v.cno(),
|
||||
v.flags().quality_ind(),
|
||||
v.flags().health(),
|
||||
)
|
||||
})
|
||||
.collect::<Vec<_>>();
|
||||
|
||||
alloc::format!(
|
||||
"UBX-NAV-SAT: num {:?}\n{}",
|
||||
packet.num_svs(),
|
||||
sat_info_strings.join("\n")
|
||||
)
|
||||
}
|
||||
|
||||
impl<'a> TryFrom<&ublox::nav_pvt::proto27::NavPvtRef<'a>> for crate::applogic::GnssFix {
|
||||
type Error = alloc::string::String;
|
||||
|
||||
fn try_from(value: &ublox::nav_pvt::proto27::NavPvtRef<'a>) -> Result<Self, Self::Error> {
|
||||
let has_time = value.fix_type() == ublox::GnssFixType::Fix3D
|
||||
|| value.fix_type() == ublox::GnssFixType::GPSPlusDeadReckoning
|
||||
|| value.fix_type() == ublox::GnssFixType::TimeOnlyFix;
|
||||
let has_posvel = value.fix_type() == ublox::GnssFixType::Fix3D
|
||||
|| value.fix_type() == ublox::GnssFixType::GPSPlusDeadReckoning;
|
||||
|
||||
if !has_posvel || !has_time {
|
||||
return Err(alloc::format!(
|
||||
"NAV-PVT without valid fix: {:?}",
|
||||
value.fix_type()
|
||||
));
|
||||
}
|
||||
|
||||
let pos: ublox::PositionLLA = value.into();
|
||||
let vel: ublox::Velocity = value.into();
|
||||
|
||||
let time: chrono::DateTime<chrono::Utc> = value
|
||||
.try_into()
|
||||
.map_err(|err| alloc::format!("Failed to convert time: {err}"))?;
|
||||
|
||||
let latitude_deg = pos.lat;
|
||||
let longitude_deg = pos.lon;
|
||||
#[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
|
||||
let heading_deg = vel.heading as f32;
|
||||
#[allow(clippy::cast_precision_loss, clippy::cast_possible_truncation)]
|
||||
let speed_mps = vel.speed as f32;
|
||||
|
||||
Ok(Self {
|
||||
time: Some(time.naive_utc()),
|
||||
latitude_deg,
|
||||
longitude_deg,
|
||||
heading_deg: Some(heading_deg),
|
||||
speed_mps: Some(speed_mps),
|
||||
})
|
||||
}
|
||||
}
|
||||
Loading…
Reference in a new issue