semestralka na tprais

tprais_semestralka1/src/bin/main.rs

@@ -0,0 +1,293 @@
+// src/bin/main.rs
+
+#![no_std]
+#![no_main]
+#![deny(
+    clippy::mem_forget,
+    reason = "mem::forget is generally not safe to do with esp_hal types"
+)]
+// TODO WARNING core 1 should be logic, core 0 wifi, its flipped now
+
+use embassy_executor::Spawner;
+use embassy_futures::select::{select, Either, select3, Either3};
+use embassy_net::{Runner, StackResources};
+use embassy_sync::signal::Signal;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_time::{Duration, Timer, Instant};
+use projekt_final::bus::I2cInner;
+use projekt_final::mqtt::client;
+
+use esp_alloc as _;
+use esp_backtrace as _;
+
+use esp_hal::{
+    gpio::InputConfig,
+    clock::CpuClock,
+    gpio::{Input, Pull},
+    i2c::master::{Config as I2cConfig, I2c},
+    rng::Rng,
+    system::{CpuControl, Stack},
+    timer::timg::TimerGroup,
+};
+use esp_wifi::{
+    wifi::{ClientConfiguration, Configuration, WifiController, WifiDevice, WifiEvent, WifiState},
+    EspWifiController,
+};
+
+use pages_tui::input::Key;
+use log::info;
+use rust_mqtt::packet::v5::publish_packet::QualityOfService;
+use static_cell::StaticCell;
+use core::cell::RefCell;
+use heapless::String;
+use core::fmt::Write;
+
+use projekt_final::{
+    bus,
+    display,
+    mpu,
+    mqtt::client::{mqtt_events, mqtt_try_publish, mqtt_publish, mqtt_subscribe, mqtt_task, IncomingMsg},
+};
+
+extern crate alloc;
+use alloc::format;
+
+static I2C_BUS: StaticCell<RefCell<I2cInner>> = StaticCell::new();
+static APP_CORE_STACK: StaticCell<Stack<8192>> = StaticCell::new();
+static EXECUTOR_CORE1: StaticCell<esp_hal_embassy::Executor> = StaticCell::new();
+static NETWORK_READY: Signal<CriticalSectionRawMutex, ()> = Signal::new();
+
+macro_rules! mk_static {
+    ($t:ty,$val:expr) => {{
+        static STATIC_CELL: static_cell::StaticCell<$t> = static_cell::StaticCell::new();
+        #[deny(unused_attributes)]
+        let x = STATIC_CELL.uninit().write(($val));
+        x
+    }};
+}
+
+const SSID: &str = env!("SSID");
+const PASSWORD: &str = env!("PASSWORD");
+const MQTT_PUBLISH_DIVIDER: u32 = 10;
+
+esp_bootloader_esp_idf::esp_app_desc!();
+
+#[esp_hal_embassy::main]
+async fn main(spawner: Spawner) -> ! {
+    esp_println::logger::init_logger_from_env();
+    info!("===============================");
+    info!("  ESP32 IoT Firmware Starting");
+    info!("===============================");
+
+    let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
+    let peripherals = esp_hal::init(config);
+    esp_alloc::heap_allocator!(size: 72 * 1024);
+
+    info!("Initializing I2C bus...");
+    let i2c = I2c::new(peripherals.I2C0, I2cConfig::default())
+        .expect("Failed to create I2C instance")
+        .with_sda(peripherals.GPIO21)
+        .with_scl(peripherals.GPIO22)
+        .into_async();
+
+    let i2c_bus = I2C_BUS.init(RefCell::new(i2c));
+    let display_i2c = bus::new_device(i2c_bus);
+    let mpu_i2c = bus::new_device(i2c_bus);
+
+    info!("Initializing WiFi...");
+    let timg0 = TimerGroup::new(peripherals.TIMG0);
+    let mut rng = Rng::new(peripherals.RNG);
+
+    let esp_wifi_ctrl = mk_static!(
+        EspWifiController<'static>,
+        esp_wifi::init(timg0.timer0, rng.clone()).unwrap()
+    );
+
+    let (controller, interfaces) =
+        esp_wifi::wifi::new(esp_wifi_ctrl, peripherals.WIFI).unwrap();
+
+    let wifi_interface = interfaces.sta;
+    let timg1 = TimerGroup::new(peripherals.TIMG1);
+    esp_hal_embassy::init([timg1.timer0, timg1.timer1]);
+
+    let seed = (rng.random() as u64) << 32 | rng.random() as u64;
+
+    // Start core 1 for WiFi and MQTT (network stack created there)
+    let mut cpu_control = CpuControl::new(peripherals.CPU_CTRL);
+    let _guard = cpu_control.start_app_core(
+        APP_CORE_STACK.init(Stack::new()),
+        move || {
+            let executor = EXECUTOR_CORE1.init(esp_hal_embassy::Executor::new());
+            executor.run(|spawner| {
+                spawner.spawn(core1_network_task(spawner, controller, wifi_interface, seed)).ok();
+            });
+        }
+    ).unwrap();
+
+    // Wait for network to be ready (signaled from core 1)
+    NETWORK_READY.wait().await;
+    info!("Network ready, starting core 0 tasks");
+
+    let config = InputConfig::default().with_pull(Pull::Down);
+    let button_select = Input::new(peripherals.GPIO32, config);
+    let button_next = Input::new(peripherals.GPIO35, config);
+    spawner.spawn(button_detection_task(button_select, button_next)).unwrap();
+
+    // Core 0: display and MPU tasks
+    spawner.spawn(display::task::display_task(display_i2c)).expect("spawn display_task");
+    spawner.spawn(mpu::task::mpu_task(mpu_i2c)).expect("spawn mpu_task");
+
+    display::api::set_status("Booting...").await;
+    mqtt_subscribe("esp32/read").await;
+    mqtt_publish("esp32/imu", b"online", QualityOfService::QoS1, false).await;
+
+    display::api::set_status("Running").await;
+    display::api::set_mqtt_status(true, 0).await;
+
+    let mqtt_rx = mqtt_events();
+    let imu_rx = mpu::api::events();
+    let mut imu_reading_count: u32 = 0;
+    let mut mqtt_msg_count: u32 = 0;
+    let mut mqtt_publish_drops: u32 = 0;
+    let mut last_mqtt_publish = Instant::now();
+    let mqtt_publish_interval = Duration::from_secs(3);
+
+    loop {
+        match select3(
+            mqtt_rx.receive(),
+            imu_rx.receive(),
+            Timer::after(Duration::from_secs(5)),
+        ).await {
+            Either3::First(msg) => {
+                mqtt_msg_count += 1;
+                handle_mqtt_message(msg).await;
+                display::api::set_mqtt_status(true, mqtt_msg_count).await;
+            }
+            Either3::Second(mut reading) => {
+                // Drain zabezpečuje, že 'reading' je najčerstvejšia možná hodnota
+                let mut drained = 0;
+                while let Ok(next) = imu_rx.try_receive() {
+                    reading = next;
+                    drained += 1;
+                }
+                
+                imu_reading_count += 1;
+                display::api::show_imu(reading);
+
+                // 3. Nahraďte pôvodnú podmienku týmto časovým zámkom
+                if last_mqtt_publish.elapsed() >= mqtt_publish_interval {
+                    let payload = client::encode_imu_json(&reading);
+                    client::mqtt_set_imu_payload(payload);
+                    last_mqtt_publish = Instant::now();
+                }
+            }
+            Either3::Third(_) => {
+                crate::mpu::api::IMU_CHANNEL.clear();
+                info!("IMU heartbeat: force-cleared queue, {} readings total, {} mqtt drops", 
+                      imu_reading_count, mqtt_publish_drops);
+            }
+        }
+    }
+}
+
+// Runs on core 1 - creates and owns the network stack
+#[embassy_executor::task]
+async fn core1_network_task(
+    spawner: Spawner,
+    controller: WifiController<'static>,
+    wifi_interface: WifiDevice<'static>,
+    seed: u64,
+) {
+    spawner.spawn(connection_task(controller)).ok();
+
+    let net_config = embassy_net::Config::dhcpv4(Default::default());
+    let (stack, runner) = embassy_net::new(
+        wifi_interface,
+        net_config,
+        mk_static!(StackResources<3>, StackResources::<3>::new()),
+        seed,
+    );
+
+    spawner.spawn(net_task(runner)).ok();
+
+    // Wait for network
+    loop {
+        if stack.is_link_up() { break; }
+        Timer::after(Duration::from_millis(500)).await;
+    }
+    loop {
+        if let Some(config) = stack.config_v4() {
+            info!("Got IP: {}", config.address);
+            break;
+        }
+        Timer::after(Duration::from_millis(500)).await;
+    }
+
+    // Signal core 0 that network is ready
+    NETWORK_READY.signal(());
+
+    spawner.spawn(mqtt_task(stack)).ok();
+}
+
+async fn handle_mqtt_message(msg: IncomingMsg) {
+    if let Ok(txt) = core::str::from_utf8(&msg.payload) {
+        match txt {
+            "clear" => { display::api::clear().await; }
+            "status" => { mqtt_publish("esp32/status", b"running", QualityOfService::QoS1, false).await; }
+            _ => { display::api::add_chat_message(txt).await; }
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn connection_task(mut controller: WifiController<'static>) {
+    loop {
+        if esp_wifi::wifi::wifi_state() == WifiState::StaConnected {
+            controller.wait_for_event(WifiEvent::StaDisconnected).await;
+            Timer::after(Duration::from_millis(5000)).await;
+        }
+        if !matches!(controller.is_started(), Ok(true)) {
+            let client_config = Configuration::Client(ClientConfiguration {
+                ssid: SSID.into(),
+                password: PASSWORD.into(),
+                ..Default::default()
+            });
+            controller.set_configuration(&client_config).unwrap();
+            info!("Wi-Fi starting...");
+            controller.start_async().await.unwrap();
+        }
+        match controller.connect_async().await {
+            Ok(_) => info!("Wifi connected!"),
+            Err(e) => {
+                info!("Failed to connect to wifi: {e:#?}");
+                Timer::after(Duration::from_millis(5000)).await
+            }
+        }
+    }
+}
+
+#[embassy_executor::task]
+async fn net_task(mut runner: Runner<'static, WifiDevice<'static>>) {
+    runner.run().await
+}
+
+#[embassy_executor::task]
+async fn button_detection_task(mut select_btn: Input<'static>, mut next_btn: Input<'static>) {
+    loop {
+        match select(
+            select_btn.wait_for_rising_edge(),
+            next_btn.wait_for_rising_edge(),
+        ).await {
+            Either::First(_) => {
+                info!("Detection: GPIO 32 (Select) triggered!");
+                display::api::push_key(Key::enter()).await;
+            }
+            Either::Second(_) => {
+                info!("Detection: GPIO 35 (Next) triggered!");
+                display::api::push_key(Key::tab()).await
+            }
+        }
+        // Debounce: prevent mechanical bouncing from double-triggering
+        embassy_time::Timer::after(embassy_time::Duration::from_millis(200)).await;
+    }
+}

tprais_semestralka1/src/lib.rs

@@ -0,0 +1,4 @@
+#![no_std]
+extern crate alloc;
+
+pub mod mqtt;

tprais_semestralka1/src/mqtt/client.rs

@@ -0,0 +1,442 @@
+// src/mqtt/client.rs
+
+use embassy_net::{tcp::TcpSocket, Stack};
+use embassy_time::{Duration, Timer, Instant};
+use embassy_futures::select::{select, Either};
+use rust_mqtt::client::client::MqttClient;
+use rust_mqtt::client::client_config::{ClientConfig, MqttVersion};
+use rust_mqtt::packet::v5::publish_packet::QualityOfService;
+use rust_mqtt::packet::v5::reason_codes::ReasonCode;
+use rust_mqtt::utils::rng_generator::CountingRng;
+
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::mutex::Mutex;
+use embassy_sync::channel::{Channel, Receiver};
+use embassy_sync::signal::Signal;
+use heapless::{String, Vec};
+use static_cell::ConstStaticCell;
+use core::fmt::Write;
+use log::{info, warn};
+
+use crate::mqtt::config::mqtt_broker_endpoint;
+use crate::contracts::ImuReading;
+
+const RECONNECT_DELAY_SECS: u64 = 5;
+const KEEPALIVE_SECS: u64 = 60;
+const PING_PERIOD: Duration = Duration::from_secs(KEEPALIVE_SECS / 2);
+const SOCKET_POLL_TIMEOUT: Duration = Duration::from_secs(1);
+const PING_TIMEOUT: Duration = Duration::from_secs(5);
+// Must be > PING_PERIOD, ideally > KEEPALIVE
+const NO_SUCCESS_TIMEOUT: Duration = Duration::from_secs(120);
+const NO_IMU_SIG_WARN: Duration = Duration::from_secs(10);
+const SUBS_MAX: usize = 8;
+
+// Limits for static buffers
+pub const TOPIC_MAX: usize = 128;
+pub const PAYLOAD_MAX: usize = 512;
+const COMMAND_QUEUE: usize = 8;
+const EVENT_QUEUE: usize = 8;
+
+// TCP socket buffers (for embassy-net TcpSocket)
+static TCP_RX_BUFFER: ConstStaticCell<[u8; 2048]> = ConstStaticCell::new([0; 2048]);
+static TCP_TX_BUFFER: ConstStaticCell<[u8; 2048]> = ConstStaticCell::new([0; 2048]);
+
+// MQTT client buffers (separate from the TcpSocket buffers)
+static MQTT_TX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0; 1024]);
+static MQTT_RX_BUF: ConstStaticCell<[u8; 1024]> = ConstStaticCell::new([0; 1024]);
+
+// Tie TcpSocket lifetime to session
+type Client<'a, 'net> = MqttClient<'a, TcpSocket<'net>, 8, CountingRng>;
+
+#[derive(Clone)]
+pub struct IncomingMsg {
+    pub topic: String<TOPIC_MAX>,
+    pub payload: Vec<u8, PAYLOAD_MAX>,
+}
+
+#[derive(Clone)]
+struct PublishMsg {
+    topic: String<TOPIC_MAX>,
+    payload: Vec<u8, PAYLOAD_MAX>,
+    qos: QualityOfService,
+    retain: bool,
+}
+
+#[derive(Clone)]
+enum Command {
+    Publish(PublishMsg),
+    Subscribe(String<TOPIC_MAX>),
+}
+
+// Command/info channels
+static CMD_CHAN: Channel<CriticalSectionRawMutex, Command, COMMAND_QUEUE> = Channel::new();
+static EVT_CHAN: Channel<CriticalSectionRawMutex, IncomingMsg, EVENT_QUEUE> = Channel::new();
+
+/// Latest-value + wake-up semantics for IMU publish payload (single consumer: MQTT task)
+static IMU_SIG: Signal<CriticalSectionRawMutex, Vec<u8, PAYLOAD_MAX>> = Signal::new();
+
+static SUBS: Mutex<CriticalSectionRawMutex, Vec<String<TOPIC_MAX>, SUBS_MAX>> =
+    Mutex::new(Vec::new());
+
+/// Public API
+
+pub async fn mqtt_publish(topic: &str, payload: &[u8], qos: QualityOfService, retain: bool) {
+    CMD_CHAN
+        .send(Command::Publish(PublishMsg {
+            topic: truncate_str::<TOPIC_MAX>(topic),
+            payload: truncate_payload(payload),
+            qos,
+            retain,
+        }))
+        .await;
+}
+
+pub fn mqtt_try_publish(topic: &str, payload: &[u8], qos: QualityOfService, retain: bool) -> bool {
+    CMD_CHAN
+        .try_send(Command::Publish(PublishMsg {
+            topic: truncate_str::<TOPIC_MAX>(topic),
+            payload: truncate_payload(payload),
+            qos,
+            retain,
+        }))
+        .is_ok()
+}
+
+pub fn mqtt_set_imu(reading: ImuReading) {
+    // Encode JSON into a bounded buffer (no alloc::format!)
+    let payload = encode_imu_json(&reading);
+    IMU_SIG.signal(payload);
+}
+
+pub fn mqtt_set_imu_payload(payload: Vec<u8, PAYLOAD_MAX>) {
+    IMU_SIG.signal(payload);
+}
+
+pub fn encode_imu_json(reading: &ImuReading) -> Vec<u8, PAYLOAD_MAX> {
+    let mut s: String<256> = String::new();
+    let _ = write!(
+        &mut s,
+        "{{\"ax\":{:.2},\"ay\":{:.2},\"az\":{:.2},\"gx\":{:.1},\"gy\":{:.1},\"gz\":{:.1},\"t\":{:.1},\"ts\":{}}}",
+        reading.accel_g[0], reading.accel_g[1], reading.accel_g[2],
+        reading.gyro_dps[0], reading.gyro_dps[1], reading.gyro_dps[2],
+        reading.temp_c,
+        reading.timestamp_ms
+    );
+    let mut v: Vec<u8, PAYLOAD_MAX> = Vec::new();
+    let _ = v.extend_from_slice(s.as_bytes());
+    v
+}
+
+pub async fn mqtt_subscribe(topic: &str) {
+    let t = truncate_str::<TOPIC_MAX>(topic);
+    {
+        let mut subs = SUBS.lock().await;
+        let exists = subs.iter().any(|s| s.as_str() == t.as_str());
+        if !exists {
+            let _ = subs.push(t.clone());
+        }
+    }
+    CMD_CHAN.send(Command::Subscribe(t)).await;
+}
+
+pub fn mqtt_events(
+) -> Receiver<'static, CriticalSectionRawMutex, IncomingMsg, EVENT_QUEUE> {
+    EVT_CHAN.receiver()
+}
+
+/// Internals
+
+fn truncate_str<const N: usize>(s: &str) -> String<N> {
+    let mut h = String::new();
+    if N == 0 {
+        return h;
+    }
+    if s.len() <= N {
+        let _ = h.push_str(s);
+        return h;
+    }
+
+    let mut cut = N;
+    while cut > 0 && !s.is_char_boundary(cut) {
+        cut -= 1;
+    }
+    let _ = h.push_str(&s[..cut]);
+    h
+}
+
+fn truncate_payload(data: &[u8]) -> Vec<u8, PAYLOAD_MAX> {
+    let mut v = Vec::new();
+    let _ = v.extend_from_slice(&data[..data.len().min(PAYLOAD_MAX)]);
+    v
+}
+
+async fn handle_command(client: &mut Client<'_, '_>, cmd: Command) -> Result<(), ReasonCode> {
+    match cmd {
+        Command::Publish(msg) => {
+            client
+                .send_message(msg.topic.as_str(), &msg.payload, msg.qos, msg.retain)
+                .await
+        }
+        Command::Subscribe(topic) => {
+            let res = client.subscribe_to_topic(topic.as_str()).await;
+            if res.is_ok() {
+                info!("Subscribed to '{}'", topic);
+            }
+            res
+        }
+    }
+}
+
+async fn handle_incoming(result: Result<(&str, &[u8]), ReasonCode>) -> Result<(), ReasonCode> {
+    let (topic, payload) = result?;
+    let msg = IncomingMsg {
+        topic: truncate_str::<TOPIC_MAX>(topic),
+        payload: truncate_payload(payload),
+    };
+    if EVT_CHAN.try_send(msg).is_err() {
+        warn!("MQTT EVT queue full, dropping incoming message");
+    }
+    Ok(())
+}
+
+async fn run_one_session(
+    stack: Stack<'static>,
+    tcp_rx: &mut [u8],
+    tcp_tx: &mut [u8],
+    mqtt_tx: &mut [u8],
+    mqtt_rx: &mut [u8],
+) -> Result<(), ()> {
+    let mut socket = TcpSocket::new(stack, tcp_rx, tcp_tx);
+    socket.set_timeout(Some(SOCKET_POLL_TIMEOUT * 10));
+    match socket.connect(mqtt_broker_endpoint()).await {
+        Ok(_) => info!("Connected TCP to MQTT broker"),
+        Err(e) => {
+            info!("TCP connect failed: {:#?}", e);
+            return Err(());
+        }
+    }
+
+    let mut cfg: ClientConfig<8, CountingRng> =
+        ClientConfig::new(MqttVersion::MQTTv5, CountingRng(0));
+    cfg.keep_alive = KEEPALIVE_SECS as u16;
+    cfg.add_client_id("esp32-client");
+
+    let mut client =
+        MqttClient::new(socket, mqtt_tx, mqtt_tx.len(), mqtt_rx, mqtt_rx.len(), cfg);
+
+    match client.connect_to_broker().await {
+        Ok(_) => info!("MQTT CONNACK received"),
+        Err(reason) => {
+            info!("MQTT connect failed: {:?}", reason);
+            return Err(());
+        }
+    }
+
+    // Re-subscribe after every (re)connect
+    let mut subs_snapshot: Vec<String<TOPIC_MAX>, SUBS_MAX> = Vec::new();
+    {
+        let subs = SUBS.lock().await;
+        for t in subs.iter() {
+            let _ = subs_snapshot.push(t.clone());
+        }
+    }
+    for t in subs_snapshot.iter() {
+        match client.subscribe_to_topic(t.as_str()).await {
+            Ok(_) => info!("Subscribed to '{}'", t),
+            Err(e) => {
+                warn!("MQTT resubscribe failed: {:?}", e);
+                return Err(());
+            }
+        }
+    }
+
+    let mut next_ping_at = Instant::now() + PING_PERIOD;
+    let cmd_rx = CMD_CHAN.receiver();
+
+    // Only restart the session after N consecutive IMU publish failures
+    let mut imu_tx_fail_streak: u8 = 0;
+    let mut hb_at = Instant::now() + Duration::from_secs(10);
+    let mut tx_ok: u32 = 0;
+    let mut tx_err: u32 = 0;
+    let mut rx_ok: u32 = 0;
+    let mut ping_ok: u32 = 0;
+    let mut last_ok = Instant::now();        // last successful MQTT I/O (tx/rx/ping)
+    let mut last_imu_sig = Instant::now();   // last time we received IMU_SIG in MQTT task
+
+    loop {
+        let now = Instant::now();
+
+        if now - last_ok > NO_SUCCESS_TIMEOUT {
+            warn!(
+                "MQTT no successful I/O for {:?} -> restart session",
+                now - last_ok
+            );
+            return Err(());
+        }
+
+        if now - last_imu_sig > NO_IMU_SIG_WARN {
+            // This is diagnostic: if core0 claims it's sending, but this prints, you have cross-core signaling loss.
+            warn!(
+                "MQTT hasn't received IMU_SIG for {:?} (core0->core1 sync likely broken)",
+                now - last_imu_sig
+            );
+            // Rate-limit the warning
+            last_imu_sig = now;
+        }
+
+        let ping_in = if next_ping_at > now { next_ping_at - now } else { Duration::from_secs(0) };
+
+        // Timebox receive_message() even if lower layers misbehave.
+        let recv_fut = async {
+            match select(client.receive_message(), Timer::after(SOCKET_POLL_TIMEOUT)).await {
+                Either::First(res) => Some(res),
+                Either::Second(_) => None,
+            }
+        };
+
+        // 4-way select using nested selects to avoid relying on select4()
+        match select(
+            select(cmd_rx.receive(), IMU_SIG.wait()),
+            select(recv_fut, Timer::after(ping_in)),
+        )
+        .await
+        {
+            // Command received
+            Either::First(Either::First(cmd)) => {
+                handle_command(&mut client, cmd).await.map_err(|_| ())?;
+                next_ping_at = Instant::now() + PING_PERIOD;
+                last_ok = Instant::now();
+
+                // Drain any additional queued commands quickly
+                while let Ok(cmd) = CMD_CHAN.try_receive() {
+                    handle_command(&mut client, cmd).await.map_err(|_| ())?;
+                    last_ok = Instant::now();
+                    next_ping_at = Instant::now() + PING_PERIOD;
+                }
+            }
+
+            // IMU update signaled (latest value semantics)
+            Either::First(Either::Second(payload)) => {
+                last_imu_sig = Instant::now();
+                // Enable temporarily for diagnostics:
+                // info!("IMU_SIG received in MQTT task (len={})", payload.len());
+
+                // Timebox the publish so we don't hang forever inside send_message().await
+                let send_res = match select(
+                    client.send_message("esp32/imu", &payload, QualityOfService::QoS0, false),
+                    Timer::after(Duration::from_secs(5)),
+                )
+                    .await
+                    {
+                        Either::First(res) => res,
+                        Either::Second(_) => Err(ReasonCode::NetworkError),
+                    };
+
+                match send_res {
+                    Ok(_) => {
+                        next_ping_at = Instant::now() + PING_PERIOD;
+                        imu_tx_fail_streak = 0;
+                        last_ok = Instant::now();
+
+                        tx_ok = tx_ok.wrapping_add(1);
+                        if (tx_ok % 10) == 0 {
+                            info!(
+                                "MQTT alive: tx_ok={} tx_err={} rx_ok={} streak={}",
+                                tx_ok, tx_err, rx_ok, imu_tx_fail_streak
+                            );
+                        }
+                    }
+                    Err(e) => {
+                        tx_err = tx_err.wrapping_add(1);
+                        imu_tx_fail_streak = imu_tx_fail_streak.saturating_add(1);
+                        warn!("MQTT IMU TX fail {}/5: {:?}", imu_tx_fail_streak, e);
+
+                        if imu_tx_fail_streak >= 5 {
+                            warn!("MQTT IMU TX fail 5x -> restart session");
+                            return Err(());
+                        }
+                    }
+                }
+            }
+
+            // Incoming message (or None on timeout)
+            Either::Second(Either::First(opt)) => {
+                if let Some(res) = opt {
+                    match res {
+                        Ok((topic, payload)) => {
+                            rx_ok = rx_ok.wrapping_add(1);
+                            let _ = handle_incoming(Ok((topic, payload))).await;
+
+                            last_ok = Instant::now();
+                            imu_tx_fail_streak = 0;
+                            next_ping_at = Instant::now() + PING_PERIOD;
+                        }
+                        Err(ReasonCode::NetworkError) => {
+                            // idle tick
+                        }
+                        Err(e) => {
+                            warn!("MQTT receive error (fatal): {:?}", e);
+                            return Err(());
+                        }
+                    }
+                }
+            }
+
+            // Ping timer fired
+            Either::Second(Either::Second(_)) => {
+                if Instant::now() >= hb_at {
+                    info!(
+                        "MQTT hb tx_ok={} tx_err={} rx_ok={} ping_ok={} streak={}",
+                        tx_ok, tx_err, rx_ok, ping_ok, imu_tx_fail_streak
+                    );
+                    hb_at = Instant::now() + Duration::from_secs(10);
+                }
+
+                let ping_res = match select(client.send_ping(), Timer::after(PING_TIMEOUT)).await {
+                    Either::First(res) => res,
+                    Either::Second(_) => Err(ReasonCode::NetworkError),
+                };
+
+                match ping_res {
+                    Ok(_) => {
+                        ping_ok = ping_ok.wrapping_add(1);
+                        imu_tx_fail_streak = 0;
+                        last_ok = Instant::now();
+                        next_ping_at = Instant::now() + PING_PERIOD;
+                    }
+                    Err(e) => {
+                        warn!("MQTT ping failed/timeout: {:?}", e);
+                        return Err(());
+                    }
+                }
+            }
+        }
+    }
+}
+
+#[embassy_executor::task]
+pub async fn mqtt_task(stack: Stack<'static>) {
+    info!("MQTT task starting...");
+
+    let tcp_rx = TCP_RX_BUFFER.take();
+    let tcp_tx = TCP_TX_BUFFER.take();
+    let mqtt_tx = MQTT_TX_BUF.take();
+    let mqtt_rx = MQTT_RX_BUF.take();
+
+    loop {
+        let _ = run_one_session(
+            stack,
+            &mut tcp_rx[..],
+            &mut tcp_tx[..],
+            &mut mqtt_tx[..],
+            &mut mqtt_rx[..],
+        )
+        .await;
+
+        info!(
+            "Reconnecting in {}s after session end/failure",
+            RECONNECT_DELAY_SECS
+        );
+        Timer::after(Duration::from_secs(RECONNECT_DELAY_SECS)).await;
+    }
+}

tprais_semestralka1/src/mqtt/config.rs

@@ -0,0 +1,122 @@
+// src/mqtt/config.rs
+#![allow(dead_code)]
+
+use embassy_net::{IpAddress, Ipv4Address, Ipv6Address};
+
+// Compile-time values injected by build.rs
+const BROKER_IP: &str = env!("BROKER_IP");
+const BROKER_PORT: &str = env!("BROKER_PORT");
+
+pub fn mqtt_broker_endpoint() -> (IpAddress, u16) {
+    (parse_ip(BROKER_IP), parse_port(BROKER_PORT))
+}
+
+fn parse_port(s: &str) -> u16 {
+    let p: u16 = s
+        .parse()
+        .unwrap_or_else(|_| panic!("BROKER_PORT must be a valid u16 (1..=65535)"));
+    assert!(p != 0, "BROKER_PORT cannot be 0");
+    p
+}
+
+fn parse_ip(s: &str) -> IpAddress {
+    if s.contains(':') {
+        IpAddress::Ipv6(parse_ipv6(s))
+    } else {
+        IpAddress::Ipv4(parse_ipv4(s))
+    }
+}
+
+fn parse_ipv4(s: &str) -> Ipv4Address {
+    let mut it = s.split('.');
+    let a = parse_octet(it.next(), 1);
+    let b = parse_octet(it.next(), 2);
+    let c = parse_octet(it.next(), 3);
+    let d = parse_octet(it.next(), 4);
+    assert!(it.next().is_none(), "Too many IPv4 octets");
+    Ipv4Address::new(a, b, c, d)
+}
+
+fn parse_octet(part: Option<&str>, idx: usize) -> u8 {
+    let p = part.unwrap_or_else(|| panic!("IPv4 missing octet {}", idx));
+    let v: u16 = p
+        .parse()
+        .unwrap_or_else(|_| panic!("Invalid IPv4 octet {}: {}", idx, p));
+    assert!(v <= 255, "IPv4 octet {} out of range: {}", idx, v);
+    v as u8
+}
+
+// Minimal IPv6 parser with '::' compression. Does not handle IPv4-embedded IPv6.
+fn parse_ipv6(s: &str) -> Ipv6Address {
+    assert!(
+        !s.contains('.'),
+        "IPv4-embedded IPv6 like ::ffff:192.0.2.1 not supported; \
+         use pure hex IPv6"
+    );
+
+    let has_double = s.contains("::");
+    let (left_s, right_s) = if has_double {
+        let mut sp = s.splitn(2, "::");
+        (sp.next().unwrap_or(""), sp.next().unwrap_or(""))
+    } else {
+        (s, "")
+    };
+
+    let mut left = [0u16; 8];
+    let mut right = [0u16; 8];
+    let mut ll = 0usize;
+    let mut rl = 0usize;
+
+    if !left_s.is_empty() {
+        for part in left_s.split(':') {
+            left[ll] = parse_group(part);
+            ll += 1;
+            assert!(ll <= 8, "Too many IPv6 groups on the left");
+        }
+    }
+
+    if !right_s.is_empty() {
+        for part in right_s.split(':') {
+            right[rl] = parse_group(part);
+            rl += 1;
+            assert!(rl <= 8, "Too many IPv6 groups on the right");
+        }
+    }
+
+    let zeros = if has_double {
+        assert!(ll + rl < 8, "Invalid IPv6 '::' usage");
+        8 - (ll + rl)
+    } else {
+        assert!(ll == 8, "IPv6 must have 8 groups without '::'");
+        0
+    };
+
+    let mut g = [0u16; 8];
+    let mut idx = 0usize;
+
+    for i in 0..ll {
+        g[idx] = left[i];
+        idx += 1;
+    }
+    for _ in 0..zeros {
+        g[idx] = 0;
+        idx += 1;
+    }
+    for i in 0..rl {
+        g[idx] = right[i];
+        idx += 1;
+    }
+    assert!(idx == 8, "IPv6 did not resolve to 8 groups");
+
+    Ipv6Address::new(g[0], g[1], g[2], g[3], g[4], g[5], g[6], g[7])
+}
+
+fn parse_group(part: &str) -> u16 {
+    assert!(
+        !part.is_empty(),
+        "Empty IPv6 group (use '::' instead for compression)"
+    );
+    assert!(part.len() <= 4, "IPv6 group too long: {}", part);
+    u16::from_str_radix(part, 16)
+        .unwrap_or_else(|_| panic!("Invalid IPv6 hex group: {}", part))
+}

tprais_semestralka1/src/mqtt/mod.rs

@@ -0,0 +1,4 @@
+// src/mqtt/mod.rs
+
+pub mod client;
+pub mod config;