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nonsense, nothing is fixed

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This commit is contained in:
Priec
2026-01-18 20:49:34 +01:00
parent a910015856
commit 94c591c087
5 changed files with 46 additions and 31 deletions
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18
mqtt_display/src/bin/main.rs
View File

@@ -150,14 +150,23 @@ async fn main(spawner: Spawner) -> ! {
match select3( match select3(
mqtt_rx.receive(), mqtt_rx.receive(),
imu_rx.receive(), imu_rx.receive(),
Timer::after(Duration::from_secs(30)), Timer::after(Duration::from_secs(5)),
).await { ).await {
Either3::First(msg) => { Either3::First(msg) => {
mqtt_msg_count += 1; mqtt_msg_count += 1;
handle_mqtt_message(msg).await; handle_mqtt_message(msg).await;
display::api::set_mqtt_status(true, mqtt_msg_count).await; display::api::set_mqtt_status(true, mqtt_msg_count).await;
} }
Either3::Second(reading) => { Either3::Second(mut reading) => {
// Drain any queued IMU messages and keep only the latest
let mut drained = 0;
while let Ok(next) = imu_rx.try_receive() {
reading = next;
drained += 1;
}
if drained > 0 {
log::info!("IMU drained {} stale readings before display", drained);
}
imu_reading_count += 1; imu_reading_count += 1;
display::api::show_imu(reading).await; display::api::show_imu(reading).await;
if imu_reading_count % MQTT_PUBLISH_DIVIDER == 0 { if imu_reading_count % MQTT_PUBLISH_DIVIDER == 0 {
@@ -169,7 +178,9 @@ async fn main(spawner: Spawner) -> ! {
} }
} }
Either3::Third(_) => { Either3::Third(_) => {
info!("Heartbeat: {} IMU readings", imu_reading_count); crate::mpu::api::IMU_CHANNEL.clear();
info!("IMU heartbeat: force-cleared queue, {} readings total", imu_reading_count);
// info!("Heartbeat: {} IMU readings", imu_reading_count);
} }
} }
} }
@@ -259,7 +270,6 @@ async fn net_task(mut runner: Runner<'static, WifiDevice<'static>>) {
#[embassy_executor::task] #[embassy_executor::task]
async fn button_detection_task(mut select_btn: Input<'static>, mut next_btn: Input<'static>) { async fn button_detection_task(mut select_btn: Input<'static>, mut next_btn: Input<'static>) {
use embassy_futures::select::Either;
loop { loop {
match select( match select(
select_btn.wait_for_rising_edge(), select_btn.wait_for_rising_edge(),

2
mqtt_display/src/bus/mod.rs
View File

@@ -1,8 +1,6 @@
// src/bus/mod.rs // src/bus/mod.rs
use core::cell::RefCell; use core::cell::RefCell;
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::mutex::Mutex;
use embedded_hal_bus::i2c::RefCellDevice; use embedded_hal_bus::i2c::RefCellDevice;
use esp_hal::i2c::master::I2c; use esp_hal::i2c::master::I2c;
use esp_hal::Async; use esp_hal::Async;

21
mqtt_display/src/display/tui.rs
View File

@@ -136,8 +136,7 @@ impl Component for Screen {
} }
} }
// ============ PAGE ORDER ============ // PAGE ORDER
const PAGE_ORDER: &[&str] = &["menu", "imu", "chat"]; const PAGE_ORDER: &[&str] = &["menu", "imu", "chat"];
pub fn next_page_id(current: &str) -> &'static str { pub fn next_page_id(current: &str) -> &'static str {
@@ -150,9 +149,7 @@ pub fn prev_page_id(current: &str) -> &'static str {
if idx == 0 { PAGE_ORDER[PAGE_ORDER.len() - 1] } else { PAGE_ORDER[idx - 1] } if idx == 0 { PAGE_ORDER[PAGE_ORDER.len() - 1] } else { PAGE_ORDER[idx - 1] }
} }
// ============ RENDERING - NO LAYOUT, DIRECT RECTS ============ // RENDERING
// 128x32 display = 21 chars x 4 rows (6x8 font)
/// Get row rect (0-3) for 128x32 display /// Get row rect (0-3) for 128x32 display
#[inline] #[inline]
fn row(area: Rect, n: u16) -> Rect { fn row(area: Rect, n: u16) -> Rect {
@@ -169,7 +166,7 @@ pub fn render_frame<B: ratatui::backend::Backend>(
let area = f.area(); let area = f.area();
if let Some(ref err) = state.last_error { if let Some(ref err) = state.last_error {
f.render_widget(Paragraph::new(format!("ERR:{}", err.as_str())).red().bold(), area); f.render_widget(Paragraph::new(format!("ERR:{}", err.as_str())).white().bold(), area);
return; return;
} }
@@ -209,10 +206,10 @@ fn render_menu(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>,
fn render_imu(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, state: &DisplayState) { fn render_imu(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, state: &DisplayState) {
if let Some(ref imu) = state.last_imu { if let Some(ref imu) = state.last_imu {
// Row 0 Gyro // Row 0 Gyro
// f.render_widget( f.render_widget(
// Paragraph::new(format!("G:{:+5.0}{:+5.0}{:+5.0}", imu.gyro_dps[0], imu.gyro_dps[1], imu.gyro_dps[2])).cyan(), Paragraph::new(format!("G:{:+5.0}{:+5.0}{:+5.0}", imu.gyro_dps[0], imu.gyro_dps[1], imu.gyro_dps[2])).cyan(),
// row(area, 0), row(area, 0),
// ); );
// Row 1 Accel // Row 1 Accel
f.render_widget( f.render_widget(
Paragraph::new(format!("A:{:+.1} {:+.1} {:+.1}", imu.accel_g[0], imu.accel_g[1], imu.accel_g[2])).green(), Paragraph::new(format!("A:{:+.1} {:+.1} {:+.1}", imu.accel_g[0], imu.accel_g[1], imu.accel_g[2])).green(),
@@ -228,7 +225,7 @@ fn render_imu(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, s
} }
// Row 3 Nav bar // Row 3 Nav bar
render_nav_bar(f, row(area, 2), focused); // render_nav_bar(f, row(area, 3), focused);
} }
fn render_chat(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, state: &DisplayState) { fn render_chat(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, state: &DisplayState) {
@@ -245,7 +242,7 @@ fn render_chat(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>,
} }
// Row 3 Nav bar // Row 3 Nav bar
render_nav_bar(f, row(area, 3), focused); render_nav_bar(f, row(area, 2), focused);
} }
/// Nav bar: --[<]-------[>]-- /// Nav bar: --[<]-------[>]--

4
mqtt_display/src/mpu/api.rs
View File

@@ -4,9 +4,9 @@ use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
use embassy_sync::channel::{Channel, Receiver, Sender}; use embassy_sync::channel::{Channel, Receiver, Sender};
use crate::contracts::ImuReading; use crate::contracts::ImuReading;
const QUEUE_SIZE: usize = 4; const QUEUE_SIZE: usize = 16;
pub(crate) static IMU_CHANNEL: Channel<CriticalSectionRawMutex, ImuReading, QUEUE_SIZE> = Channel::new(); pub static IMU_CHANNEL: Channel<CriticalSectionRawMutex, ImuReading, QUEUE_SIZE> = Channel::new();
pub fn events() -> Receiver<'static, CriticalSectionRawMutex, ImuReading, QUEUE_SIZE> { pub fn events() -> Receiver<'static, CriticalSectionRawMutex, ImuReading, QUEUE_SIZE> {
IMU_CHANNEL.receiver() IMU_CHANNEL.receiver()

32
mqtt_display/src/mpu/task.rs
View File

@@ -15,7 +15,7 @@ use crate::mpu::api::sender;
use crate::mpu::driver::Mpu6050; use crate::mpu::driver::Mpu6050;
/// Sampling interval in milliseconds. /// Sampling interval in milliseconds.
/// 50ms = 20Hz, reasonable for display updates. /// 50ms = 20Hz
const SAMPLE_INTERVAL_MS: u64 = 50; const SAMPLE_INTERVAL_MS: u64 = 50;
/// MPU6050 I2C address (0x68 with AD0 low, 0x69 with AD0 high) /// MPU6050 I2C address (0x68 with AD0 low, 0x69 with AD0 high)
@@ -52,7 +52,7 @@ pub async fn mpu_task(i2c: I2cDevice) {
Timer::after(Duration::from_secs(2)).await; Timer::after(Duration::from_secs(2)).await;
continue; continue;
} }
Err(_e) => { Err(_) => {
warn!( warn!(
"I2C error verifying MPU6050 (attempt {})", "I2C error verifying MPU6050 (attempt {})",
init_attempts init_attempts
@@ -68,7 +68,7 @@ pub async fn mpu_task(i2c: I2cDevice) {
info!("MPU6050 initialized successfully"); info!("MPU6050 initialized successfully");
break; break;
} }
Err(_e) => { Err(_) => {
error!("MPU6050 init failed (attempt {})", init_attempts); error!("MPU6050 init failed (attempt {})", init_attempts);
Timer::after(Duration::from_secs(2)).await; Timer::after(Duration::from_secs(2)).await;
continue; continue;
@@ -78,11 +78,14 @@ pub async fn mpu_task(i2c: I2cDevice) {
// Allow sensor to stabilize after wake-up // Allow sensor to stabilize after wake-up
Timer::after(Duration::from_millis(100)).await; Timer::after(Duration::from_millis(100)).await;
info!(
info!("MPU task entering sampling loop ({}ms interval)", SAMPLE_INTERVAL_MS); "MPU task entering sampling loop ({}ms interval)",
SAMPLE_INTERVAL_MS
);
let tx = sender(); let tx = sender();
let mut consecutive_errors = 0u32; let mut consecutive_errors = 0u32;
let mut sent_count: u32 = 0;
loop { loop {
let start = Instant::now(); let start = Instant::now();
@@ -98,13 +101,20 @@ pub async fn mpu_task(i2c: I2cDevice) {
timestamp_ms: start.as_millis(), timestamp_ms: start.as_millis(),
}; };
// Try to send; if queue is full, drop oldest by using try_send sent_count = sent_count.wrapping_add(1);
// This ensures we never block the sampling loop if tx.try_send(reading).is_ok() {
if tx.try_send(reading).is_err() { if sent_count % 20 == 0 {
// Queue full - that's okay, main will get the next one info!(
"IMU send#{} ax:{:.2} ay:{:.2} az:{:.2} t:{:.1}",
sent_count, accel_g[0], accel_g[1], accel_g[2], temp_c
);
}
} else if sent_count % 20 == 0 {
info!("IMU drop: channel full ({} sent)", sent_count);
} }
} }
Err(_e) => {
Err(_) => {
consecutive_errors += 1; consecutive_errors += 1;
if consecutive_errors == 1 || consecutive_errors % 10 == 0 { if consecutive_errors == 1 || consecutive_errors % 10 == 0 {
warn!("MPU read error (consecutive: {})", consecutive_errors); warn!("MPU read error (consecutive: {})", consecutive_errors);
@@ -122,7 +132,7 @@ pub async fn mpu_task(i2c: I2cDevice) {
} }
} }
// Sleep for remainder of interval // Maintain a steady period
let elapsed = start.elapsed(); let elapsed = start.elapsed();
let target = Duration::from_millis(SAMPLE_INTERVAL_MS); let target = Duration::from_millis(SAMPLE_INTERVAL_MS);
if elapsed < target { if elapsed < target {