need senzor implementation next

still cleaning up
vykostene
2026-05-03 23:35:48 +02:00 · 2026-05-03 20:07:33 +02:00 · 2026-05-03 12:58:49 +02:00 · 2026-05-03 12:54:32 +02:00 · 2026-01-19 23:24:41 +01:00 · 2026-01-19 16:43:58 +01:00
41 changed files with 4212 additions and 318 deletions
--- a/flake.nix
+++ b/flake.nix
@@ -25,6 +25,7 @@
        cargo-espflash
        espup
 	mosquitto
+	mermaid-cli
      ];

 shellHook = ''
--- a/mqtt_display/Cargo.lock
+++ b/mqtt_display/Cargo.lock
@@ -1073,9 +1073,9 @@ dependencies = [

 [[package]]
 name = "heapless"
-version = "0.9.1"
+version = "0.9.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1edcd5a338e64688fbdcb7531a846cfd3476a54784dcb918a0844682bc7ada5"
+checksum = "2af2455f757db2b292a9b1768c4b70186d443bcb3b316252d6b540aec1cd89ed"
 dependencies = [
 "hash32",
 "stable_deref_trait",
@@ -1305,6 +1305,13 @@ dependencies = [
 "autocfg",
 ]

+[[package]]
+name = "pages-tui"
+version = "0.1.0"
+dependencies = [
+ "heapless 0.9.2",
+]
+
 [[package]]
 name = "paste"
 version = "1.0.15"
@@ -1452,9 +1459,10 @@ dependencies = [
 "esp-hal-embassy",
 "esp-println",
 "esp-wifi",
- "heapless 0.9.1",
+ "heapless 0.9.2",
 "log",
 "mousefood",
+ "pages-tui",
 "ratatui",
 "rust-mqtt",
 "smoltcp",
--- a/mqtt_display/Cargo.toml
+++ b/mqtt_display/Cargo.toml
@@ -9,6 +9,7 @@ name = "projekt_final"
 path = "./src/bin/main.rs"

 [dependencies]
+pages-tui = { path = "../../../pages-tui" }
 esp-bootloader-esp-idf = { version = "0.2.0", features = ["esp32"] }
 esp-hal = { version = "=1.0.0-rc.0", features = [
  "esp32",
--- a/mqtt_display/docs/critical_data_flow_points.mermaid
+++ b/mqtt_display/docs/critical_data_flow_points.mermaid
@@ -0,0 +1,37 @@
+graph TD
+    START[MPU reads @50ms = 20 Hz] --> A{IMU_CHANNEL<br/>try_send}
+    
+    A -->|Full| DROP1[❌ DROP: Channel full<br/>16 slots @ 50ms = 800ms buffer]
+    A -->|OK| B[Main Loop receive]
+    
+    B --> C[Drain loop:<br/>Get freshest reading]
+    C --> D{Time check:<br/>≥3s since last?}
+    
+    D -->|No| E[Skip MQTT]
+    D -->|Yes| F{mqtt_set_imu<br/>try_lock IMU_LATEST}
+    
+    F -->|Locked| DROP2[❌ SKIP: Mutex busy]
+    F -->|OK| G[Store payload]
+    
+    E --> H[show_imu]
+    G --> H
+    
+    H --> I{DISPLAY_CHANNEL<br/>try_send}
+    I -->|Full| DROP3[❌ DROP: Display slow<br/>8 slots @ 100ms = 800ms buffer]
+    I -->|OK| J[Display renders]
+    
+    G --> K[MQTT Task loop]
+    K --> L{IMU_LATEST<br/>try_lock}
+    
+    L -->|Empty/Locked| M[Skip this iteration]
+    L -->|Has data| N[Send to broker<br/>QoS0 no retain]
+    
+    N --> O{TCP send result}
+    O -->|Fail| RECONNECT[❌ Session dies<br/>Reconnect in 5s]
+    O -->|OK| P[✅ Data sent]
+    
+    style DROP1 fill:#ffcccc
+    style DROP2 fill:#ffcccc
+    style DROP3 fill:#ffcccc
+    style RECONNECT fill:#ffcccc
+    style P fill:#ccffcc
--- a/mqtt_display/docs/critical_data_flow_points.mermaid.svg
+++ b/mqtt_display/docs/critical_data_flow_points.mermaid.svg
--- a/mqtt_display/docs/mpu_data_flow.mermaid
+++ b/mqtt_display/docs/mpu_data_flow.mermaid
@@ -0,0 +1,54 @@
+sequenceDiagram
+    participant HW as MPU6050 Hardware
+    participant MPU as MPU Task<br/>(Core 0)
+    participant CH as IMU_CHANNEL<br/>[16 slots]
+    participant MAIN as Main Loop<br/>(Core 0)
+    participant LATEST as IMU_LATEST<br/>(Mutex)
+    participant MQTT as MQTT Task<br/>(Core 1)
+    participant DISP as Display API
+    
+    Note over MPU: Every 50ms
+    MPU->>HW: Read sensor (I2C)
+    HW-->>MPU: Raw data
+    MPU->>MPU: Convert to ImuReading
+    MPU->>CH: try_send(reading)
+    
+    alt Channel full
+        CH--xMPU: Drop (log warning)
+    else Channel has space
+        CH-->>MPU: OK
+    end
+    
+    Note over MAIN: Continuous loop
+    MAIN->>CH: receive() [blocking]
+    CH-->>MAIN: reading
+    
+    Note over MAIN: Drain queue
+    loop While available
+        MAIN->>CH: try_receive()
+        CH-->>MAIN: newer reading
+    end
+    
+    MAIN->>DISP: show_imu(reading)<br/>[try_send]
+    
+    Note over MAIN: Every 3 seconds
+    alt Time >= 3s since last
+        MAIN->>MAIN: Format JSON payload
+        MAIN->>LATEST: mqtt_set_imu()<br/>[try_lock]
+        
+        alt Mutex available
+            LATEST-->>MAIN: Stored
+        else Mutex locked
+            LATEST--xMAIN: Skip
+        end
+    end
+    
+    Note over MQTT: Continuous loop
+    MQTT->>LATEST: try_lock()
+    
+    alt Data available
+        LATEST-->>MQTT: payload
+        MQTT->>MQTT: send_message("esp32/imu")
+    else No data
+        LATEST--xMQTT: None
+    end
--- a/mqtt_display/docs/mpu_data_flow.mermaid.svg
+++ b/mqtt_display/docs/mpu_data_flow.mermaid.svg
--- a/mqtt_display/docs/overall_system_architecture.mermaid
+++ b/mqtt_display/docs/overall_system_architecture.mermaid
@@ -0,0 +1,42 @@
+graph TB
+    subgraph "Core 0 - Application"
+        MPU[MPU Task<br/>50ms sampling]
+        DISPLAY[Display Task<br/>100ms refresh]
+        MAIN[Main Loop]
+        BUTTONS[Button Task]
+    end
+    
+    subgraph "Core 1 - Network"
+        WIFI[WiFi Connection Task]
+        NETWORK[Network Stack Runner]
+        MQTT[MQTT Task]
+    end
+    
+    subgraph "Shared Channels"
+        IMU_CH[(IMU_CHANNEL<br/>size: 16)]
+        DISP_CH[(DISPLAY_CHANNEL<br/>size: 8)]
+        CMD_CH[(CMD_CHAN<br/>size: 8)]
+        EVT_CH[(EVT_CHAN<br/>size: 8)]
+        IMU_LATEST[(IMU_LATEST<br/>Mutex)]
+    end
+    
+    subgraph "Hardware"
+        MPU_HW[MPU6050<br/>I2C 0x68]
+        OLED[SSD1306<br/>I2C]
+        BROKER[MQTT Broker]
+    end
+    
+    MPU_HW -->|I2C Read| MPU
+    MPU -->|send| IMU_CH
+    IMU_CH -->|receive| MAIN
+    MAIN -->|try_send| DISP_CH
+    MAIN -->|mqtt_set_imu| IMU_LATEST
+    DISP_CH -->|receive| DISPLAY
+    DISPLAY -->|I2C Write| OLED
+    IMU_LATEST -->|try_lock| MQTT
+    MQTT <-->|TCP/IP| BROKER
+    BUTTONS -->|push_key| DISP_CH
+    
+    style IMU_CH fill:#ff9999
+    style DISP_CH fill:#99ccff
+    style IMU_LATEST fill:#ffcc99
--- a/mqtt_display/docs/overall_system_architecture.mermaid.svg
+++ b/mqtt_display/docs/overall_system_architecture.mermaid.svg
--- a/mqtt_display/src/bin/main.rs
+++ b/mqtt_display/src/bin/main.rs
@@ -6,20 +6,27 @@
    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::{select3, Either3};
+use embassy_futures::select::{select, Either, select3, Either3};
 use embassy_net::{Runner, StackResources};
-use embassy_time::{Duration, Timer};
+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::{
@@ -27,22 +34,28 @@ use esp_wifi::{
    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_publish, mqtt_subscribe, mqtt_task, IncomingMsg},
+    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) => {{
@@ -95,29 +108,38 @@ async fn main(spawner: Spawner) -> ! {

    let wifi_interface = interfaces.sta;
    let timg1 = TimerGroup::new(peripherals.TIMG1);
-    esp_hal_embassy::init(timg1.timer0);
+    esp_hal_embassy::init([timg1.timer0, timg1.timer1]);

-    let net_config = embassy_net::Config::dhcpv4(Default::default());
    let seed = (rng.random() as u64) << 32 | rng.random() as u64;

-    let (stack, runner) = embassy_net::new(
-        wifi_interface,
-        net_config,
-        mk_static!(StackResources<3>, StackResources::<3>::new()),
-        seed,
-    );
+    // 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();

-    spawner.spawn(connection_task(controller)).expect("spawn connection_task");
-    spawner.spawn(net_task(runner)).expect("spawn net_task");
-    wait_for_network(stack).await;
+    // Wait for network to be ready (signaled from core 1)
+    NETWORK_READY.wait().await;
+    info!("Network ready, starting core 0 tasks");

-    spawner.spawn(mqtt_task(stack)).expect("spawn mqtt_task");
+    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/topic").await;
-    mqtt_publish("esp32/topic", b"online", QualityOfService::QoS1, false).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;
@@ -126,37 +148,69 @@ async fn main(spawner: Spawner) -> ! {
    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(30)),
+            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(reading) => {
+            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).await;
-                if imu_reading_count % MQTT_PUBLISH_DIVIDER == 0 {
-                    let payload = format!(
-                        "{{\"ax\":{:.2},\"ay\":{:.2},\"az\":{:.2},\"t\":{:.1}}}",
-                        reading.accel_g[0], reading.accel_g[1], reading.accel_g[2], reading.temp_c
-                    );
-                    mqtt_publish("esp32/imu", payload.as_bytes(), QualityOfService::QoS0, false).await;
+                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(_) => {
-                info!("Heartbeat: {} IMU readings", imu_reading_count);
+                crate::mpu::api::IMU_CHANNEL.clear();
+                info!("IMU heartbeat: force-cleared queue, {} readings total, {} mqtt drops", 
+                      imu_reading_count, mqtt_publish_drops);
            }
        }
    }
 }

-async fn wait_for_network(stack: embassy_net::Stack<'static>) {
+// 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;
@@ -168,6 +222,11 @@ async fn wait_for_network(stack: embassy_net::Stack<'static>) {
        }
        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) {
@@ -175,7 +234,7 @@ async fn handle_mqtt_message(msg: IncomingMsg) {
        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; }
        }
    }
 }
@@ -211,3 +270,24 @@ async fn connection_task(mut controller: WifiController<'static>) {
 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;
+    }
+}
--- a/mqtt_display/src/bus/mod.rs
+++ b/mqtt_display/src/bus/mod.rs
@@ -1,23 +1,22 @@
 // src/bus/mod.rs
+//! Shared access to the hardware I2C peripheral on a
+//! single core.

 use core::cell::RefCell;
-use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
-use embassy_sync::mutex::Mutex;
 use embedded_hal_bus::i2c::RefCellDevice;
 use esp_hal::i2c::master::I2c;
 use esp_hal::Async;

-/// The underlying I2C peripheral type for esp-hal 1.0.0-rc.0
+/// I2C peripheral type
 pub type I2cInner = I2c<'static, Async>;

-/// We use RefCell to share the bus on a single core.
-/// It's zero-overhead and safe because Embassy tasks don't preempt each other.
+/// RefCell to share the bus on a single core.
 pub type SharedI2c = RefCell<I2cInner>;

-/// A handle to a shared I2C device.
+/// Shared I2C device.
 pub type I2cDevice = RefCellDevice<'static, I2cInner>;

-/// Create a new I2C device handle from the shared bus.
+/// New I2C device handle from the shared bus.
 pub fn new_device(bus: &'static SharedI2c) -> I2cDevice {
    RefCellDevice::new(bus)
 }
--- a/mqtt_display/src/contracts.rs
+++ b/mqtt_display/src/contracts.rs
@@ -1,19 +1,16 @@
 // src/contracts.rs
 //! Cross-feature message contracts.
 //! 
-//! This is the ONLY coupling point between features.
 //! Features depend on these types, not on each other.

-use heapless::String as HString;
+use heapless::String;
+use pages_tui::input::Key;

 /// IMU sensor reading from MPU6050
 #[derive(Clone, Copy, Default, Debug)]
 pub struct ImuReading {
-    /// Acceleration in g (earth gravity units)
    pub accel_g: [f32; 3],
-    /// Angular velocity in degrees per second
    pub gyro_dps: [f32; 3],
-    /// Temperature in Celsius
    pub temp_c: f32,
    /// Timestamp in milliseconds since boot
    pub timestamp_ms: u64,
@@ -22,14 +19,13 @@ pub struct ImuReading {
 /// Commands that can be sent to the display actor
 #[derive(Clone, Debug)]
 pub enum DisplayCommand {
-    /// Show IMU sensor data
    SetImu(ImuReading),
-    /// Show a status line (max 32 chars)
-    SetStatus(HString<32>),
-    /// Show an error message (max 64 chars)
-    ShowError(HString<64>),
-    /// Show MQTT connection status
+    SetStatus(String<32>),
+    ShowError(String<64>),
    SetMqttStatus { connected: bool, msg_count: u32 },
    /// Clear the display to default state
    Clear,
+
+    PushKey(Key),
+    AddChatMessage(String<24>),
 }
--- a/mqtt_display/src/display/api.rs
+++ b/mqtt_display/src/display/api.rs
@@ -1,81 +1,66 @@
 // src/display/api.rs
-//! Public API for the display feature.
-//!
-//! Other parts of the system use this module to send commands to the display.
-//! The actual rendering happens in `task.rs`.
+//! display API

 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::channel::{Channel, Receiver, TrySendError};
-use heapless::String as HString;
+use heapless::String;

 use crate::contracts::{DisplayCommand, ImuReading};
+use pages_tui::input::Key;

-/// Queue size for display commands.
-/// Moderate size to handle bursts without dropping.
 const QUEUE_SIZE: usize = 8;

-/// Channel for sending commands to the display task.
 pub(crate) static DISPLAY_CHANNEL: Channel<CriticalSectionRawMutex, DisplayCommand, QUEUE_SIZE> =
    Channel::new();

-/// Send a command to the display.
-///
-/// This is async and will wait if the queue is full.
-/// For fire-and-forget, use `try_send`.
-///
-/// # Example
-/// ```ignore
-/// display::api::send(DisplayCommand::SetStatus("Hello".try_into().unwrap())).await;
-/// ```
 pub async fn send(cmd: DisplayCommand) {
    DISPLAY_CHANNEL.send(cmd).await;
 }

-/// Try to send a command without waiting.
-///
-/// Returns `Err(cmd)` if the queue is full.
 pub fn try_send(cmd: DisplayCommand) -> Result<(), DisplayCommand> {
    DISPLAY_CHANNEL.try_send(cmd).map_err(|e| match e {
        TrySendError::Full(command) => command,
    })
 }

-/// Get a receiver for display commands (internal use).
-///
-/// Used by the display task to receive commands.
 pub(crate) fn receiver() -> Receiver<'static, CriticalSectionRawMutex, DisplayCommand, QUEUE_SIZE> {
    DISPLAY_CHANNEL.receiver()
 }

-// ─────────────────────────────────────────────────────────────────────────────
-// Convenience functions for common commands
-// ─────────────────────────────────────────────────────────────────────────────
-
-/// Send IMU data to the display.
-pub async fn show_imu(reading: ImuReading) {
-    send(DisplayCommand::SetImu(reading)).await;
+/// Show IMU data - NON-BLOCKING to prevent backpressure deadlock
+pub fn show_imu(reading: ImuReading) {
+    // try_send instead of send().await
+    // If display is slow, we drop the reading rather than blocking the main loop
+    let _ = try_send(DisplayCommand::SetImu(reading));
 }

-/// Set the status line.
 pub async fn set_status(text: &str) {
-    let mut s = HString::<32>::new();
+    let mut s = String::<32>::new();
    let _ = s.push_str(&text[..text.len().min(32)]);
    send(DisplayCommand::SetStatus(s)).await;
 }

-/// Show an error message.
 pub async fn show_error(text: &str) {
-    let mut s = HString::<64>::new();
+    let mut s = String::<64>::new();
    let _ = s.push_str(&text[..text.len().min(64)]);
    send(DisplayCommand::ShowError(s)).await;
 }

-/// Update MQTT status indicator.
 pub async fn set_mqtt_status(connected: bool, msg_count: u32) {
    send(DisplayCommand::SetMqttStatus { connected, msg_count }).await;
 }

-/// Clear the display.
 pub async fn clear() {
    send(DisplayCommand::Clear).await;
 }
+
+pub async fn push_key(key: Key) {
+    send(DisplayCommand::PushKey(key)).await;
+}
+
+/// Add a chat message (for Chat page)
+pub async fn add_chat_message(msg: &str) {
+    let mut s = String::<24>::new();
+    let _ = s.push_str(&msg[..msg.len().min(24)]);
+    send(DisplayCommand::AddChatMessage(s)).await;
+}
--- a/mqtt_display/src/display/mod.rs
+++ b/mqtt_display/src/display/mod.rs
@@ -3,3 +3,4 @@

 pub mod api;
 pub mod task;
+pub mod tui;
--- a/mqtt_display/src/display/task.rs
+++ b/mqtt_display/src/display/task.rs
@@ -1,104 +1,37 @@
 // src/display/task.rs
-//! SSD1306 display rendering task optimized for 0.91" 128x32 OLED.
-
 use embassy_time::{Duration, Timer};
 use log::{error, info};

 use alloc::boxed::Box;
-use alloc::format;
-use heapless::String as HString;
 use mousefood::{EmbeddedBackend, EmbeddedBackendConfig};
-use ratatui::{
-    layout::{Constraint, Direction, Layout},
-    style::{Style, Stylize},
-    widgets::Paragraph,
-    Terminal,
-};
-use ssd1306::{
-    mode::BufferedGraphicsMode, prelude::*, I2CDisplayInterface, Ssd1306,
-};
+use ratatui::Terminal;
+use ssd1306::{mode::BufferedGraphicsMode, prelude::*, I2CDisplayInterface, Ssd1306};

 use crate::bus::I2cDevice;
-use crate::contracts::{DisplayCommand, ImuReading};
 use crate::display::api::receiver;
+use crate::display::tui::{render_frame, DisplayState, Screen, ScreenEvent};
+use crate::contracts::DisplayCommand;
+use pages_tui::prelude::*;

-/// Display refresh interval in milliseconds.
 const REFRESH_INTERVAL_MS: u64 = 100;

-/// Internal state for what to render.
-struct DisplayState {
-    status: HString<32>,
-    last_imu: Option<ImuReading>,
-    last_error: Option<HString<64>>,
-    mqtt_connected: bool,
-    mqtt_msg_count: u32,
-}
-
-impl Default for DisplayState {
-    fn default() -> Self {
-        Self {
-            status: HString::new(),
-            last_imu: None,
-            last_error: None,
-            mqtt_connected: false,
-            mqtt_msg_count: 0,
-        }
-    }
-}
-
-impl DisplayState {
-    fn apply_command(&mut self, cmd: DisplayCommand) {
-        match cmd {
-            DisplayCommand::SetImu(reading) => {
-                self.last_imu = Some(reading);
-                self.last_error = None;
-            }
-            DisplayCommand::SetStatus(s) => {
-                self.status = s;
-            }
-            DisplayCommand::ShowError(e) => {
-                self.last_error = Some(e);
-            }
-            DisplayCommand::SetMqttStatus { connected, msg_count } => {
-                self.mqtt_connected = connected;
-                self.mqtt_msg_count = msg_count;
-            }
-            DisplayCommand::Clear => {
-                self.last_imu = None;
-                self.last_error = None;
-                self.status = HString::new();
-            }
-        }
-    }
-}
-
-/// The display rendering task.
-/// Designed for 0.91" 128x32 slim OLED screen.
 #[embassy_executor::task]
 pub async fn display_task(i2c: I2cDevice) {
    info!("Display task starting...");

-    // Initialize SSD1306 display for 128x32 variant
    let interface = I2CDisplayInterface::new(i2c);
    let mut display = Ssd1306::new(interface, DisplaySize128x32, DisplayRotation::Rotate0)
        .into_buffered_graphics_mode();

    if let Err(e) = display.init() {
        error!("Display init failed: {:?}", e);
-        loop {
-            Timer::after(Duration::from_secs(60)).await;
-        }
+        loop { Timer::after(Duration::from_secs(60)).await; }
    }

-    info!("SSD1306 display initialized (128x32)");
-
-    // Configure mousefood backend for ratatui
    let config = EmbeddedBackendConfig {
-        flush_callback: Box::new(
-            |d: &mut Ssd1306<_, _, BufferedGraphicsMode<DisplaySize128x32>>| {
-                let _ = d.flush();
-            },
-        ),
+        flush_callback: Box::new(|d: &mut Ssd1306<_, _, BufferedGraphicsMode<DisplaySize128x32>>| {
+            let _ = d.flush();
+        }),
        ..Default::default()
    };

@@ -106,60 +39,63 @@ pub async fn display_task(i2c: I2cDevice) {
    let mut terminal = Terminal::new(backend).expect("terminal init failed");

    let mut state = DisplayState::default();
+    let mut orchestrator = Orchestrator::<Screen>::new();
    let rx = receiver();

-    info!("Display task entering render loop");
+    // Register pages
+    // Enum-based registration
+    orchestrator.register(Screen::Menu);
+    orchestrator.register(Screen::Imu);
+    orchestrator.register(Screen::Chat);
+
+    orchestrator.bind(Key::tab(), ComponentAction::Next);
+    orchestrator.bind(Key::enter(), ComponentAction::Select);
+
+    let _ = orchestrator.navigate_to(Screen::Menu);
+
+    info!("Display ready");

    loop {
-        // Process all pending commands (non-blocking)
        while let Ok(cmd) = rx.try_receive() {
-            state.apply_command(cmd);
+            match cmd {
+                DisplayCommand::PushKey(key) => {
+                    if key == Key::tab() {
+                        orchestrator.focus_manager_mut().next();
+                    } else if key == Key::enter() {
+                        if let Ok(events) = orchestrator.process_frame(key) {
+                            for event in events {
+                                match event {
+                                    ScreenEvent::GoToImu => {
+                                        let _ = orchestrator.navigate_to(Screen::Imu);
+                                    }
+                                    ScreenEvent::GoToChat => {
+                                        let _ = orchestrator.navigate_to(Screen::Chat);
+                                    }
+                                    ScreenEvent::NavigatePrev => {
+                                        if let Some(cur) = orchestrator.current() {
+                                            let prev = cur.prev();
+                                            let _ = orchestrator.navigate_to(prev);
+                                        }
+                                    }
+                                    ScreenEvent::NavigateNext => {
+                                        if let Some(cur) = orchestrator.current() {
+                                            let next = cur.next();
+                                            let _ = orchestrator.navigate_to(next);
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+                _ => state.apply_command(cmd),
+            }
        }

-        // Render current state
-        render_frame(&mut terminal, &state);
+        if let Some(screen) = orchestrator.current() {
+            render_frame(&mut terminal, screen, orchestrator.focus_manager().current(), &state);
+        }

-        // Wait before next refresh
        Timer::after(Duration::from_millis(REFRESH_INTERVAL_MS)).await;
    }
 }
-
-/// Render a single frame compactly (for 128x32 OLED)
-fn render_frame<B: ratatui::backend::Backend>(terminal: &mut Terminal<B>, state: &DisplayState) {
-    let _ = terminal.draw(|f| {
-        let chunks = Layout::default()
-            .direction(Direction::Vertical)
-            .constraints([
-                Constraint::Length(1),
-                Constraint::Min(0),
-            ])
-            .split(f.area());
-
-        // Header: condensed status + MQTT indicator
-        let mqtt_indicator = if state.mqtt_connected { "M" } else { "m" };
-        let header_title = format!(
-            "[{}] {} #{}",
-            mqtt_indicator,
-            state.status.as_str(),
-            state.mqtt_msg_count
-        );
-
-        f.render_widget(Paragraph::new(header_title).style(Style::default().reversed()), chunks[0]);
-
-        // Body: minimal content (no borders, short text)
-        let body_content = if let Some(ref err) = state.last_error {
-            format!("ERR: {}", err.as_str())
-        } else if let Some(ref imu) = state.last_imu {
-            format!(
-                "A:{:.1} {:.1} {:.1}\nG:{:.0} {:.0} {:.0}\nT:{:.1}C",
-                imu.accel_g[0], imu.accel_g[1], imu.accel_g[2],
-                imu.gyro_dps[0], imu.gyro_dps[1], imu.gyro_dps[2],
-                imu.temp_c
-            )
-        } else {
-            format!("Waiting for data...")
-        };
-
-        f.render_widget(Paragraph::new(body_content), chunks[1]);
-    });
-}
--- a/mqtt_display/src/display/tui.rs
+++ b/mqtt_display/src/display/tui.rs
@@ -0,0 +1,277 @@
+// src/display/tui.rs
+use crate::contracts::{DisplayCommand, ImuReading};
+use alloc::format;
+use heapless::String;
+use pages_tui::prelude::*;
+use ratatui::{
+    layout::Rect,
+    style::Stylize,
+    widgets::Paragraph,
+    Terminal,
+};
+use log::info;
+
+/// Focus targets - different per screen
+#[derive(Clone, Copy, Debug, PartialEq, Eq, Hash)]
+pub enum PageFocus {
+    MenuImu,
+    MenuChat,
+    NavPrev,
+    NavNext,
+}
+
+impl FocusId for PageFocus {}
+
+const MENU_TARGETS: &[PageFocus] = &[PageFocus::MenuImu, PageFocus::MenuChat];
+const NAV_TARGETS: &[PageFocus] = &[PageFocus::NavPrev, PageFocus::NavNext];
+
+/// Display state
+pub struct DisplayState {
+    pub(crate) status: String<32>,
+    pub(crate) last_imu: Option<ImuReading>,
+    pub(crate) last_error: Option<String<64>>,
+    pub(crate) mqtt_connected: bool,
+    pub(crate) mqtt_msg_count: u32,
+    pub(crate) chat_msg1: String<24>,
+    pub(crate) chat_msg2: String<24>,
+}
+
+impl Default for DisplayState {
+    fn default() -> Self {
+        Self {
+            status: String::new(),
+            last_imu: None,
+            last_error: None,
+            mqtt_connected: false,
+            mqtt_msg_count: 0,
+            chat_msg1: String::new(),
+            chat_msg2: String::new(),
+        }
+    }
+}
+
+impl DisplayState {
+    pub fn apply_command(&mut self, cmd: DisplayCommand) {
+        match cmd {
+            DisplayCommand::SetImu(reading) => {
+                self.last_imu = Some(reading);
+                self.last_error = None;
+            }
+            DisplayCommand::SetStatus(s) => self.status = s,
+            DisplayCommand::ShowError(e) => self.last_error = Some(e),
+            DisplayCommand::SetMqttStatus { connected, msg_count } => {
+                self.mqtt_connected = connected;
+                self.mqtt_msg_count = msg_count;
+            }
+            DisplayCommand::Clear => {
+                self.last_imu = None;
+                self.last_error = None;
+                self.status = String::new();
+            }
+            DisplayCommand::PushKey(_) => {}
+            DisplayCommand::AddChatMessage(msg) => {
+                self.add_chat_message(msg.as_str());
+            }
+        }
+    }
+
+    pub fn add_chat_message(&mut self, msg: &str) {
+        self.chat_msg2 = self.chat_msg1.clone();
+        self.chat_msg1.clear();
+        let _ = self.chat_msg1.push_str(&msg[..msg.len().min(24)]);
+    }
+}
+
+#[derive(Clone, Debug, PartialEq, Eq)]
+pub enum Screen {
+    Menu,
+    Imu,
+    Chat,
+}
+
+#[derive(Clone, Debug)]
+pub enum ScreenEvent {
+    GoToImu,
+    GoToChat,
+    NavigatePrev,
+    NavigateNext,
+}
+
+impl Component for Screen {
+    type Action = ComponentAction;
+    type Event = ScreenEvent;
+    type Focus = PageFocus;
+
+    fn handle(
+        &mut self,
+        focus: &Self::Focus,
+        action: Self::Action,
+    ) -> Result<Option<Self::Event>, ComponentError> {
+        if let ComponentAction::Select = action {
+            info!("Select {:?} focus:{:?}", self, focus);
+            return Ok(Some(match focus {
+                PageFocus::MenuImu => ScreenEvent::GoToImu,
+                PageFocus::MenuChat => ScreenEvent::GoToChat,
+                PageFocus::NavPrev => ScreenEvent::NavigatePrev,
+                PageFocus::NavNext => ScreenEvent::NavigateNext,
+            }));
+        }
+        Ok(None)
+    }
+
+    fn targets(&self) -> &[Self::Focus] {
+        match self {
+            Screen::Menu => MENU_TARGETS,
+            Screen::Imu | Screen::Chat => NAV_TARGETS,
+        }
+    }
+
+    fn on_enter(&mut self) -> Result<(), ComponentError> {
+        info!("Enter: {:?}", self);
+        Ok(())
+    }
+
+    fn on_exit(&mut self) -> Result<(), ComponentError> {
+        Ok(())
+    }
+}
+
+// PAGE ORDER
+const PAGE_ORDER: &[Screen] = &[Screen::Menu, Screen::Imu, Screen::Chat];
+
+impl Screen {
+    pub fn next(&self) -> Screen {
+        let idx = PAGE_ORDER.iter().position(|p| p == self).unwrap_or(0);
+        PAGE_ORDER[(idx + 1) % PAGE_ORDER.len()].clone()
+    }
+
+    pub fn prev(&self) -> Screen {
+        let idx = PAGE_ORDER.iter().position(|p| p == self).unwrap_or(0);
+        if idx == 0 {
+            PAGE_ORDER[PAGE_ORDER.len() - 1].clone()
+        } else {
+            PAGE_ORDER[idx - 1].clone()
+        }
+    }
+
+    pub fn to_str(&self) -> &'static str {
+        match self {
+            Screen::Menu => "menu",
+            Screen::Imu => "imu",
+            Screen::Chat => "chat",
+        }
+    }
+}
+
+// RENDERING
+/// Get row rect (0-3) for 128x32 display
+#[inline]
+fn row(area: Rect, n: u16) -> Rect {
+    Rect::new(area.x, area.y + n, area.width, 1)
+}
+
+pub fn render_frame<B: ratatui::backend::Backend>(
+    terminal: &mut Terminal<B>,
+    current_screen: &Screen,
+    focused: Option<&PageFocus>,
+    state: &DisplayState,
+) {
+    let _ = terminal.draw(|f| {
+        let area = f.area();
+        
+        if let Some(ref err) = state.last_error {
+            f.render_widget(Paragraph::new(format!("ERR:{}", err.as_str())).white().bold(), area);
+            return;
+        }
+
+        match current_screen {
+            Screen::Menu => render_menu(f, area, focused, state),
+            Screen::Imu => render_imu(f, area, focused, state),
+            Screen::Chat => render_chat(f, area, focused, state),
+        }
+    });
+}
+
+fn render_menu(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, state: &DisplayState) {
+    // Row 0 Title
+    let conn = if state.mqtt_connected { "*" } else { "x" };
+    f.render_widget(
+        Paragraph::new(format!("-- ESP32 Hub {} --", conn)).white().bold(),
+        row(area, 0),
+    );
+
+    // Row 1 Sensors
+    let imu_sel = focused == Some(&PageFocus::MenuImu);
+    f.render_widget(
+        Paragraph::new(if imu_sel { " > Sensors" } else { "   Sensors" })
+            .style(if imu_sel { ratatui::style::Style::default().white().bold() } else { ratatui::style::Style::default().white() }),
+        row(area, 1),
+    );
+
+    // Row 2 Messages  
+    let chat_sel = focused == Some(&PageFocus::MenuChat);
+    f.render_widget(
+        Paragraph::new(if chat_sel { " > Messages" } else { "   Messages" })
+            .style(if chat_sel { ratatui::style::Style::default().white().bold() } else { ratatui::style::Style::default().white() }),
+        row(area, 2),
+    );
+}
+
+fn render_imu(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, state: &DisplayState) {
+    if let Some(ref imu) = state.last_imu {
+        // Row 0 Gyro
+        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(),
+            row(area, 0),
+        );
+        // Row 1 Accel
+        f.render_widget(
+            Paragraph::new(format!("A:{:+.1} {:+.1} {:+.1}", imu.accel_g[0], imu.accel_g[1], imu.accel_g[2])).green(),
+            row(area, 1),
+        );
+        // Row 2 Temp
+        f.render_widget(
+            Paragraph::new(format!("T: {:.1}C", imu.temp_c)).yellow(),
+            row(area, 2),
+        );
+    } else {
+        f.render_widget(Paragraph::new("Waiting for MPU...").white(), row(area, 1));
+    }
+
+    // Row 3 Nav bar
+    // render_nav_bar(f, row(area, 3), focused);
+}
+
+fn render_chat(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>, state: &DisplayState) {
+    // Row 0 Message 1
+    if state.chat_msg1.is_empty() {
+        f.render_widget(Paragraph::new("(no messages)").white(), row(area, 0));
+    } else {
+        f.render_widget(Paragraph::new(format!(">{}", state.chat_msg1.as_str())).green(), row(area, 0));
+    }
+
+    // Row 1 Message 2
+    if !state.chat_msg2.is_empty() {
+        f.render_widget(Paragraph::new(format!(">{}", state.chat_msg2.as_str())).white(), row(area, 1));
+    }
+
+    // Row 3 Nav bar
+    render_nav_bar(f, row(area, 2), focused);
+}
+
+/// Nav bar: --[<]-------[>]--
+fn render_nav_bar(f: &mut ratatui::Frame, area: Rect, focused: Option<&PageFocus>) {
+    let prev_sel = focused == Some(&PageFocus::NavPrev);
+    let next_sel = focused == Some(&PageFocus::NavNext);
+    
+    let prev = if prev_sel { "[<]" } else { " < " };
+    let next = if next_sel { "[>]" } else { " > " };
+    
+    // Build the line: --[<]-------[>]--
+    let line = format!("--{}-------{}--", prev, next);
+    
+    f.render_widget(
+        Paragraph::new(line).style(ratatui::style::Style::default().white()),
+        area,
+    );
+}
--- a/mqtt_display/src/i2c/com.rs
+++ b/mqtt_display/src/i2c/com.rs
@@ -1,79 +1,13 @@
 // src/i2c/com.rs

-use embassy_executor::task;
 use embassy_time::{Duration, Timer};
 use esp_hal::{
    i2c::master::{Config, I2c},
    peripherals::Peripherals,
 };
-use ssd1306::mode::BufferedGraphicsMode;
 use log::info;

-#[task]
-pub async fn display_task() {
-    use mousefood::{EmbeddedBackend, EmbeddedBackendConfig};
-    use ratatui::{
-        layout::{Constraint, Direction, Layout},
-        widgets::{Block, Borders, Paragraph},
-        Terminal,
-    };
-    use ssd1306::{prelude::*, I2CDisplayInterface, Ssd1306};
-
-    let peripherals = unsafe { Peripherals::steal() };
-
-    let i2c = I2c::new(peripherals.I2C0, Config::default())
-        .expect("Failed to initialize I2C")
-        .with_sda(peripherals.GPIO21)
-        .with_scl(peripherals.GPIO22);
-
-    let interface = I2CDisplayInterface::new(i2c);
-    let mut display = Ssd1306::new(interface, DisplaySize128x64, DisplayRotation::Rotate0)
-        .into_buffered_graphics_mode();
-
-    display.init().unwrap();
-
-    let config = EmbeddedBackendConfig {
-        flush_callback: alloc::boxed::Box::new(|display| {
-            let d: &mut Ssd1306<_, _, BufferedGraphicsMode<DisplaySize128x64>> = display;
-            d.flush().unwrap();
-        }),
-        ..Default::default()
-    };
-
-    let backend = EmbeddedBackend::new(&mut display, config);
-    let mut terminal = Terminal::new(backend).unwrap();
-
-    let mut counter = 0;
-
-    loop {
-        terminal
-            .draw(|f| {
-                let chunks = Layout::default()
-                    .direction(Direction::Vertical)
-                    .constraints([Constraint::Length(3), Constraint::Min(0)])
-                    .split(f.area());
-
-                f.render_widget(
-                    Block::default().title(" ESP32 Status ").borders(Borders::ALL),
-                    chunks[0],
-                );
-
-                let content = alloc::format!("MQTT Active\nCounter: {}", counter);
-                f.render_widget(
-                    Paragraph::new(content).block(
-                        Block::default().borders(Borders::LEFT | Borders::RIGHT | Borders::BOTTOM),
-                    ),
-                    chunks[1],
-                );
-            })
-            .unwrap();
-
-        counter += 1;
-        Timer::after(Duration::from_millis(1000)).await;
-    }
-}
-
-#[task]
+#[embassy_executor::task]
 pub async fn i2c_check() {
    let peripherals = unsafe { Peripherals::steal() };
    let mut i2c = I2c::new(peripherals.I2C0, Config::default())
--- a/mqtt_display/src/mpu/api.rs
+++ b/mqtt_display/src/mpu/api.rs
@@ -4,9 +4,9 @@ use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 use embassy_sync::channel::{Channel, Receiver, Sender};
 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> {
    IMU_CHANNEL.receiver()
--- a/mqtt_display/src/mpu/task.rs
+++ b/mqtt_display/src/mpu/task.rs
@@ -15,7 +15,7 @@ use crate::mpu::api::sender;
 use crate::mpu::driver::Mpu6050;

 /// Sampling interval in milliseconds.
-/// 50ms = 20Hz, reasonable for display updates.
+/// 50ms = 20Hz
 const SAMPLE_INTERVAL_MS: u64 = 50;

 /// 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;
                continue;
            }
-            Err(_e) => {
+            Err(_) => {
                warn!(
                    "I2C error verifying MPU6050 (attempt {})",
                    init_attempts
@@ -68,7 +68,7 @@ pub async fn mpu_task(i2c: I2cDevice) {
                info!("MPU6050 initialized successfully");
                break;
            }
-            Err(_e) => {
+            Err(_) => {
                error!("MPU6050 init failed (attempt {})", init_attempts);
                Timer::after(Duration::from_secs(2)).await;
                continue;
@@ -78,11 +78,14 @@ pub async fn mpu_task(i2c: I2cDevice) {

    // Allow sensor to stabilize after wake-up
    Timer::after(Duration::from_millis(100)).await;
-
-    info!("MPU task entering sampling loop ({}ms interval)", SAMPLE_INTERVAL_MS);
+    info!(
+        "MPU task entering sampling loop ({}ms interval)",
+        SAMPLE_INTERVAL_MS
+    );

    let tx = sender();
    let mut consecutive_errors = 0u32;
+    let mut sent_count: u32 = 0;

    loop {
        let start = Instant::now();
@@ -98,13 +101,20 @@ pub async fn mpu_task(i2c: I2cDevice) {
                    timestamp_ms: start.as_millis(),
                };

-                // Try to send; if queue is full, drop oldest by using try_send
-                // This ensures we never block the sampling loop
-                if tx.try_send(reading).is_err() {
-                    // Queue full - that's okay, main will get the next one
+                sent_count = sent_count.wrapping_add(1);
+                if tx.try_send(reading).is_ok() {
+                    if sent_count % 20 == 0 {
+                        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;
                if consecutive_errors == 1 || consecutive_errors % 10 == 0 {
                    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 target = Duration::from_millis(SAMPLE_INTERVAL_MS);
        if elapsed < target {
--- a/mqtt_display/src/mqtt/client.rs
+++ b/mqtt_display/src/mqtt/client.rs
@@ -1,7 +1,8 @@
 // src/mqtt/client.rs
-use embassy_futures::select::{select, Either};
+
 use embassy_net::{tcp::TcpSocket, Stack};
-use embassy_time::{Duration, Timer};
+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;
@@ -9,16 +10,26 @@ 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 log::info;
+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;
@@ -57,10 +68,18 @@ enum Command {
    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();

-// Public API
+/// 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 {
@@ -68,11 +87,56 @@ pub async fn mqtt_publish(topic: &str, payload: &[u8], qos: QualityOfService, re
            payload: truncate_payload(payload),
            qos,
            retain,
-        })).await;
+        }))
+        .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) {
-    CMD_CHAN.send(Command::Subscribe(truncate_str::<TOPIC_MAX>(topic))).await;
+    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(
@@ -80,10 +144,23 @@ pub fn mqtt_events(
    EVT_CHAN.receiver()
 }

-// Helper functions for memory-safe truncation
+/// Internals
+
 fn truncate_str<const N: usize>(s: &str) -> String<N> {
    let mut h = String::new();
-    let _ = h.push_str(&s[..s.len().min(N)]);
+    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
 }

@@ -101,24 +178,27 @@ async fn handle_command(client: &mut Client<'_, '_>, cmd: Command) -> Result<(),
                .await
        }
        Command::Subscribe(topic) => {
-            client.subscribe_to_topic(topic.as_str()).await?;
-            info!("Subscribed to '{}'", topic);
-            Ok(())
+            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?;
-    EVT_CHAN
-        .send(IncomingMsg {
-            topic: truncate_str::<TOPIC_MAX>(topic),
-            payload: truncate_payload(payload),
-        }).await;
+    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(())
 }

-// Session and reconnect control
 async fn run_one_session(
    stack: Stack<'static>,
    tcp_rx: &mut [u8],
@@ -127,6 +207,7 @@ async fn run_one_session(
    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) => {
@@ -135,12 +216,14 @@ async fn run_one_session(
        }
    }

-    // MQTT configuration and client setup
-    let mut cfg: ClientConfig<8, CountingRng> = ClientConfig::new(MqttVersion::MQTTv5, CountingRng(0));
+    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);
+    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) => {
@@ -149,19 +232,188 @@ async fn run_one_session(
        }
    }

-    // Operational loop
-    loop {
-        let net_or_ping = select(client.receive_message(), Timer::after(PING_PERIOD));
+    // 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(());
+            }
+        }
+    }

-        match select(CMD_CHAN.receive(), net_or_ping).await {
-            Either::First(cmd) => handle_command(&mut client, cmd).await.map_err(|_| ())?,
-            Either::Second(Either::First(result)) => handle_incoming(result).await.map_err(|_| ())?,
-            Either::Second(Either::Second(_)) => client.send_ping().await.map_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(());
+                    }
+                }
+            }
        }
    }
 }

-// Main MQTT embassy task
 #[embassy_executor::task]
 pub async fn mqtt_task(stack: Stack<'static>) {
    info!("MQTT task starting...");
@@ -178,9 +430,13 @@ pub async fn mqtt_task(stack: Stack<'static>) {
            &mut tcp_tx[..],
            &mut mqtt_tx[..],
            &mut mqtt_rx[..],
-        ).await;
+        )
+        .await;

-        info!("Reconnecting in {}s after session end/failure", RECONNECT_DELAY_SECS);
+        info!(
+            "Reconnecting in {}s after session end/failure",
+            RECONNECT_DELAY_SECS
+        );
        Timer::after(Duration::from_secs(RECONNECT_DELAY_SECS)).await;
    }
 }
--- a/tprais_semestralka1/.cargo/config.toml
+++ b/tprais_semestralka1/.cargo/config.toml
@@ -0,0 +1,17 @@
+[target.xtensa-esp32-none-elf]
+runner = "espflash flash --monitor --chip esp32"
+
+[env]
+ESP_LOG="info"
+
+[build]
+rustflags = [
+  "-C", "link-arg=-nostartfiles",
+  "-C", "link-arg=-Tdefmt.x",
+  "-Z", "stack-protector=all",
+]
+
+target = "xtensa-esp32-none-elf"
+
+[unstable]
+build-std = ["alloc", "core"]
--- a/tprais_semestralka1/.env_temp
+++ b/tprais_semestralka1/.env_temp
@@ -0,0 +1,4 @@
+SSID = "nazov_wifi_siete"
+PASSWORD = "heslo_od_wifi"
+BROKER_IP= "5.196.78.28"
+BROKER_PORT= "1883"
--- a/tprais_semestralka1/.gitignore
+++ b/tprais_semestralka1/.gitignore
@@ -0,0 +1,20 @@
+# will have compiled files and executables
+debug/
+target/
+.vscode/
+.zed/
+.helix/
+.env
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+# MSVC Windows builds of rustc generate these, which store debugging information
+*.pdb
+
+# RustRover
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
--- a/tprais_semestralka1/Cargo.lock
+++ b/tprais_semestralka1/Cargo.lock
--- a/tprais_semestralka1/Cargo.toml
+++ b/tprais_semestralka1/Cargo.toml
@@ -0,0 +1,96 @@
+[package]
+edition      = "2021"
+name         = "projekt_final"
+rust-version = "1.89.0"
+version      = "0.2.0"
+
+[[bin]]
+name = "projekt_final"
+path = "./src/bin/main.rs"
+
+[dependencies]
+pages-tui = { path = "../../../pages-tui" }
+esp-bootloader-esp-idf = { version = "0.2.0", features = ["esp32"] }
+esp-hal = { version = "=1.0.0-rc.0", features = [
+  "esp32",
+  "log-04",
+  "unstable",
+] }
+log = "0.4.27"
+
+embassy-net = { version = "0.7.0", features = [
+  "dhcpv4",
+  "proto-ipv6",
+  "log",
+  "medium-ethernet",
+  "tcp",
+  "udp",
+] }
+embedded-io = "0.6.1"
+embedded-io-async = "0.6.1"
+esp-alloc = "0.8.0"
+esp-backtrace = { version = "0.17.0", features = [
+  "esp32",
+  "exception-handler",
+  "panic-handler",
+  "println",
+] }
+esp-println = { version = "0.15.0", features = ["esp32", "log-04", "defmt-espflash"] }
+# for more networking protocol support see https://crates.io/crates/edge-net
+critical-section = "1.2.0"
+embassy-executor = { version = "0.7.0", features = [
+  "log",
+  "task-arena-size-20480",
+] }
+embassy-time = { version = "0.5.0", features = ["log"] }
+esp-hal-embassy = { version = "0.9.0", features = ["esp32", "log-04"] }
+esp-wifi = { version = "0.15.0", features = [
+  "builtin-scheduler",
+  "esp-alloc",
+  "esp32",
+  "log-04",
+  "smoltcp",
+  "wifi",
+] }
+smoltcp = { version = "0.12.0", default-features = false, features = [
+  "log",
+  "medium-ethernet",
+  "multicast",
+  "proto-dhcpv4",
+  "proto-dns",
+  "proto-ipv4",
+  "proto-ipv6",
+  "socket-dns",
+  "socket-icmp",
+  "socket-raw",
+  "socket-tcp",
+  "socket-udp",
+] }
+static_cell = "2.1.1"
+rust-mqtt = { version = "0.3.0", default-features = false, features = ["no_std"] }
+embassy-futures = "0.1.2"
+embassy-sync = "0.7.2"
+heapless = "0.9.1"
+mousefood = { git = "https://github.com/j-g00da/mousefood", branch = "main", default-features = false }
+ssd1306 = "0.10.0"
+ratatui = { version = "0.30.0", default-features = false, features = ["macros", "all-widgets", "portable-atomic"] }
+embedded-hal-bus = "0.3.0"
+embedded-hal = "1.0.0"
+defmt = "1.0.1"
+
+[build-dependencies]
+dotenvy = "0.15.7"
+
+[profile.dev]
+# Rust debug is too slow.
+# For debug builds always builds with some optimization
+opt-level = "s"
+
+[profile.release]
+codegen-units    = 1     # LLVM can perform better optimizations using a single thread
+debug            = 2
+debug-assertions = false
+incremental      = false
+lto              = 'fat'
+opt-level        = 's'
+overflow-checks  = false
--- a/tprais_semestralka1/Makefile
+++ b/tprais_semestralka1/Makefile
@@ -0,0 +1,12 @@
+.PHONY: all build flash
+
+all: build flash
+
+build:
+	cargo build --release
+
+flash:
+	cargo espflash flash --release --monitor
+
+info:
+	espflash board-info
--- a/tprais_semestralka1/build.rs
+++ b/tprais_semestralka1/build.rs
@@ -0,0 +1,73 @@
+fn main() {
+    // Explicitly load .env from the project root, even when called from other dirs
+    let project_root = std::env::var("CARGO_MANIFEST_DIR").unwrap();
+    let dotenv_path = std::path::Path::new(&project_root).join(".env");
+    if dotenvy::from_path(dotenv_path.clone()).is_ok() {
+        println!("cargo:rerun-if-changed={}", dotenv_path.display());
+    }
+
+    // Pass WIFI credentials into firmware
+    if let Ok(ssid) = std::env::var("SSID") {
+        println!("cargo:rustc-env=SSID={}", ssid);
+    }
+    if let Ok(password) = std::env::var("PASSWORD") {
+        println!("cargo:rustc-env=PASSWORD={}", password);
+    }
+    if let Ok(ip) = std::env::var("BROKER_IP") {
+        println!("cargo:rustc-env=BROKER_IP={}", ip);
+    }
+    if let Ok(port) = std::env::var("BROKER_PORT") {
+        println!("cargo:rustc-env=BROKER_PORT={}", port);
+    }
+
+    linker_be_nice();
+
+    println!("cargo:rustc-link-arg=-Tlinkall.x");
+}
+
+fn linker_be_nice() {
+    let args: Vec<String> = std::env::args().collect();
+    if args.len() > 1 {
+        let kind = &args[1];
+        let what = &args[2];
+
+        match kind.as_str() {
+            "undefined-symbol" => match what.as_str() {
+                "_defmt_timestamp" => {
+                    eprintln!();
+                    eprintln!("💡 `defmt` not found - make sure `defmt.x` is added as a linker script and you have included `use defmt_rtt as _;`");
+                    eprintln!();
+                }
+                "_stack_start" => {
+                    eprintln!();
+                    eprintln!("💡 Is the linker script `linkall.x` missing?");
+                    eprintln!();
+                }
+                "esp_wifi_preempt_enable"
+                | "esp_wifi_preempt_yield_task"
+                | "esp_wifi_preempt_task_create" => {
+                    eprintln!();
+                    eprintln!("💡 `esp-wifi` has no scheduler enabled. Make sure you have the `builtin-scheduler` feature enabled, or that you provide an external scheduler.");
+                    eprintln!();
+                }
+                "embedded_test_linker_file_not_added_to_rustflags" => {
+                    eprintln!();
+                    eprintln!("💡 `embedded-test` not found - make sure `embedded-test.x` is added as a linker script for tests");
+                    eprintln!();
+                }
+                _ => (),
+            },
+            // we don't have anything helpful for "missing-lib" yet
+            _ => {
+                std::process::exit(1);
+            }
+        }
+
+        std::process::exit(0);
+    }
+
+    println!(
+        "cargo:rustc-link-arg=-Wl,--error-handling-script={}",
+        std::env::current_exe().unwrap().display()
+    );
+}
--- a/tprais_semestralka1/docs/critical_data_flow_points.mermaid
+++ b/tprais_semestralka1/docs/critical_data_flow_points.mermaid
@@ -0,0 +1,37 @@
+graph TD
+    START[MPU reads @50ms = 20 Hz] --> A{IMU_CHANNEL<br/>try_send}
+    
+    A -->|Full| DROP1[❌ DROP: Channel full<br/>16 slots @ 50ms = 800ms buffer]
+    A -->|OK| B[Main Loop receive]
+    
+    B --> C[Drain loop:<br/>Get freshest reading]
+    C --> D{Time check:<br/>≥3s since last?}
+    
+    D -->|No| E[Skip MQTT]
+    D -->|Yes| F{mqtt_set_imu<br/>try_lock IMU_LATEST}
+    
+    F -->|Locked| DROP2[❌ SKIP: Mutex busy]
+    F -->|OK| G[Store payload]
+    
+    E --> H[show_imu]
+    G --> H
+    
+    H --> I{DISPLAY_CHANNEL<br/>try_send}
+    I -->|Full| DROP3[❌ DROP: Display slow<br/>8 slots @ 100ms = 800ms buffer]
+    I -->|OK| J[Display renders]
+    
+    G --> K[MQTT Task loop]
+    K --> L{IMU_LATEST<br/>try_lock}
+    
+    L -->|Empty/Locked| M[Skip this iteration]
+    L -->|Has data| N[Send to broker<br/>QoS0 no retain]
+    
+    N --> O{TCP send result}
+    O -->|Fail| RECONNECT[❌ Session dies<br/>Reconnect in 5s]
+    O -->|OK| P[✅ Data sent]
+    
+    style DROP1 fill:#ffcccc
+    style DROP2 fill:#ffcccc
+    style DROP3 fill:#ffcccc
+    style RECONNECT fill:#ffcccc
+    style P fill:#ccffcc
--- a/tprais_semestralka1/docs/critical_data_flow_points.mermaid.svg
+++ b/tprais_semestralka1/docs/critical_data_flow_points.mermaid.svg
--- a/tprais_semestralka1/docs/mpu_data_flow.mermaid
+++ b/tprais_semestralka1/docs/mpu_data_flow.mermaid
@@ -0,0 +1,54 @@
+sequenceDiagram
+    participant HW as MPU6050 Hardware
+    participant MPU as MPU Task<br/>(Core 0)
+    participant CH as IMU_CHANNEL<br/>[16 slots]
+    participant MAIN as Main Loop<br/>(Core 0)
+    participant LATEST as IMU_LATEST<br/>(Mutex)
+    participant MQTT as MQTT Task<br/>(Core 1)
+    participant DISP as Display API
+    
+    Note over MPU: Every 50ms
+    MPU->>HW: Read sensor (I2C)
+    HW-->>MPU: Raw data
+    MPU->>MPU: Convert to ImuReading
+    MPU->>CH: try_send(reading)
+    
+    alt Channel full
+        CH--xMPU: Drop (log warning)
+    else Channel has space
+        CH-->>MPU: OK
+    end
+    
+    Note over MAIN: Continuous loop
+    MAIN->>CH: receive() [blocking]
+    CH-->>MAIN: reading
+    
+    Note over MAIN: Drain queue
+    loop While available
+        MAIN->>CH: try_receive()
+        CH-->>MAIN: newer reading
+    end
+    
+    MAIN->>DISP: show_imu(reading)<br/>[try_send]
+    
+    Note over MAIN: Every 3 seconds
+    alt Time >= 3s since last
+        MAIN->>MAIN: Format JSON payload
+        MAIN->>LATEST: mqtt_set_imu()<br/>[try_lock]
+        
+        alt Mutex available
+            LATEST-->>MAIN: Stored
+        else Mutex locked
+            LATEST--xMAIN: Skip
+        end
+    end
+    
+    Note over MQTT: Continuous loop
+    MQTT->>LATEST: try_lock()
+    
+    alt Data available
+        LATEST-->>MQTT: payload
+        MQTT->>MQTT: send_message("esp32/imu")
+    else No data
+        LATEST--xMQTT: None
+    end
--- a/tprais_semestralka1/docs/mpu_data_flow.mermaid.svg
+++ b/tprais_semestralka1/docs/mpu_data_flow.mermaid.svg
--- a/tprais_semestralka1/docs/overall_system_architecture.mermaid
+++ b/tprais_semestralka1/docs/overall_system_architecture.mermaid
@@ -0,0 +1,42 @@
+graph TB
+    subgraph "Core 0 - Application"
+        MPU[MPU Task<br/>50ms sampling]
+        DISPLAY[Display Task<br/>100ms refresh]
+        MAIN[Main Loop]
+        BUTTONS[Button Task]
+    end
+    
+    subgraph "Core 1 - Network"
+        WIFI[WiFi Connection Task]
+        NETWORK[Network Stack Runner]
+        MQTT[MQTT Task]
+    end
+    
+    subgraph "Shared Channels"
+        IMU_CH[(IMU_CHANNEL<br/>size: 16)]
+        DISP_CH[(DISPLAY_CHANNEL<br/>size: 8)]
+        CMD_CH[(CMD_CHAN<br/>size: 8)]
+        EVT_CH[(EVT_CHAN<br/>size: 8)]
+        IMU_LATEST[(IMU_LATEST<br/>Mutex)]
+    end
+    
+    subgraph "Hardware"
+        MPU_HW[MPU6050<br/>I2C 0x68]
+        OLED[SSD1306<br/>I2C]
+        BROKER[MQTT Broker]
+    end
+    
+    MPU_HW -->|I2C Read| MPU
+    MPU -->|send| IMU_CH
+    IMU_CH -->|receive| MAIN
+    MAIN -->|try_send| DISP_CH
+    MAIN -->|mqtt_set_imu| IMU_LATEST
+    DISP_CH -->|receive| DISPLAY
+    DISPLAY -->|I2C Write| OLED
+    IMU_LATEST -->|try_lock| MQTT
+    MQTT <-->|TCP/IP| BROKER
+    BUTTONS -->|push_key| DISP_CH
+    
+    style IMU_CH fill:#ff9999
+    style DISP_CH fill:#99ccff
+    style IMU_LATEST fill:#ffcc99
--- a/tprais_semestralka1/docs/overall_system_architecture.mermaid.svg
+++ b/tprais_semestralka1/docs/overall_system_architecture.mermaid.svg
--- a/tprais_semestralka1/expanded.rs
+++ b/tprais_semestralka1/expanded.rs
--- a/tprais_semestralka1/old_main.rs
+++ b/tprais_semestralka1/old_main.rs
@@ -0,0 +1,181 @@
+// 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"
+)]
+
+use embassy_executor::Spawner;
+use embassy_futures::select::{select, Either};
+use embassy_net::{Runner, StackResources};
+use embassy_time::{Duration, Timer};
+use esp_alloc as _;
+use esp_backtrace as _;
+use esp_hal::{clock::CpuClock, rng::Rng, timer::timg::TimerGroup};
+use esp_wifi::{
+    init,
+    wifi::{ClientConfiguration, Configuration, WifiController, WifiDevice, WifiEvent, WifiState},
+    EspWifiController,
+};
+use log::info;
+use rust_mqtt::packet::v5::publish_packet::QualityOfService;
+use projekt_final::mqtt::client::{
+    mqtt_events, mqtt_publish, mqtt_subscribe, mqtt_task, IncomingMsg,
+};
+use defmt_rtt as _;
+
+extern crate alloc;
+
+esp_bootloader_esp_idf::esp_app_desc!();
+
+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");
+
+#[esp_hal_embassy::main]
+async fn main(spawner: Spawner) -> ! {
+    esp_println::logger::init_logger_from_env();
+    let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
+    let peripherals = esp_hal::init(config);
+
+    esp_alloc::heap_allocator!(size: 72 * 1024);
+
+    let timg0 = TimerGroup::new(peripherals.TIMG0);
+    let mut rng = Rng::new(peripherals.RNG);
+
+    let esp_wifi_ctrl = &*mk_static!(
+        EspWifiController<'static>,
+        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);
+
+    let config = embassy_net::Config::dhcpv4(Default::default());
+
+    let seed = (rng.random() as u64) << 32 | rng.random() as u64;
+
+    // Init network stack
+    let (stack, runner) = embassy_net::new(
+        wifi_interface,
+        config,
+        mk_static!(StackResources<3>, StackResources::<3>::new()),
+        seed,
+    );
+
+    spawner.spawn(connection(controller)).ok();
+    spawner.spawn(net_task(runner)).ok();
+
+    // Wait for link up
+    loop {
+        if stack.is_link_up() {
+            break;
+        }
+        Timer::after(Duration::from_millis(500)).await;
+    }
+
+    info!("Waiting to get IP address...");
+    loop {
+        if let Some(config) = stack.config_v4() {
+            info!("Got IP: {}", config.address);
+            break;
+        }
+        Timer::after(Duration::from_millis(500)).await;
+    }
+
+    spawner.spawn(mqtt_task(stack)).expect("failed to spawn MQTT task");
+    info!("MQTT task started");
+
+    mqtt_publish("esp32/topic", b"hello from ESP32 (init)", QualityOfService::QoS1, false).await;
+    info!("Sent initial MQTT message");
+
+    mqtt_subscribe("esp32/topic").await;
+
+    // Get a receiver for incoming MQTT messages
+    let mqtt_rx = mqtt_events();
+
+    loop {
+        // Drive both: either process an MQTT message or publish periodically
+        match select(mqtt_rx.receive(), Timer::after(Duration::from_secs(5))).await
+        {
+            // Received inbound MQTT message (from broker)
+            Either::First(msg) => {
+                handle_incoming(msg);
+            }
+            // Time-based example publish
+            Either::Second(_) => {
+                // mqtt_publish(
+                //     "esp32/topic",
+                //     b"hello from main",
+                //     QualityOfService::QoS1,
+                //     false,
+                // )
+                // .await;
+            }
+        }
+    }
+}
+
+fn handle_incoming(msg: IncomingMsg) {
+    if let Ok(txt) = core::str::from_utf8(&msg.payload) {
+        info!("MAIN RX [{}]: {}", msg.topic.as_str(), txt);
+        info!("Received MQTT message -> topic: '{}', payload: '{}'", msg.topic.as_str(), txt);
+    } else {
+        info!("MAIN RX [{}]: {:?}", msg.topic.as_str(), msg.payload);
+    }
+}
+
+#[embassy_executor::task]
+async fn connection(mut controller: WifiController<'static>) {
+    info!("start connection task");
+    info!("Device capabilities: {:?}", controller.capabilities());
+    loop {
+        match 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!("Starting wifi");
+            controller.start_async().await.unwrap();
+            info!("Wifi started!");
+        }
+        info!("About to connect...");
+
+        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
+}
--- a/tprais_semestralka1/rust-toolchain.toml
+++ b/tprais_semestralka1/rust-toolchain.toml
@@ -0,0 +1,2 @@
+[toolchain]
+channel = "esp"
--- a/tprais_semestralka1/src/bin/main.rs
+++ b/tprais_semestralka1/src/bin/main.rs
@@ -0,0 +1,189 @@
+// 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"
+)]
+
+use embassy_executor::Spawner;
+use embassy_futures::select::{select, Either};
+use embassy_net::{Runner, StackResources};
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::signal::Signal;
+use embassy_time::{Duration, Instant, Timer};
+use projekt_final::mqtt::client::{mqtt_publish, mqtt_task};
+
+use esp_alloc as _;
+use esp_backtrace as _;
+
+use esp_hal::{
+    clock::CpuClock,
+    rng::Rng,
+    system::{CpuControl, Stack},
+    timer::timg::TimerGroup,
+};
+use esp_wifi::{
+    wifi::{ClientConfiguration, Configuration, WifiController, WifiDevice, WifiEvent, WifiState},
+    EspWifiController,
+};
+
+// use core::cell::RefCell;
+// use core::fmt::Write;
+use log::info;
+use rust_mqtt::packet::v5::publish_packet::QualityOfService;
+use static_cell::StaticCell;
+
+extern crate alloc;
+
+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 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;
+
+    // Core1 is now general stuff and core0 is for wifi and mqtt
+    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| {
+                // Replace with the sensor reading
+                // spawner
+                //     .spawn(button_detection_task(button_select, button_next))
+                //     .ok();
+            });
+        })
+        .unwrap();
+
+    // Core0 WiFi and MQTT
+    spawner
+        .spawn(network_task(spawner, controller, wifi_interface, seed))
+        .unwrap();
+
+    // Wait for network to be ready (signaled from core0)
+    NETWORK_READY.wait().await;
+    info!("Network ready");
+
+    mqtt_publish("esp32/post", b"online", QualityOfService::QoS1, false).await;
+
+    loop {
+        Timer::after(Duration::from_secs(10)).await;
+        mqtt_publish("esp32/post", b"abba", QualityOfService::QoS1, false).await;
+    }
+}
+
+// Runs on core0 - creates and owns the network stack
+#[embassy_executor::task]
+async fn 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 core1 that network is ready
+    NETWORK_READY.signal(());
+
+    spawner.spawn(mqtt_task(stack)).ok();
+}
+
+#[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
+}
--- a/tprais_semestralka1/src/lib.rs
+++ b/tprais_semestralka1/src/lib.rs
@@ -0,0 +1,4 @@
+#![no_std]
+extern crate alloc;
+
+pub mod mqtt;
--- a/tprais_semestralka1/src/mqtt/client.rs
+++ b/tprais_semestralka1/src/mqtt/client.rs
@@ -0,0 +1,418 @@
+// src/mqtt/client.rs
+
+use embassy_futures::select::{select, Either};
+use embassy_net::{tcp::TcpSocket, Stack};
+use embassy_time::{Duration, Instant, Timer};
+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 core::fmt::Write;
+use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::channel::{Channel, Receiver};
+use embassy_sync::mutex::Mutex;
+use embassy_sync::signal::Signal;
+use heapless::{String, Vec};
+use log::{info, warn};
+use static_cell::ConstStaticCell;
+
+use crate::mqtt::config::mqtt_broker_endpoint;
+
+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 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;
+    }
+}
--- a/tprais_semestralka1/src/mqtt/config.rs
+++ b/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))
+}
--- a/tprais_semestralka1/src/mqtt/mod.rs
+++ b/tprais_semestralka1/src/mqtt/mod.rs
@@ -0,0 +1,4 @@
+// src/mqtt/mod.rs
+
+pub mod client;
+pub mod config;
Author	SHA1	Message	Date
Priec	29404fe9ba	need senzor implementation next	2026-05-03 23:35:48 +02:00
Priec	d8b33e50a2	still cleaning up	2026-05-03 20:07:33 +02:00
Priec	b542fb02a2	vykostene	2026-05-03 12:58:49 +02:00
Priec	05eb16b89f	semestralka na tprais	2026-05-03 12:54:32 +02:00
Priec	8411977751	trying to fix, not success yet	2026-01-19 23:24:41 +01:00
Priec	fd5dd6e888	mermaids	2026-01-19 16:43:58 +01:00
Priec	2774e83d99	ported into a generic library	2026-01-19 15:53:19 +01:00
Priec	9910bf9402	enum to string that is passed to the library, waiting for the enum based generic library	2026-01-19 15:23:39 +01:00
Priec	424c795170	cleanup	2026-01-19 13:56:39 +01:00
Priec	6b26ed9318	working with enums passed as a strings to the library	2026-01-19 13:09:46 +01:00
Priec	054b42547e	working now	2026-01-18 23:58:17 +01:00
Priec	b729d3f23d	sending messages to the tui chat	2026-01-18 23:16:06 +01:00
Priec	ba2b3b188a	big improvement, not theere yet	2026-01-18 22:21:33 +01:00
Priec	70e1559b24	debugged MPU working mqtt is dropping	2026-01-18 21:50:10 +01:00
Priec	94c591c087	nonsense, nothing is fixed	2026-01-18 20:49:34 +01:00
Priec	a910015856	better ui with 3 lines now	2026-01-18 17:09:42 +01:00
Priec	c5fef061f4	pages-tui working	2026-01-18 15:23:04 +01:00
Priec	273bf2f946	dual core setup	2026-01-18 11:20:20 +01:00