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sensor data timestamp

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This commit is contained in:
Andy Killorin 2025-01-18 13:31:10 -05:00
parent 088e0225ca
commit 9f740d8435
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 8 additions and 0 deletions
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8
controller/src/sensor_manager.rs
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@ -76,25 +76,33 @@ async fn init_sensors(mut hardware: SensorHardware) {
}; };
loop { loop {
let mut updated = false;
POLL_STATE.store(PollState::Tof1 as u8, Ordering::SeqCst); POLL_STATE.store(PollState::Tof1 as u8, Ordering::SeqCst);
if let Ok(dist) = tof.read_range_single_millimeters_blocking() { if let Ok(dist) = tof.read_range_single_millimeters_blocking() {
info!("dist1: {dist}mm"); info!("dist1: {dist}mm");
data.tof1 = Some(dist); data.tof1 = Some(dist);
updated = true;
} }
Timer::after_millis(3).await; Timer::after_millis(3).await;
POLL_STATE.store(PollState::Tof2 as u8, Ordering::SeqCst); POLL_STATE.store(PollState::Tof2 as u8, Ordering::SeqCst);
if let Ok(dist) = tof2.read_range_single_millimeters_blocking() { if let Ok(dist) = tof2.read_range_single_millimeters_blocking() {
info!("dist2: {dist}mm"); info!("dist2: {dist}mm");
data.tof2 = Some(dist); data.tof2 = Some(dist);
updated = true;
} }
Timer::after_millis(3).await; Timer::after_millis(3).await;
POLL_STATE.store(PollState::Gyro as u8, Ordering::SeqCst); POLL_STATE.store(PollState::Gyro as u8, Ordering::SeqCst);
if let Ok(gyro) = gyro.get_gyro() { if let Ok(gyro) = gyro.get_gyro() {
info!("rotation: {gyro}"); info!("rotation: {gyro}");
data.gyro = Some(gyro); data.gyro = Some(gyro);
updated = true;
} }
if let Ok(accel) = gyro.get_acc() { if let Ok(accel) = gyro.get_acc() {
data.accel = Some(accel); data.accel = Some(accel);
updated = true;
}
if updated {
data.updated = Instant::now();
} }
POLL_STATE.store(PollState::None as u8, Ordering::SeqCst); POLL_STATE.store(PollState::None as u8, Ordering::SeqCst);