creaturedex/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, especially those \
    holding buffers for the duration of a data transfer."
)]
#![deny(clippy::large_stack_frames)]

use creaturedex::background_tasks;
use creaturedex::drivers::i2c_bus::I2cBusPinConfiguration;
use creaturedex::drivers::nfc_pn532::NfcPn532Driver;
use creaturedex::drivers::secondary_oled::SecondaryDisplay;
use creaturedex::drivers::spi_bus;
use creaturedex::drivers::tertiary_lcd::{
    BOX, EMPTY, EXAMPLE, HEART, TertiaryDisplay, TertiaryDisplayPinConfiguration,
};
use creaturedex::navigation::inputs::Inputs;
use creaturedex::navigation::navigation::{self};
use creaturedex::navigation::outputs::Outputs;
use creaturedex::network::wifi::setup_wifi;
use embassy_executor::Spawner;
use embedded_graphics::pixelcolor::BinaryColor;
use embedded_graphics::{
    mono_font::{MonoTextStyle, ascii::FONT_6X10},
    prelude::*,
    text::Text,
};
use embedded_hal_bus::i2c::AtomicDevice;
use esp_hal::clock::CpuClock;
use esp_hal::gpio::{Input, InputConfig, Pull};
use esp_hal::timer::timg::TimerGroup;
use log::error;

#[panic_handler]
fn panic(panic_info: &core::panic::PanicInfo) -> ! {
    error!("{}", panic_info);
    loop {}
}

extern crate alloc;

const HEAP_SIZE: usize = 73744;

// This creates a default app-descriptor required by the esp-idf bootloader.
// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
esp_bootloader_esp_idf::esp_app_desc!();

#[allow(
    clippy::large_stack_frames,
    reason = "it's not unusual to allocate larger buffers etc. in main"
)]
#[esp_rtos::main]
async fn main(spawner: Spawner) {
    creaturedex::logging::init();

    let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
    let peripherals = esp_hal::init(config);

    esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: HEAP_SIZE);

    let sw_interrupt =
        esp_hal::interrupt::software::SoftwareInterruptControl::new(peripherals.SW_INTERRUPT);
    let timg0 = TimerGroup::new(peripherals.TIMG0);
    esp_rtos::start(timg0.timer0, sw_interrupt.software_interrupt0);

    let (primary, mut secondaries) = retry(
        5,
        spi_bus::DisplayPinConfiguration {
            spi_peripheral: peripherals.SPI2,
            sck: peripherals.GPIO36,
            mosi: peripherals.GPIO35,
            miso: peripherals.GPIO37,
            cs_primary: peripherals.GPIO11,
            cs_secondary_1: peripherals.GPIO13,
            cs_secondary_2: peripherals.GPIO14,
            cs_secondary_3: peripherals.GPIO21,
            reset_primary: peripherals.GPIO10,
            reset_secondary: peripherals.GPIO47,
            dc_pin: peripherals.GPIO12,
        },
        spi_bus::DisplayPinConfiguration::build,
    );

    // Initialize the shared I2C bus using the refactored i2c_bus module.
    let shared_i2c = {
        use alloc::boxed::Box;
        let bus = retry(5, I2cBusPinConfiguration {
            i2c_peripheral: peripherals.I2C0,
            scl: peripherals.GPIO18,
            sda: peripherals.GPIO17,
        }, I2cBusPinConfiguration::build);
        Box::leak(Box::new(bus))
    };

    let mut lcd: TertiaryDisplay = retry(
        5,
        TertiaryDisplayPinConfiguration { i2c: shared_i2c },
        TertiaryDisplayPinConfiguration::build,
    );
    lcd.load_charset(EXAMPLE).unwrap();
    let h = EXAMPLE[HEART];
    let e = EXAMPLE[EMPTY];
    let b = EXAMPLE[BOX];
    if let Err(e) = lcd.write(&alloc::format!(
        "Custom symbols: {h}{e}{b} And more stuff to wrap and cut off please."
    )) {
        log::error!(
            "Tertiary LCD startup text write failed over shared I2C bus; check the shared bus, wiring, and device responses: {e}"
        );
    }

    setup_wifi(peripherals.WIFI, peripherals.FLASH, &spawner).await;

    let mut nfc_driver = NfcPn532Driver::new(AtomicDevice::new(shared_i2c));
    if nfc_driver.configure_sam().await.is_ok() {
        log::info!("NFC SAM configuration successful on the shared I2C bus");
    } else {
        log::error!("NFC SAM configuration failed on the shared I2C bus");
    }

    let button_config = InputConfig::default().with_pull(Pull::Up);
    let inputs = Inputs {
        up: Input::new(peripherals.GPIO38, button_config),
        down: Input::new(peripherals.GPIO39, button_config),
        left: Input::new(peripherals.GPIO40, button_config),
        right: Input::new(peripherals.GPIO41, button_config),
        back: Input::new(peripherals.GPIO8, button_config),
        ok: Input::new(peripherals.GPIO0, button_config),
    };

    display_shit(&mut secondaries[0], "foo 1");
    display_shit(&mut secondaries[1], "bar 1");
    display_shit(&mut secondaries[2], "baz 1");

    let outputs = {
        let [sec_1, sec_2, sec_3] = secondaries;
        Outputs {
            primary_display: primary,
            secondary_display_1: sec_1,
            secondary_display_2: sec_2,
            secondary_display_3: sec_3,
            tertiary_display: lcd,
            _led_a: (),
        }
    };

    log::info!("Setup complete, entering main loop");
    spawner.spawn(navigation::run(inputs, outputs).expect("run task failed"));
    spawner.spawn(background_tasks::nfc_scanner(nfc_driver).expect("nfc scanner task failed"));
    core::future::pending::<()>().await
}

fn display_shit(oled: &mut SecondaryDisplay<'static>, text: &str) {
    oled.clear().unwrap();

    let text_style = MonoTextStyle::new(&FONT_6X10, BinaryColor::On);
    Text::new(text, Point::new(10, 20), text_style)
        .draw(oled)
        .unwrap();
    oled.flush().unwrap();
}

fn retry<T, U, F: FnMut(T) -> Result<U, T>>(repetitions: u32, input: T, mut action: F) -> U {
    let mut initial_state = input;
    for iteration in 0..repetitions {
        log::debug!("Trying to initialize. Retries: {iteration}");

        match action(initial_state) {
            Ok(success) => return success,
            Err(recovered_input) => initial_state = recovered_input,
        }
    }

    panic!("Init failed after {repetitions} retries.")
}