refactor: make all the services started in the same way with a start_ func and a handler task

Cargo.toml

@@ -31,10 +31,9 @@ esp-backtrace = { version = "0.19.0", features = [
 ] }
 esp-println = { version = "0.17.0", features = ["defmt-espflash", "esp32c6"] }
 
-embassy-sync = { version = "0.8.0", features = ["defmt"] }
+embassy-sync = { git = "https://github.com/embassy-rs/embassy", branch = "main" }
 embassy-futures = { version = "0.1.2", features = ["defmt"] }
 embassy-embedded-hal = { version = "0.6.0", features = ["defmt", "time"] }
-embedded-rpc = "0.2.0"
 
 critical-section = "1.2.0"
 static_cell = { version = "2.1.1", features = ["nightly"] }
@@ -64,9 +63,11 @@ picoserve = { version = "0.19", features = ["defmt", "embassy", "json"] }
 
 sequential-storage = "8.0"
 esp-storage = { version = "0.9", features = ["defmt", "esp32c6"] }
-postcard = { version = "1.1", default-features = false }
+postcard = { version = "1.1", default-features = false, features = ["defmt", "heapless"] }
 serde = { version = "1.0", default-features = false, features = ["derive"] }
 int-enum = "1.2.0"
+heapless = { version = "0.9.3", features = ["defmt", "serde"] }
+thiserror = { version = "2.0.20", default-features = false }
 
 
 # For fine tuning these settings, please refer to https://doc.rust-lang.org/cargo/reference/profiles.html

src/bin/main.rs

@@ -7,7 +7,7 @@
 )]
 #![deny(clippy::large_stack_frames)]
 
-use cover_theif::wifi::start_wifi;
+use cover_theif::{clock::start_ntp_sync, http_api::start_http_api, wifi::start_wifi};
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_time::{Duration, Timer};
@@ -16,11 +16,6 @@ use esp_hal::clock::CpuClock;
 use esp_hal::timer::timg::TimerGroup;
 use esp_println as _;
 
-use cover_theif::{
-    clock,
-    http_api::{HttpApiProps, HttpApiService},
-};
-
 extern crate alloc;
 
 // This creates a default app-descriptor required by the esp-idf bootloader.
@@ -50,16 +45,8 @@ async fn main(spawner: Spawner) -> ! {
 
     let net_stack = start_wifi(spawner, peripherals.WIFI);
 
-    spawner.spawn(clock::ntp_upkeep_service(net_stack).unwrap());
+    start_ntp_sync(spawner, net_stack);
-
+    start_http_api(spawner, net_stack);
-    spawner.spawn(
-        http_api_serve_task(HttpApiService::new(
-            net_stack,
-            Default::default(),
-            Default::default(),
-        ))
-        .unwrap(),
-    );
 
     loop {
         info!("Hello world");
@@ -68,8 +55,3 @@ async fn main(spawner: Spawner) -> ! {
 
     // for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.1.0/examples
 }
-
-#[embassy_executor::task]
-async fn http_api_serve_task(mut service: HttpApiService<'static, HttpApiProps>) {
-    service.run().await;
-}

src/clock.rs

@@ -1,5 +1,9 @@
 use core::net::SocketAddr;
-use embassy_net::udp::{PacketMetadata, UdpSocket};
+use embassy_executor::Spawner;
+use embassy_net::{
+    Stack,
+    udp::{PacketMetadata, UdpSocket},
+};
 use embassy_time::{Duration, Timer};
 use portable_atomic::{AtomicU64, Ordering};
 use sntpc::{NtpContext, get_time};
@@ -10,11 +14,38 @@ use sntpc_time_embassy::EmbassyTimestampGenerator;
 const NTP_SERVER: &str = "pool.ntp.org";
 const NTP_PORT: u16 = 123;
 
+pub fn now() -> embassy_time::Instant {
+    embassy_time::Instant::now() + Duration::from_secs(NTP_BOOT_OFFSET.load(Ordering::Relaxed))
+}
+
+pub fn start_ntp_sync(spawner: Spawner, net_stack: Stack<'static>) {
+    spawner.spawn(handler(net_stack).unwrap());
+}
+
+#[embassy_executor::task]
+async fn handler(net_stack: Stack<'static>) {
+    loop {
+        match fetch_ntp_time(net_stack).await {
+            Ok(unix_secs) => {
+                NTP_BOOT_OFFSET.store(
+                    unix_secs - embassy_time::Instant::now().as_secs(),
+                    portable_atomic::Ordering::Relaxed,
+                );
+                Timer::after(Duration::from_secs(6 * 60 * 60)).await
+            }
+            Err(err) => {
+                defmt::error!("Failed to sync the clock from NTP: {}", err);
+                Timer::after(Duration::from_secs(10)).await
+            }
+        }
+    }
+}
+
 static NTP_BOOT_OFFSET: AtomicU64 = AtomicU64::new(0);
 
-pub async fn fetch_ntp_time(stack: embassy_net::Stack<'static>) -> Result<u64, &'static str> {
+pub async fn fetch_ntp_time(net_stack: Stack<'static>) -> Result<u64, &'static str> {
     // Resolve the NTP server hostname
-    let server_addr = stack
+    let server_addr = net_stack
         .dns_query(NTP_SERVER, embassy_net::dns::DnsQueryType::A)
         .await
         .map_err(|_| "DNS resolution failed")?
@@ -30,7 +61,13 @@ pub async fn fetch_ntp_time(stack: embassy_net::Stack<'static>) -> Result<u64, &
     let mut tx_meta = [PacketMetadata::EMPTY; 16];
     let mut tx_buf = [0u8; 48];
 
-    let mut socket = UdpSocket::new(stack, &mut rx_meta, &mut rx_buf, &mut tx_meta, &mut tx_buf);
+    let mut socket = UdpSocket::new(
+        net_stack,
+        &mut rx_meta,
+        &mut rx_buf,
+        &mut tx_meta,
+        &mut tx_buf,
+    );
     socket.bind(0).map_err(|_| "bind failed")?;
 
     let wrapped = UdpSocketWrapper::from(socket);
@@ -47,26 +84,3 @@ pub async fn fetch_ntp_time(stack: embassy_net::Stack<'static>) -> Result<u64, &
 
     Ok(unix_secs)
 }
-
-pub fn now() -> embassy_time::Instant {
-    embassy_time::Instant::now() + Duration::from_secs(NTP_BOOT_OFFSET.load(Ordering::Relaxed))
-}
-
-#[embassy_executor::task]
-pub async fn ntp_upkeep_service(stack: embassy_net::Stack<'static>) {
-    loop {
-        match fetch_ntp_time(stack).await {
-            Ok(unix_secs) => {
-                NTP_BOOT_OFFSET.store(
-                    unix_secs - embassy_time::Instant::now().as_secs(),
-                    portable_atomic::Ordering::Relaxed,
-                );
-                Timer::after(Duration::from_secs(6 * 60 * 60)).await
-            }
-            Err(err) => {
-                defmt::error!("Failed to sync the clock from NTP: {}", err);
-                Timer::after(Duration::from_secs(10)).await
-            }
-        }
-    }
-}

src/config.rs

@@ -1,26 +1,64 @@
 use embassy_embedded_hal::adapter::BlockingAsync;
 use embassy_executor::Spawner;
-use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, rpc_service::RpcService};
-use embedded_rpc::RpcService;
 use esp_hal::peripherals::FLASH;
+use esp_radio::wifi::sta::StationConfig;
 use esp_storage::FlashStorage;
+use heapless::String;
 use int_enum::IntEnum;
+use postcard::to_slice;
 use sequential_storage::{
     cache::{Cache, Uncached},
-    map::{Key, MapConfig, MapStorage, SerializationError},
+    map::{Key, MapConfig, MapStorage},
 };
+use serde::{Deserialize, Serialize};
+use thiserror::Error;
 
-pub enum ConfigCommand {
+pub static CONFIG_SERVICE: RpcService<CriticalSectionRawMutex, ConfigService, 64> =
-    SetStationCreds(),
-}
-
-impl ConfigCommand {
-    pub async fn set_station_creds() {}
-}
-
-pub static CONFIG_SERVICE: RpcService<CriticalSectionRawMutex, ConfigCommand, ()> =
     RpcService::new();
 
+pub struct ConfigService {
+    storage: MapStorage<
+        ConfigKey,
+        BlockingAsync<FlashStorage<'static>>,
+        Cache<Uncached, Uncached, Uncached, ConfigKey>,
+    >,
+    data_buffer: [u8; 256],
+}
+
+impl ConfigService {
+    pub async fn set_wifi_creds(&mut self, value: WifiCredentials) -> Result<(), ConfigError> {
+        let mut buf = [0u8; 256];
+        to_slice(&value, &mut buf)?;
+
+        self.storage
+            .store_item(&mut self.data_buffer, &ConfigKey::Wifi, &buf)
+            .await
+            .map_err(|e| ConfigError::FlashError(e))?;
+
+        // TODO: send the change to the wifi service
+        // WIFI_SERVICE
+        //     .call(|s| s.set_station_config(esp_radio::wifi::Config::Station(value.into())))
+        //     .await;
+
+        Ok(())
+    }
+}
+
+#[derive(Debug, Deserialize, Serialize)]
+pub struct WifiCredentials {
+    pub ssid: String<32>,
+    pub password: String<32>,
+}
+
+impl From<WifiCredentials> for StationConfig {
+    fn from(value: WifiCredentials) -> Self {
+        Self::default()
+            .with_ssid(value.ssid.as_str())
+            .with_password(value.password.as_str().into())
+    }
+}
+
 pub async fn start_config(spawner: Spawner, flash: FLASH<'static>) {
     let storage = MapStorage::<ConfigKey, _, _>::new(
         BlockingAsync::new(FlashStorage::new(flash)),
@@ -28,29 +66,17 @@ pub async fn start_config(spawner: Spawner, flash: FLASH<'static>) {
         Cache::new_uncached(),
     );
 
-    spawner.spawn(config_handler(storage).unwrap());
+    let service = ConfigService {
+        storage: storage,
+        data_buffer: [0u8; 256],
+    };
+
+    spawner.spawn(handler(service).unwrap());
 }
 
 #[embassy_executor::task]
-async fn config_handler(mut storage: MapStorage<ConfigKey, BlockingAsync<FlashStorage<'static>>, Cache<Uncached, Uncached, Uncached, ConfigKey>>) {
+async fn handler(mut service: ConfigService) -> ! {
-    let mut data_buffer = [0u8; 256];
+    CONFIG_SERVICE.run(&mut service).await
-
-    loop {
-        let (req, served) = CONFIG_SERVICE.serve().await;
-
-        match req {
-            ConfigCommand::SetStationCreds() => {
-                todo!()
-                // if storage
-                //     .store_item(&mut data_buffer, &ConfigKey::Wifi, )
-                //     .await
-                //     .is_ok()
-                // {
-                //     served.respond(());
-                // }
-            }
-        }
-    }
 }
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq, IntEnum)]
@@ -60,18 +86,40 @@ enum ConfigKey {
 }
 
 impl Key for ConfigKey {
-    fn get_len(_: &[u8]) -> Result<usize, SerializationError> {
+    fn get_len(_: &[u8]) -> Result<usize, sequential_storage::map::SerializationError> {
         Ok(1)
     }
 
-    fn serialize_into(&self, buffer: &mut [u8]) -> Result<usize, SerializationError> {
+    fn serialize_into(
-        let val = buffer.get_mut(0).ok_or(SerializationError::BufferTooSmall)?;
+        &self,
+        buffer: &mut [u8],
+    ) -> Result<usize, sequential_storage::map::SerializationError> {
+        let val = buffer
+            .get_mut(0)
+            .ok_or(sequential_storage::map::SerializationError::BufferTooSmall)?;
         *val = self.clone().into();
         Ok(1)
     }
 
-    fn deserialize_from(buffer: &[u8]) -> Result<(Self, usize), SerializationError> {
+    fn deserialize_from(
-        let val = *buffer.get(0).ok_or(SerializationError::BufferTooSmall)?;
+        buffer: &[u8],
-        Ok((val.try_into().map_err(|_| {SerializationError::InvalidData})?, 1))
+    ) -> Result<(Self, usize), sequential_storage::map::SerializationError> {
+        let val = *buffer
+            .get(0)
+            .ok_or(sequential_storage::map::SerializationError::BufferTooSmall)?;
+        Ok((
+            val.try_into()
+                .map_err(|_| sequential_storage::map::SerializationError::InvalidData)?,
+            1,
+        ))
     }
 }
+
+#[derive(Error, Debug)]
+pub enum ConfigError {
+    #[error("Error serializing data: {0}")]
+    SerializationError(#[from] postcard::Error),
+
+    #[error("Error storing data on the flash: {0:?}")]
+    FlashError(sequential_storage::Error<esp_storage::FlashStorageError>),
+}

src/http_api.rs

@@ -1,3 +1,4 @@
+use embassy_executor::Spawner;
 use embassy_net::Stack;
 use picoserve::routing::get;
 use picoserve::{AppBuilder, AppRouter, Config};
@@ -13,6 +14,22 @@ impl AppBuilder for HttpApiProps {
     }
 }
 
+pub fn start_http_api(spawner: Spawner, net_stack: Stack<'static>) {
+    spawner.spawn(
+        handler(HttpApiApp::new(
+            net_stack,
+            Default::default(),
+            Default::default(),
+        ))
+        .unwrap(),
+    );
+}
+
+#[embassy_executor::task]
+async fn handler(mut service: HttpApiApp<'static, HttpApiProps>) {
+    service.run().await;
+}
+
 pub struct HttpApiConfig {
     pub port: u16,
     pub web_serve_config: Config,
@@ -27,7 +44,7 @@ impl Default for HttpApiConfig {
     }
 }
 
-pub struct HttpApiService<'a, AB: AppBuilder> {
+pub struct HttpApiApp<'a, AB: AppBuilder> {
     config: HttpApiConfig,
 
     net_stack: Stack<'a>,
@@ -38,7 +55,7 @@ pub struct HttpApiService<'a, AB: AppBuilder> {
     http_buffer: [u8; 2048],
 }
 
-impl<'a, AB: AppBuilder> HttpApiService<'a, AB> {
+impl<'a, AB: AppBuilder> HttpApiApp<'a, AB> {
     pub fn new(net_stack: Stack<'a>, config: HttpApiConfig, app: AB) -> Self {
         Self {
             config: config,

src/wifi.rs

@@ -1,30 +1,36 @@
 use defmt::{error, info};
 use embassy_executor::Spawner;
-use embassy_futures::select::{Either, select};
 use embassy_net::{Runner, Stack};
-use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
+use embassy_sync::{
+    blocking_mutex::raw::CriticalSectionRawMutex, mutex::Mutex, rpc_service::RpcService,
+};
 use embassy_time::{Duration, Timer};
-use embedded_rpc::{RequestDroppedError, RpcService};
 use esp_hal::peripherals::WIFI;
 use esp_radio::wifi::sta::StationConfig;
-use esp_radio::wifi::{ControllerConfig, Interface, WifiController};
+use esp_radio::wifi::{ControllerConfig, Interface, WifiController, WifiError};
 
-pub enum WifiCommand {
+pub static WIFI_SERVICE: RpcService<CriticalSectionRawMutex, WifiService, 64> = RpcService::new();
-    SetStationConfig(esp_radio::wifi::Config),
+
-    SetDhcpConfig(embassy_net::DhcpConfig),
+pub struct WifiService {
+    pub net_stack: Stack<'static>,
+    wifi_controller: &'static Mutex<CriticalSectionRawMutex, WifiController<'static>>,
 }
 
-impl WifiCommand {
+impl WifiService {
     pub async fn set_station_config(
+        &self,
         config: esp_radio::wifi::Config,
-    ) -> Result<(), RequestDroppedError> {
+    ) -> Result<(), WifiError> {
-        WIFI_SERVICE
+        let mut controller = self.wifi_controller.lock().await;
-            .request(WifiCommand::SetStationConfig(config))
+        controller.set_config(&config)?;
-            .await
+        Ok(())
-    }
     }
 
-pub static WIFI_SERVICE: RpcService<CriticalSectionRawMutex, WifiCommand, ()> = RpcService::new();
+    pub fn set_dhcp_config(&self, config: embassy_net::DhcpConfig) {
+        self.net_stack
+            .set_config_v4(embassy_net::ConfigV4::Dhcp(config));
+    }
+}
 
 pub fn start_wifi(spawner: Spawner, wifi: WIFI<'static>) -> Stack<'static> {
     let wifi_config = esp_radio::wifi::Config::Station(StationConfig::default());
@@ -52,69 +58,54 @@ pub fn start_wifi(spawner: Spawner, wifi: WIFI<'static>) -> Stack<'static> {
         seed,
     );
 
-    spawner.spawn(net_task(net_runner).unwrap());
+    let service = WifiService {
-    spawner.spawn(wifi_handler(wifi_controller).unwrap());
+        net_stack: net_stack,
+        wifi_controller: crate::mk_static!(Mutex<CriticalSectionRawMutex, WifiController<'static>>, Mutex::new(wifi_controller)),
+    };
+
+    spawner.spawn(net_handler(net_runner).unwrap());
+    spawner.spawn(connection_handler(service.wifi_controller).unwrap());
+    spawner.spawn(handler(service).unwrap());
     spawner.spawn(ip_logger(net_stack).unwrap());
-    spawner.spawn(handler(net_stack).unwrap());
 
     net_stack
 }
 
 #[embassy_executor::task]
-async fn handler(net_stack: Stack<'static>) {
+async fn handler(mut service: WifiService) -> ! {
-    loop {
+    WIFI_SERVICE.run(&mut service).await
-        let (req, served) = WIFI_SERVICE.serve().await;
-
-        match req {
-            WifiCommand::SetStationConfig(config) => {
-                if WIFI_HANDLER_RPC.request(config).await.is_err() {
-                    continue;
 }
-            }
-            WifiCommand::SetDhcpConfig(dhcp_config) => {
-                net_stack.set_config_v4(embassy_net::ConfigV4::Dhcp(dhcp_config));
-            }
-        }
-
-        served.respond(());
-    }
-}
-
-static WIFI_HANDLER_RPC: RpcService<CriticalSectionRawMutex, esp_radio::wifi::Config, ()> =
-    RpcService::new();
 
 #[embassy_executor::task]
-async fn wifi_handler(mut controller: WifiController<'static>) {
+async fn connection_handler(
-    let connection = async |controller: &mut WifiController<'static>| {
+    controller: &'static Mutex<CriticalSectionRawMutex, WifiController<'static>>,
+) -> ! {
+    loop {
         info!("Connecting to WiFi...");
 
-        match controller.connect_async().await {
+        match controller.lock().await.connect_async().await {
             Ok(info) => {
                 info!("Wifi connected to {:?}", info);
 
                 // wait until we're no longer connected
-                let info = controller.wait_for_disconnect_async().await.ok();
+                // TODO: reimplement the wait for disconnect
-                info!("Disconnected: {:?}", info);
+                // let info = controller
+                //     .lock()
+                //     .await
+                //     .wait_for_disconnect_async()
+                //     .await
+                //     .ok();
+                // info!("Disconnected: {:?}", info);
             }
             Err(e) => {
                 error!("Failed to connect to wifi: {:?}", e);
             }
         }
-    };
-
-    loop {
-        if let Either::First((req, served)) =
-            select(WIFI_HANDLER_RPC.serve(), connection(&mut controller)).await
-        {
-            if controller.set_config(&req).is_ok() {
-                served.respond(());
-            }
-        }
     }
 }
 
 #[embassy_executor::task]
-async fn ip_logger(net_stack: Stack<'static>) {
+async fn ip_logger(net_stack: Stack<'static>) -> ! {
     loop {
         info!("Getting IP address...");
         net_stack.wait_config_up().await;
@@ -137,6 +128,6 @@ async fn ip_logger(net_stack: Stack<'static>) {
 }
 
 #[embassy_executor::task]
-async fn net_task(mut runner: Runner<'static, Interface<'static>>) {
+async fn net_handler(mut runner: Runner<'static, Interface<'static>>) -> ! {
     runner.run().await
 }