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Added timeouts to sends in movement.rs

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This commit is contained in:
Sebastian 2022-08-28 00:38:01 +02:00
parent 5f3f5e63b2
commit ce049b81d2
1 changed files with 4 additions and 3 deletions
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7
src/movement.rs
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@ -1,7 +1,7 @@
use embassy_stm32::adc::Adc; use embassy_stm32::adc::Adc;
use embassy_stm32::gpio::{Level, Output, Speed}; use embassy_stm32::gpio::{Level, Output, Speed};
use embassy_stm32::peripherals; use embassy_stm32::peripherals;
use embassy_time::{Delay, Duration, Timer}; use embassy_time::{Delay, Duration, Timer, with_timeout};
use embassy_util::blocking_mutex::raw::ThreadModeRawMutex; use embassy_util::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_util::channel::mpmc::{Receiver, Sender}; use embassy_util::channel::mpmc::{Receiver, Sender};
use embassy_util::{select, Either}; use embassy_util::{select, Either};
@ -110,9 +110,10 @@ pub async fn movement_task(
down_pin.set_low(); down_pin.set_low();
} }
// Send with timeouts to prevent blocking if display or usb task are blocked.
join( join(
pos_sender.send(rotor_state.actual_pos), with_timeout(Duration::from_millis(100), pos_sender.send(rotor_state.actual_pos)),
state_sender.send(rotor_state), with_timeout(Duration::from_millis(100), state_sender.send(rotor_state)),
) )
.await; .await;
} }