WIP: Prepare MQTT and serialization structure

Cargo.toml

@@ -5,9 +5,7 @@ edition = "2021"
 
 [dependencies]
 rumqttc = "0.24"
-eskf = "0.2.0"
-nalgebra = "=0.25.4"
-quaternion-core = "0.5.0"
-tokio = { version = "1.17.0", features = ["full"] }
+eskf = "0.2"
+nalgebra = "0.25"
 serde = { version = "1.0", features = ["derive"] }
-serde_json = "1.0.116"
+serde_json = "1.0"

src/bin/sailtrack-aggregator.rs

@@ -0,0 +1,93 @@
+use eskf::ESKF;
+use std::thread;
+use std::time::Duration;
+
+use rumqttc::{Client, Event, Incoming, MqttOptions, QoS};
+use serde::{Deserialize, Serialize};
+
+#[derive(Serialize, Deserialize, Debug)]
+#[serde(rename_all = "camelCase")]
+struct Euler {
+    x: f32,
+    y: f32,
+    z: f32,
+}
+
+#[derive(Serialize, Deserialize, Debug)]
+#[serde(rename_all = "camelCase")]
+struct Imu {
+    euler: Euler,
+    // TODO: Add fields
+}
+
+#[derive(Serialize, Deserialize, Debug)]
+#[serde(rename_all = "camelCase")]
+struct Gps {
+    fix_type: i32,
+    // TODO: Add fields
+}
+
+#[derive(Serialize, Deserialize, Debug)]
+#[serde(rename_all = "camelCase")]
+struct Boat {
+    sog: f32,
+    // TODO: Add fields
+}
+
+fn on_message_imu(filter: ESKF, message: Imu) {
+    println!("Received IMU message: {message:?}");
+    // TODO: Update filter
+}
+
+fn on_message_gps(filter: ESKF, message: Gps) {
+    println!("Received GPS message: {message:?}");
+    // TODO: Update filter
+}
+
+fn main() {
+    // TODO: Add username and password authentication
+    let mqqt_opts = MqttOptions::new("sailtrack-aggregator", "localhost", 1883);
+
+    let mut filter = eskf::Builder::new()
+        .acceleration_variance(0.01) // FIXME
+        .rotation_variance(0.01) // FIXME
+        .build();
+
+    let (client, mut connection) = Client::new(mqqt_opts, 10);
+    client.subscribe("sensor/gps0", QoS::AtMostOnce).unwrap();
+    client.subscribe("sensor/imu0", QoS::AtMostOnce).unwrap();
+
+    thread::spawn(move || {
+        loop {
+            let message = Boat {
+                sog: 10.0, // FIXME
+            };
+            client
+                .publish(
+                    "boat",
+                    QoS::AtLeastOnce,
+                    false,
+                    serde_json::to_vec(&message).unwrap(),
+                )
+                .unwrap();
+            println!("Published boat measurement: {message:?}");
+            thread::sleep(Duration::from_millis(200));
+        }
+    });
+
+    for notification in connection.iter().flatten() {
+        if let Event::Incoming(Incoming::Publish(packet)) = notification {
+            match packet.topic.as_str() {
+                "sensor/imu0" => on_message_imu(
+                    filter,
+                    serde_json::from_slice(packet.payload.as_ref()).unwrap(),
+                ),
+                "sensor/gps0" => on_message_gps(
+                    filter,
+                    serde_json::from_slice(packet.payload.as_ref()).unwrap(),
+                ),
+                _ => (),
+            }
+        }
+    }
+}