response.rs

#![no_std]
#![no_main]
use defmt::*;
use embassy_executor::Spawner;
use embassy_rp::clocks::RoscRng;
use embassy_rp::gpio;
use embassy_sync::blocking_mutex::raw::ThreadModeRawMutex;
use embassy_sync::channel::Channel;
use embassy_sync::signal::Signal;
use embassy_time::Timer;
use gpio::{Level, Output};
use rand::RngCore;
use {defmt_rtt as _, panic_probe as _};

enum Command {
    Toggle(&'static Signal<ThreadModeRawMutex, Level>),
}
static COMMANDS: Channel<ThreadModeRawMutex, Command, 8> = Channel::new();

#[embassy_executor::main]
async fn main(spawner: Spawner) {
    let p = embassy_rp::init(Default::default());
    let mut led = Output::new(p.PIN_25, Level::High);

    spawner.must_spawn(toggle_led_task(0));
    spawner.must_spawn(toggle_led_task(1));

    loop {
        match COMMANDS.receive().await {
            Command::Toggle(response) => {
                led.toggle();
                response.signal(led.get_output_level());
            }
        }
    }
}

#[embassy_executor::task(pool_size = 2)]
async fn toggle_led_task(id: u8) {
    static RESPONSE: Signal<ThreadModeRawMutex, Level> = Signal::new();
    loop {
        let delay_time = (2_000. * (RoscRng.next_u32() as f32 / u32::MAX as f32)) as u64;
        Timer::after_millis(delay_time).await;
        COMMANDS.send(Command::Toggle(&RESPONSE)).await;
        let response = RESPONSE.wait().await;
        info!("Task {} got: {:?}", id, Debug2Format(&response));
    }
}