Struct BeaconController

pub struct BeaconController {
    active_bo: RwLock<HashMap<usize, BeaconObjective>>,
    done_bo: RwLock<HashMap<usize, BeaconObjectiveDone>>,
    beacon_rx: Mutex<Receiver<BeaconObjective>>,
    state_rx: Sender<BeaconControllerState>,
}

The BeaconController manages active and completed Beacon Objectives, handles beacon measurements received via communication messages, and submits results to the backend.

This controller supports:

• Tracking currently active beacon objectives
• Monitoring for objectives nearing their end
• Handling and filtering incoming ping messages
• Estimating distances from noisy measurements
• Submitting completed objectives through the endpoint

Fields

active_bo: RwLock<HashMap<usize, BeaconObjective>>

Map of active beacon objectives indexed by ID.

done_bo: RwLock<HashMap<usize, BeaconObjectiveDone>>

Map of completed beacon objectives that were already submitted.

beacon_rx: Mutex<Receiver<BeaconObjective>>

Receiver channel for newly announced beacon objectives.

state_rx: Sender<BeaconControllerState>

State broadcast channel for notifying listeners when beacon activity changes.

Implementations

impl BeaconController

const TIME_TO_NEXT_PASSIVE_CHECK: Duration

Interval between automatic passive checks for near-expiring objectives.

const MAX_ESTIMATE_GUESSES: usize = 5usize

Maximum number of guesses allowed before beacon is considered resolved.

pub fn new( rx_beac: Receiver<BeaconObjective>, ) -> (Self, Receiver<BeaconControllerState>)

Creates a new BeaconController and associated state receiver.

Arguments

• rx_beac – A receiver channel to receive newly active beacon objectives.

Returns

A tuple (BeaconController, watch::Receiver<BeaconControllerState>)

pub async fn run(self: Arc<Self>, handler: Arc<HTTPClient>)

Starts the main controller loop:

• Periodically checks for objectives nearing completion
• Reacts to newly received beacon objectives

Should be spawned as a background task.

Arguments

• handler – A shared HTTP client for submitting finished objectives.

pub async fn last_active_beac_end(&self) -> Option<DateTime<Utc>>

Returns the latest end timestamp of all currently active beacon objectives.

Returns

• Some(DateTime) if at least one active objective exists, None otherwise.

fn extract_id_and_d(input: &str) -> Option<(usize, f64)>

Attempts to extract a beacon ID and noisy distance from a telemetry message.

Arguments

• input – The string message from the beacon communication system.

Returns

• Some((id, distance)) if parsing succeeds, None otherwise.

pub async fn handle_poss_bo_ping( &self, msg: (DateTime<Utc>, String), f_cont: Arc<RwLock<FlightComputer>>, )

Processes a received ping message during comms window.

If the ID matches an active beacon, updates it with a new noisy measurement.

Arguments

• msg – Tuple of timestamp and message string.
• f_cont – Lock to the flight computer for obtaining position.

async fn add_beacon(&self, obj: BeaconObjective)

Registers a newly received beacon objective into the active tracking list.

Notifies downstream listeners if this is the first active beacon.

Arguments

• obj – The received BeaconObjective.

async fn move_to_done(&self, finished: HashMap<usize, BeaconObjective>)

Moves finished objectives from active_bo to done_bo.

Also logs and stores submission results.

Arguments

• finished – Map of completed objectives to move.

async fn check_approaching_end(&self, handler: &Arc<HTTPClient>)

Checks for objectives that are:

• About to end within TIME_TO_NEXT_PASSIVE_CHECK
• Have enough guesses already

Submits them and updates internal state.

Arguments

• handler – Shared HTTP client for submission.

async fn handle_beacon_submission(&self, handler: &Arc<HTTPClient>)

Handles submission of all completed (done) beacon objectives.

Applies random guesses or estimates based on measurement data.

Arguments

• handler – Shared HTTP client used to send results.