Scan feature breaks build

[pierrickrouxel]

When I build the project, rust throws the attached error. I'm pretty new in the rust community, so I not able to understand why it doesn't work.

The error throws from this line:

central.scan(&ScanConfig::default());

The library is imported with:

trouble-host = { git = "https://github.com/embassy-rs/trouble", package = "trouble-host", features = [
    "log",
    "scan",
] }

Build log

``` error[E0277]: the trait bound `C: ControllerCmdSync` is not satisfied --> src/ble_bas_central.rs:36:17 | 36 | central.scan(&ScanConfig::default()); | ^^^^ the trait `ControllerCmdSync` is not implemented for `C` | note: required by a bound in `trouble_host::Central::<'d, C>::scan` --> trouble-148cf413cadab653/3a9d3c1/host/src/central.rs:290:12 | 288 | pub async fn scan(&mut self, config: &ScanConfig<'_>) -> Result> | ---- required by a bound in this associated function 289 | where 290 | C: ControllerCmdSync | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ required by this bound in `Central::<'d, C>::scan` help: consider further restricting this bound | 20 | C: Controller + bt_hci::controller::ControllerCmdSync, | +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ error[E0277]: the trait bound `C: ControllerCmdSync` is not satisfied --> src/ble_bas_central.rs:36:17 | 36 | central.scan(&ScanConfig::default()); | ^^^^ the trait `ControllerCmdSync` is not implemented for `C` | note: required by a bound in `trouble_host::Central::<'d, C>::scan` --> trouble-148cf413cadab653/3a9d3c1/host/src/central.rs:291:15 | 288 | pub async fn scan(&mut self, config: &ScanConfig<'_>) -> Result> | ---- required by a bound in this associated function ... 291 | + ControllerCmdSync | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ required by this bound in `Central::<'d, C>::scan` help: consider further restricting this bound | 20 | C: Controller + bt_hci::controller::ControllerCmdSync, | +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ ```

[lulf]

Which controller implementation are you using with trouble-host? Could you share some more of the initialization code, as well as which target you are compiling against.

[pierrickrouxel]

Thank you for your quick answer. I'm on esp32h2.

I reassembled the code from 2 classes for the exemple:

#![no_std]
#![no_main]

use bt_hci::controller::ExternalController;
use embassy_executor::Spawner;
use esp_alloc as _;
use esp_backtrace as _;
use esp_hal::{prelude::*, timer::timg::TimerGroup};
use esp_wifi::ble::controller::asynch::BleConnector;

#[esp_hal_embassy::main]
async fn main(_s: Spawner) {
    esp_println::logger::init_logger_from_env();
    let peripherals = esp_hal::init({
        let mut config = esp_hal::Config::default();
        config.cpu_clock = CpuClock::max();
        config
    });

    esp_alloc::heap_allocator!(72 * 1024);

    let timg0 = TimerGroup::new(peripherals.TIMG0);

    let init = esp_wifi::init(
        esp_wifi::EspWifiInitFor::Ble,
        timg0.timer0,
        esp_hal::rng::Rng::new(peripherals.RNG),
        peripherals.RADIO_CLK,
    )
    .unwrap();

    let systimer = esp_hal::timer::systimer::SystemTimer::new(peripherals.SYSTIMER)
        .split::<esp_hal::timer::systimer::Target>();
    esp_hal_embassy::init(systimer.alarm0);

    let mut bluetooth = peripherals.BT;
    let connector = BleConnector::new(&init, &mut bluetooth);
    let controller: ExternalController<_, 20> = ExternalController::new(connector);

    let mut resources = Resources::new(PacketQos::None);
    let (stack, _, mut central, mut runner) = trouble_host::new(controller, &mut resources).build();

    info!("Scanning for peripheral...");
    let _ = join(runner.run(), async {
        info!("Connecting");

        central.scan(&ScanConfig::default()); // Error is here
    })
    .await;
}

[lulf]

This might be an issue with the bt-hci version. Make sure you have a dependency on version 0.1.1. Also, I've confirmed it works with esp-hal revision 208339ddeb5b0747d1403d611d9c8718f5bf4f08 and trouble rev 9840438d75f0bfcc0cf950f5d1b267e86736b7b3, make sure that you use those revs.

[pierrickrouxel]

Not better. You can see my Cargo.toml after:

[package]
name = "hello_esp_nostd"
version = "0.1.0"
authors = ["Pierrick Rouxel"]
edition = "2021"
license = "MIT"

[dependencies]
embassy-executor = { version = "0.6.1", features = [
    "integrated-timers",
    "arch-riscv32",
] }
embassy-time = { version = "0.3.2" }
trouble-host = { git = "https://github.com/embassy-rs/trouble", package = "trouble-host", features = [
    "log",
    "scan",
] }
esp-backtrace = { version = "0.14.2", features = [
    "panic-handler",
    "exception-handler",
    "esp32h2",
    "println",
] }
esp-hal = { version = "0.21.1", features = ["esp32h2"] }
esp-hal-embassy = { version = "0.4.0", features = [
    "esp32h2",
    "integrated-timers",
] }
esp-println = { version = "0.12.0", features = ["log", "esp32h2"] }
log = "0.4.22"
esp-wifi = { version = "0.10.1", features = ["async", "ble", "esp32h2"] }
embassy-futures = { version = "0.1.1", features = ["log"] }
esp-alloc = "0.5.0"
bt-hci = { version = "0.1.1", features = ["embassy-time", "log"] }
embassy-sync = { version = "0.6.0", features = ["log"] }

[profile.dev]
# Rust debug is too slow.
# For debug builds always builds with some optimization
opt-level = "s"

[profile.release]
codegen-units = 1        # LLVM can perform better optimizations using a single thread
debug = 2
debug-assertions = false
incremental = false
lto = 'fat'
opt-level = 's'
overflow-checks = false

[patch.crates-io]
esp-hal = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" }
esp-hal-embassy = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" }
esp-wifi = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" }
esp-println = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" }
esp-backtrace = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" }
esp-alloc = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" }

[lulf]

Not better. You can see my Cargo.toml after:

[package]
name = "hello_esp_nostd"
version = "0.1.0"
authors = ["Pierrick Rouxel"]
edition = "2021"
license = "MIT"

[dependencies]
embassy-executor = { version = "0.6.1", features = [
    "integrated-timers",
    "arch-riscv32",
] }
embassy-time = { version = "0.3.2" }

Try changing this

trouble-host = { git = "https://github.com/embassy-rs/trouble", package = "trouble-host", features = [ "log", "scan", ] }

To this

trouble-host = { version = "0.1.0", features = [ "log", "scan"] }

esp-backtrace = { version = "0.14.2", features = [ "panic-handler", "exception-handler", "esp32h2", "println", ] } esp-hal = { version = "0.21.1", features = ["esp32h2"] } esp-hal-embassy = { version = "0.4.0", features = [ "esp32h2", "integrated-timers", ] } esp-println = { version = "0.12.0", features = ["log", "esp32h2"] } log = "0.4.22" esp-wifi = { version = "0.10.1", features = ["async", "ble", "esp32h2"] } embassy-futures = { version = "0.1.1", features = ["log"] } esp-alloc = "0.5.0" bt-hci = { version = "0.1.1", features = ["embassy-time", "log"] } embassy-sync = { version = "0.6.0", features = ["log"] }

[profile.dev]

Rust debug is too slow.

For debug builds always builds with some optimization

opt-level = "s"

[profile.release] codegen-units = 1 # LLVM can perform better optimizations using a single thread debug = 2 debug-assertions = false incremental = false lto = 'fat' opt-level = 's' overflow-checks = false

[patch.crates-io] esp-hal = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" } esp-hal-embassy = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" } esp-wifi = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" } esp-println = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" } esp-backtrace = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" } esp-alloc = { git = "https://github.com/esp-rs/esp-hal.git", rev = "208339ddeb5b0747d1403d611d9c8718f5bf4f08" }

And add this to the patch section:

trouble-host = { git = "https://github.com/embassy-rs/trouble.git", rev = "9840438d75f0bfcc0cf950f5d1b267e86736b7b3" }

[pierrickrouxel]

Humpf, I think it's my code that contains a mistake. If I merge my code in one file it's ok.

I spliced the code in two modules but my Rust understanding seems to be bad. I think it missing things in my where clause. I will read more :)

Sorry.

My module:

use embassy_futures::join::join;
use esp_alloc as _;
use esp_backtrace as _;
use log::info;
use trouble_host::{scan::ScanConfig, Controller, HostResources, PacketQos};

/// Size of L2CAP packets
const L2CAP_MTU: usize = 128;

/// Max number of connections
const CONNECTIONS_MAX: usize = 1;

/// Max number of L2CAP channels.
const L2CAP_CHANNELS_MAX: usize = 3; // Signal + att + CoC

type Resources<C> = HostResources<C, CONNECTIONS_MAX, L2CAP_CHANNELS_MAX, L2CAP_MTU>;

pub async fn run<C>(controller: C)
where
    C: Controller,
{
    let mut resources = Resources::new(PacketQos::None);
    let (stack, _, mut central, mut runner) = trouble_host::new(controller, &mut resources).build();

    info!("Scanning for peripheral...");
    let _ = join(runner.run(), async {
        info!("Connecting");

        let reports = central.scan(&ScanConfig::default()).await.unwrap();
    })
    .await;
}