factored auto into separate crate

.gitignore

@@ -0,0 +1 @@
+**/target

auto/Cargo.toml

@@ -0,0 +1,8 @@
+[package]
+name = "auto"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+common = {path = "../common"}
+interface = {path = "../interface"}

auto/src/lib.rs

@@ -0,0 +1,73 @@
+use std::{collections::VecDeque, ops::Sub};
+
+use common::CamState;
+use interface::auto::AutoInterface;
+
+const AUTO_GAP: i16 = 140; /// mm tofs must drop to count as a hit
+const AUTO_SELF_OCCLUSION: u16 = 130; /// minimum 
+
+async fn auto (interface: &AutoInterface) {
+    let mut tof_l = Stats::new();
+    let mut tof_r = Stats::new();
+    loop {
+        let data = interface.sensor_update().await;
+        let cam = interface.cam_state();
+        let CamState::Charged = cam else {
+            continue;
+        };
+        
+        let Some(latest_tof_l) = data.tof_l else {
+            continue;
+        };
+        tof_l.update(latest_tof_l as i16);
+        let Some(latest_tof_r) = data.tof_r else {
+            continue;
+        };
+        tof_r.update(latest_tof_r as i16);
+
+        let detection = |latest: u16, delta: i16| {
+            delta < AUTO_GAP && latest > AUTO_SELF_OCCLUSION
+        };
+
+        if detection(latest_tof_l, tof_l.delta()) || detection(latest_tof_l, tof_l.delta()) {
+            if let Ok(()) = interface.enable() {
+                println!("found, now seek")
+            }
+        }
+    }
+}
+
+
+struct Stats<T> {
+    table: VecDeque<T>
+}
+
+impl<T> Stats<T> {
+    pub fn new() -> Self {
+        Self { table: VecDeque::new() }
+
+    }
+
+    const MAX_ELEMENTS: usize = 3;
+
+    pub fn update(&mut self, elem: T) {
+        self.table.push_front(elem);
+        if self.table.len() > Self::MAX_ELEMENTS {
+            self.table.pop_back();
+        }
+    }
+}
+
+impl<T: Ord + Sub<Output = T> + Copy + From<u8>> Stats<T> {
+    pub fn delta(&self) -> T {
+        *self.table.get(0).unwrap_or(&T::from(0)) - *self.table.get(1).unwrap_or(&T::from(0))
+    }
+
+    pub fn max(&self) -> T {
+        *self.table.iter().max().unwrap_or(&T::from(0))
+    }
+
+    pub fn min(&self) -> T {
+        *self.table.iter().max().unwrap_or(&T::from(0))
+    }
+}

interface/src/auto.rs

@@ -3,109 +3,41 @@ use std::{collections::VecDeque, ops::{Div, Sub}};
 use common::{CamState, ControlPacket, SensorData};
 use anyhow::Result;
 
-struct AutoConfig {
+pub struct AutoConfig {
     turn_gain: f32,
     auto_fire_distance: f32,
 }
-const AUTO_GAP: i16 = 140; /// mm tofs must drop to count as a hit
-const AUTO_SELF_OCCLUSION: u16 = 130; /// minimum 
 
-struct AutoInterface {
+pub struct AutoInterface {
 }
 
 impl AutoInterface {
     /// change active command, fails if not in control
-    fn run_command(&self, command: ControlPacket) -> Result<()> {unimplemented!()}
+    pub fn run_command(&self, command: ControlPacket) -> Result<()> {unimplemented!()}
-    fn sensor_data(&self) -> SensorData {unimplemented!()}
+    pub fn sensor_data(&self) -> SensorData {unimplemented!()}
-    fn cam_state(&self) -> CamState {unimplemented!()}
+    pub fn cam_state(&self) -> CamState {unimplemented!()}
-    async fn sensor_update(&self) -> SensorData {unimplemented!()}
+    pub async fn sensor_update(&self) -> SensorData {unimplemented!()}
     /// disable auto
-    fn disable(&self) {unimplemented!()}
+    pub fn disable(&self) {unimplemented!()}
     /// request auto enable, fails if the driver does not grant it
-    fn enable(&self) -> Result<()> {unimplemented!()}
+    pub fn enable(&self) -> Result<()> {unimplemented!()}
-    fn enabled(&self) -> bool {unimplemented!()}
+    pub fn enabled(&self) -> bool {unimplemented!()}
-    fn auto_conf(&self) -> AutoConfig {unimplemented!()}
+    pub fn auto_conf(&self) -> AutoConfig {unimplemented!()}
     fn send_message(&self, message: String) {unimplemented!()}
 }
 
-struct Configurable {
+pub struct Configurable {
-    name: &'static str,
+    pub name: &'static str,
-    default: f32,
+    pub default: f32,
-    min: f32,
+    pub min: f32,
-    max: f32,
+    pub max: f32,
 }
 
 /// A fake trait in the sense that these methods are exposed as symbols, not trait methods
-trait Auto {
+pub trait Auto {
     /// entrypoint
     async fn run(interface: &AutoInterface);
     /// register
     fn default_configs() -> [Configurable];
     fn name() -> &'static str;
 }
-
-async fn auto (interface: &AutoInterface) {
-    let mut tof_l = Stats::new();
-    let mut tof_r = Stats::new();
-    loop {
-        let data = interface.sensor_update().await;
-        let cam = interface.cam_state();
-        let CamState::Charged = cam else {
-            continue;
-        };
-        
-        let Some(latest_tof_l) = data.tof_l else {
-            continue;
-        };
-        tof_l.update(latest_tof_l as i16);
-        let Some(latest_tof_r) = data.tof_r else {
-            continue;
-        };
-        tof_r.update(latest_tof_r as i16);
-
-        let detection = |latest: u16, delta: i16| {
-            delta < AUTO_GAP && latest > AUTO_SELF_OCCLUSION
-        };
-
-        if detection(latest_tof_l, tof_l.delta()) || detection(latest_tof_l, tof_l.delta()) {
-            if let Ok(()) = interface.enable() {
-                println!("found, now seek")
-            }
-        }
-    }
-}
-
-
-struct Stats<T> {
-    table: VecDeque<T>
-}
-
-impl<T> Stats<T> {
-    pub fn new() -> Self {
-        Self { table: VecDeque::new() }
-
-    }
-
-    const MAX_ELEMENTS: usize = 3;
-
-    pub fn update(&mut self, elem: T) {
-        self.table.push_front(elem);
-        if self.table.len() > Self::MAX_ELEMENTS {
-            self.table.pop_back();
-        }
-    }
-}
-
-impl<T: Ord + Sub<Output = T> + Copy + From<u8>> Stats<T> {
-    pub fn delta(&self) -> T {
-        *self.table.get(0).unwrap_or(&T::from(0)) - *self.table.get(1).unwrap_or(&T::from(0))
-    }
-
-    pub fn max(&self) -> T {
-        *self.table.iter().max().unwrap_or(&T::from(0))
-    }
-
-    pub fn min(&self) -> T {
-        *self.table.iter().max().unwrap_or(&T::from(0))
-    }
-}