From 21e269bc43650f8b2aec297f57f3f88595e9e032 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sat, 8 Mar 2025 19:09:30 -0500
Subject: [PATCH] builder pattern for configs

---
 auto/Cargo.toml       |  3 +++
 auto/src/lib.rs       | 23 ++++++++++++++++++++---
 interface/Cargo.lock  | 22 +++++++++++++++-------
 interface/Cargo.toml  |  2 ++
 interface/src/auto.rs | 28 +++++++++++++++++++++++++++-
 5 files changed, 67 insertions(+), 11 deletions(-)

diff --git a/auto/Cargo.toml b/auto/Cargo.toml
index fd092f8..6e133e4 100644
--- a/auto/Cargo.toml
+++ b/auto/Cargo.toml
@@ -1,3 +1,6 @@
+[lib]
+crate-type = ["dylib"]
+
 [package]
 name = "auto"
 version = "0.1.0"
diff --git a/auto/src/lib.rs b/auto/src/lib.rs
index e558b98..2c21e09 100644
--- a/auto/src/lib.rs
+++ b/auto/src/lib.rs
@@ -1,12 +1,29 @@
-use std::{collections::VecDeque, ops::Sub};
+use std::{collections::VecDeque, ops::Sub, pin::Pin};
 
 use common::CamState;
-use interface::auto::AutoInterface;
+use interface::auto::{AutoInterface, Configurable};
 
+
+#[unsafe(no_mangle)]
+pub fn entry(interface: AutoInterface) -> Pin<Box<dyn Future<Output = ()> + Send>> {
+    Box::pin(auto(interface))
+}
+
+#[unsafe(no_mangle)]
+pub static NAME: &'static str = "scanseek v1";
+    
 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) {
+#[unsafe(no_mangle)]
+pub static CONFIGS: &[Configurable] = &[
+    Configurable::new("auto minimum gap").range(0. .. 300.).default(140.)
+    .description("distance (mm) distance measurements must instantaneously drop to indicate a detection. This should line up with the size of the smallest robot you compete against"),
+    Configurable::new("auto self occlusion").range(0. .. 200.).default(143.)
+    .description("distance (mm) below which measurements are considered noise in the scan phase"),
+];
+
+async fn auto (interface: AutoInterface) {
     let mut tof_l = Stats::new();
     let mut tof_r = Stats::new();
     loop {
diff --git a/interface/Cargo.lock b/interface/Cargo.lock
index 8fc4206..2c5d3f7 100644
--- a/interface/Cargo.lock
+++ b/interface/Cargo.lock
@@ -1060,9 +1060,9 @@ checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28"
 
 [[package]]
 name = "crunchy"
-version = "0.2.3"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "43da5946c66ffcc7745f48db692ffbb10a83bfe0afd96235c5c2a4fb23994929"
+checksum = "7a81dae078cea95a014a339291cec439d2f232ebe854a9d672b796c6afafa9b7"
 
 [[package]]
 name = "crypto-common"
@@ -1150,7 +1150,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "7d72e9c39f6e11a2e922d04a34ec5e7ef522ea3f5a1acfca7a19d16ad5fe50f5"
 dependencies = [
  "bytemuck",
- "emath",
+ "emath 0.30.0",
  "serde",
 ]
 
@@ -1201,7 +1201,7 @@ checksum = "252d52224d35be1535d7fd1d6139ce071fb42c9097773e79f7665604f5596b5e"
 dependencies = [
  "accesskit",
  "ahash",
- "emath",
+ "emath 0.30.0",
  "epaint",
  "log",
  "nohash-hasher",
@@ -1308,6 +1308,12 @@ dependencies = [
  "serde",
 ]
 
+[[package]]
+name = "emath"
+version = "0.31.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9e4cadcff7a5353ba72b7fea76bf2122b5ebdbc68e8155aa56dfdea90083fe1b"
+
 [[package]]
 name = "embedded-io"
 version = "0.4.0"
@@ -1389,7 +1395,7 @@ dependencies = [
  "ahash",
  "bytemuck",
  "ecolor",
- "emath",
+ "emath 0.30.0",
  "epaint_default_fonts",
  "log",
  "nohash-hasher",
@@ -1666,9 +1672,9 @@ dependencies = [
 
 [[package]]
 name = "glob"
-version = "0.3.2"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a8d1add55171497b4705a648c6b583acafb01d58050a51727785f0b2c8e0a2b2"
+checksum = "d2fabcfbdc87f4758337ca535fb41a6d701b65693ce38287d856d1674551ec9b"
 
 [[package]]
 name = "glow"
@@ -2124,9 +2130,11 @@ dependencies = [
  "eframe",
  "egui-toast",
  "egui_extras",
+ "emath 0.31.1",
  "heapless",
  "home",
  "image",
+ "libloading",
  "pitch-detection",
  "postcard",
  "rust-music-theory",
diff --git a/interface/Cargo.toml b/interface/Cargo.toml
index 8732af4..e03a77c 100644
--- a/interface/Cargo.toml
+++ b/interface/Cargo.toml
@@ -21,3 +21,5 @@ home = "0.5.11"
 atomic_float = "1.1.0"
 chrono = "0.4.40"
 image = "0.25.5"
+libloading = "0.8.6"
+emath = "0.31.1"
diff --git a/interface/src/auto.rs b/interface/src/auto.rs
index 49400e7..420927c 100644
--- a/interface/src/auto.rs
+++ b/interface/src/auto.rs
@@ -1,4 +1,4 @@
-use std::{collections::VecDeque, ops::{Div, Sub}};
+use std::{collections::VecDeque, ops::{Div, Range, Sub}};
 
 use common::{CamState, ControlPacket, SensorData};
 use anyhow::Result;
@@ -28,11 +28,37 @@ impl AutoInterface {
 
 pub struct Configurable {
     pub name: &'static str,
+    pub description: Option<&'static str>,
     pub default: f32,
     pub min: f32,
     pub max: f32,
 }
 
+impl Configurable {
+    pub const fn new(name: &'static str) -> Self {
+        Self { name, description: None, default: 0.0, min: 0.0, max: 1.0 }
+    }
+    pub const fn range(self, range: Range<f32>) -> Self {
+        Self { min: range.start, max: range.end, ..self }
+    }
+    pub const fn description(self, description: &'static str) -> Self {
+        Self { description: Some(description), ..self }
+    }
+    pub const fn default(self, default: f32) -> Self {
+        Self { default, ..self }
+    }
+
+    pub const fn name(&'static self) -> &'static str {
+        self.name
+    }
+}
+
+impl Default for Configurable {
+    fn default() -> Self {
+        Self { name: Default::default(), description: Default::default(), default: Default::default(), min: 0.0, max: 1.0 }
+    }
+}
+
 /// A fake trait in the sense that these methods are exposed as symbols, not trait methods
 pub trait Auto {
     /// entrypoint