From 27e69bf3011484352da0d956a73a2487af3e6db9 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sat, 8 Mar 2025 19:28:05 -0500
Subject: [PATCH] impl data receive

---
 interface/src/auto.rs | 20 ++++++++++++++++----
 1 file changed, 16 insertions(+), 4 deletions(-)

diff --git a/interface/src/auto.rs b/interface/src/auto.rs
index 5a382e5..9c84841 100644
--- a/interface/src/auto.rs
+++ b/interface/src/auto.rs
@@ -1,22 +1,34 @@
 use std::{collections::VecDeque, ops::{Deref, Div, Index, Range, Sub}};
 
-use common::{CamState, ControlPacket, SensorData};
+use common::{CamState, ControlPacket, SensorData, TelemetryPacket};
 use anyhow::Result;
+use tokio::sync::{broadcast, mpsc, watch};
 
 pub struct AutoConfig {
     turn_gain: f32,
     auto_fire_distance: f32,
 }
 
+#[derive(Clone)]
 pub struct AutoInterface {
+    command_sender: Option<mpsc::Sender<ControlPacket>>,
+    data_receiver: watch::Receiver<TelemetryPacket>,
 }
 
 impl AutoInterface {
     /// change active command, fails if not in control
     pub fn run_command(&self, command: ControlPacket) -> Result<()> {unimplemented!()}
-    pub fn sensor_data(&self) -> SensorData {unimplemented!()}
-    pub fn cam_state(&self) -> CamState {unimplemented!()}
-    pub async fn sensor_update(&self) -> SensorData {unimplemented!()}
+    pub fn sensor_data(&mut self) -> SensorData {
+        self.data_receiver.borrow_and_update().sensors.clone()
+    }
+    pub fn cam_state(&mut self) -> CamState {
+        self.data_receiver.borrow_and_update().cam_state.clone()
+    }
+    pub async fn sensor_update(&mut self) -> SensorData {
+        self.data_receiver.changed().await.unwrap();
+        self.data_receiver.borrow().sensors.clone()
+
+    }
     /// disable auto
     pub fn disable(&self) {unimplemented!()}
     /// request auto enable, fails if the driver does not grant it