From ce223621d16cc61fad0a8dfaa1dc837f42741168 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Sat, 8 Mar 2025 20:47:52 -0500
Subject: [PATCH] auto conf sync to gui

---
 interface/src/auto.rs | 31 ++++++++++++++++++++++---------
 interface/src/gui.rs  | 39 +++++++++++++++++++++++++++++++++++----
 2 files changed, 57 insertions(+), 13 deletions(-)

diff --git a/interface/src/auto.rs b/interface/src/auto.rs
index 9c84841..b43a217 100644
--- a/interface/src/auto.rs
+++ b/interface/src/auto.rs
@@ -1,8 +1,9 @@
-use std::{collections::VecDeque, ops::{Deref, Div, Index, Range, Sub}};
+use std::{collections::VecDeque, ops::{Deref, Div, Index, Range, Sub}, sync::Arc};
 
 use common::{CamState, ControlPacket, SensorData, TelemetryPacket};
-use anyhow::Result;
-use tokio::sync::{broadcast, mpsc, watch};
+use anyhow::{Context, Ok, Result};
+use eframe::Storage;
+use tokio::sync::{self, broadcast, mpsc, watch};
 
 pub struct AutoConfig {
     turn_gain: f32,
@@ -10,14 +11,19 @@ pub struct AutoConfig {
 }
 
 #[derive(Clone)]
-pub struct AutoInterface {
+pub struct AutoInterface<'s> {
     command_sender: Option<mpsc::Sender<ControlPacket>>,
     data_receiver: watch::Receiver<TelemetryPacket>,
+    config: &'s dyn Storage,
+    enabled: bool,
 }
 
-impl AutoInterface {
+impl<'s> AutoInterface<'s> {
     /// change active command, fails if not in control
-    pub fn run_command(&self, command: ControlPacket) -> Result<()> {unimplemented!()}
+    pub async fn run_command(&self, command: ControlPacket) -> Result<()> {
+        self.command_sender.as_ref().context("no sender")?.send(command).await?;
+        Ok(())
+    }
     pub fn sensor_data(&mut self) -> SensorData {
         self.data_receiver.borrow_and_update().sensors.clone()
     }
@@ -32,9 +38,16 @@ impl AutoInterface {
     /// disable auto
     pub fn disable(&self) {unimplemented!()}
     /// request auto enable, fails if the driver does not grant it
-    pub fn enable(&self) -> Result<()> {unimplemented!()}
-    pub fn enabled(&self) -> bool {unimplemented!()}
-    pub fn conf(&self, key: &'static Configurable) -> f32 {unimplemented!()}
+    pub fn enable(&mut self) -> Result<()> {
+        self.enabled = self.command_sender.is_some();
+        Ok(())
+    }
+    pub fn enabled(&self) -> bool { self.enabled}
+    pub fn conf(&self, key: &'static Configurable) -> f32 {
+        self.config.get_string(&key.name)
+            .map(|s| s.parse().ok())
+            .flatten().unwrap_or(key.default)        
+    }
     fn send_message(&self, message: String) {unimplemented!()}
 }
 
diff --git a/interface/src/gui.rs b/interface/src/gui.rs
index f458bf4..a06ce2a 100644
--- a/interface/src/gui.rs
+++ b/interface/src/gui.rs
@@ -1,13 +1,12 @@
-
-use std::{cell::OnceCell, path::PathBuf, sync::atomic::Ordering, time::Duration};
+use std::{cell::OnceCell, collections::HashMap, path::PathBuf, sync::{atomic::Ordering, Arc}, time::Duration};
 
 use common::{ControlPacket, TelemetryPacket};
-use eframe::{egui::{self, containers, Align2, Checkbox, Context, IconData, Id, ImageSource, Label}, Storage};
+use eframe::{egui::{self, containers, Align2, Checkbox, Context, IconData, Id, ImageSource, Label, Ui}, Storage};
 use image::ImageFormat;
 use tokio::{runtime::Runtime, sync::{mpsc, watch::Receiver}};
 use egui_toast::{Toast, Toasts};
 
-use crate::{storage_dir::storage_dir, POWER_THRESHOLD};
+use crate::{auto::Configurable, storage_dir::storage_dir, POWER_THRESHOLD};
 
 pub const GUI: OnceCell<Context> = OnceCell::new();
 
@@ -88,6 +87,18 @@ impl GUI {
     }
 }
 
+// dupe from auto crate for testing
+const AUTO_GAP: 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");
+const AUTO_SELF_OCCLUSION: Configurable = Configurable::new("auto self occlusion").range(0. .. 200.).default(143.)
+    .description("distance (mm) below which measurements are considered noise in the scan phase");
+
+#[unsafe(no_mangle)]
+pub static CONFIGS: &[Configurable] = &[
+    AUTO_GAP,
+    AUTO_SELF_OCCLUSION,
+];
+
 impl eframe::App for GUI {
     fn update(&mut self, ctx: &egui::Context, _frame: &mut eframe::Frame) {
         let _ = GUI.set(ctx.clone());
@@ -110,6 +121,10 @@ impl eframe::App for GUI {
             storage.set_string("selected_auto", format!("{}",self.selected_auto));
 
             POWER_THRESHOLD.store(self.volume_threshold, Ordering::Relaxed);
+
+            for conf in CONFIGS {
+                configurator(ui, conf, storage);
+            }
         });
 
         egui::CentralPanel::default().show(ctx, |ui| {
@@ -144,3 +159,19 @@ impl eframe::App for GUI {
         }
     }
 }
+
+fn configurator(ui: &mut Ui, config: &Configurable, map: &mut dyn Storage) {
+    ui.add(egui::Slider::from_get_set(config.min as f64 ..= config.max as f64, |value| {
+        match value {
+            Some(value) => { 
+                map.set_string(&config.name,format!("{value}"));
+                value
+            },
+            None => map.get_string(&config.name).map(|s| s.parse().ok()).flatten().unwrap_or(config.default as f64),
+        }
+
+    }).text(config.name));
+    if let Some(description) = config.description {
+        ui.label(description);
+    }
+}