load config from real file

A refactor might be beneficial here, now data is being
sent to multiple streams which feels a tad off

.gitignore

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

auto/Cargo.toml

@@ -0,0 +1,11 @@
+[lib]
+crate-type = ["dylib"]
+
+[package]
+name = "auto"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+common = {path = "../common"}
+interface = {path = "../interface"}

auto/src/lib.rs

@@ -0,0 +1,94 @@
+use std::{collections::VecDeque, ops::Sub, pin::Pin};
+
+use common::CamState;
+use interface::auto::{AutoInterface, Configurable};
+
+
+#[unsafe(no_mangle)]
+pub fn entry(interface: AutoInterface) -> Pin<Box<dyn Future<Output = ()>>> {
+    Box::pin(auto(interface))
+}
+
+#[unsafe(no_mangle)]
+pub static NAME: &'static str = "scanseek v1";
+    
+
+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,
+];
+
+async fn auto (mut 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 auto_gap = interface.conf(&AUTO_GAP);
+        let auto_self_occlusion = interface.conf(&AUTO_SELF_OCCLUSION);
+
+        let detection = |latest: u16, delta: i16| {
+            delta < auto_gap as i16 && latest > auto_self_occlusion as u16
+        };
+
+        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))
+    }
+}

common/src/lib.rs

@@ -39,13 +39,13 @@ pub struct SensorData {
     pub accel: Option<Vector3<f32>>,
 }
 
-#[derive(Serialize, Deserialize, Debug)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
 pub struct TelemetryPacket {
     pub sensors: SensorData,
     pub cam_state: CamState,
 }
 
-#[derive(Serialize, Deserialize, Debug)]
+#[derive(Serialize, Deserialize, Debug, Clone)]
 pub enum CamState {
     Firing,
     Charged,

interface/Cargo.toml

@@ -7,13 +7,19 @@ edition = "2021"
 anyhow = "1.0.95"
 cpal = "0.15.3"
 pitch-detection = "0.3"
-postcard = "1.1.1"
+postcard = { version = "1.1.1", features = ["alloc", "use-std"] }
 rust-music-theory = {git = "https://github.com/the-drunk-coder/rust-music-theory", rev = "a062d65"}
-serde = "1.0.217"
+serde = { version = "1.0.217", features = ["derive"] }
 tokio = { version = "1.43.0", features = ["full"] }
 common = {path = "../common"}
 heapless = "0.7.0"
 
-eframe = "0.30"
+eframe = { version = "0.30", features = ["persistence"] }
 egui_extras = { version = "0.30", features = ["default", "image"] }
 egui-toast = "0.16.0"
+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"

interface/src/auto.rs

@@ -0,0 +1,121 @@
+use std::{collections::VecDeque, ops::{Deref, Div, Index, Range, Sub}, sync::Arc};
+
+use common::{CamState, ControlPacket, SensorData, TelemetryPacket};
+use anyhow::{Context, Ok, Result};
+use eframe::Storage;
+use libloading::{Library, Symbol};
+use tokio::sync::{self, 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>,
+    config: &'static dyn Storage,
+    enabled: bool,
+}
+
+impl AutoInterface {
+    /// change active command, fails if not in control
+    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()
+    }
+    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
+    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!()}
+}
+
+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 Deref for Configurable {
+    type Target = str;
+
+    fn deref(&self) -> &Self::Target {
+        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
+    async fn run(interface: &AutoInterface);
+    /// register
+    fn default_configs() -> [Configurable];
+    fn name() -> &'static str;
+}
+
+
+pub fn get_confs() -> Result<()> {
+    let lib = unsafe {Library::new("../auto/target/release/libauto.so")?};
+
+    let configurations: Symbol<&&[Configurable]> =  unsafe {lib.get(b"CONFIGS").unwrap()};
+
+    for config in configurations.iter() {
+        println!("co {}", config.name);
+        println!("co {:?}", config.description);
+    }
+
+    let name: Symbol<&&'static str> =  unsafe {lib.get(b"NAME").unwrap()};
+    println!("na {:?}", *name);
+
+    Ok(())
+}
+

interface/src/combatlog.rs

@@ -0,0 +1,42 @@
+use std::time::{Duration, SystemTime, UNIX_EPOCH};
+
+use anyhow::Ok;
+use common::{ControlPacket, TelemetryPacket};
+use serde::{Deserialize, Serialize};
+use tokio::{fs::File, io::AsyncWriteExt, sync::mpsc::Receiver, time::Instant};
+
+use crate::storage_dir::storage;
+
+
+#[derive(Serialize, Deserialize)]
+pub enum CombatData {
+    Telemetry(TelemetryPacket),
+    Control(ControlPacket),
+}
+
+type CombatLogRow = (CombatData, u128);
+
+pub async fn combat_logger(mut data: Receiver<CombatData>) -> anyhow::Result<()> {
+    let mut path = storage();
+    let time = chrono::offset::Utc::now();
+    let formatted = time.to_rfc3339_opts(chrono::SecondsFormat::Secs, false);
+    path.push(format!("{formatted}.combatlog"));
+    let mut file = File::options().create(true).append(true).open(path).await?;
+    
+    let mut save = Instant::now();
+
+    while let Some(packet) = data.recv().await {
+        let time = SystemTime::now().duration_since(UNIX_EPOCH)?.as_micros();
+        let vec = postcard::to_stdvec(&(packet, time))?;
+
+        file.write_u64(vec.len() as u64).await?;
+        file.write_all(&vec).await?;
+
+        if save.elapsed() > Duration::from_secs(30) { 
+            save = Instant::now();
+            file.sync_all().await?;
+        }
+    }
+
+    Ok(())
+}

interface/src/gui.rs

@@ -1,16 +1,31 @@
-
-use std::cell::OnceCell;
+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, Label};
-use tokio::sync::{mpsc, watch::Receiver};
+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::{auto::Configurable, storage_dir::storage_dir, POWER_THRESHOLD};
+
 pub const GUI: OnceCell<Context> = OnceCell::new();
 
-pub fn gui(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> eframe::Result {
+pub fn gui(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>, executor: Runtime) -> eframe::Result {
+    let icon = egui::include_image!("../assets/lizard.png");
+
+    let icon = image::load_from_memory_with_format(include_bytes!("../assets/lizard.png"), ImageFormat::Png).unwrap();
+
+    let icon = IconData {
+        width: icon.width(),
+        height: icon.height(),
+        rgba: icon.into_rgba8().into_raw(),
+    };
+
     let options = eframe::NativeOptions {
-        viewport: egui::ViewportBuilder::default().with_inner_size([320.0, 240.0]),
+        viewport: egui::ViewportBuilder::default()
+            .with_inner_size([700.0, 480.0])
+            .with_app_id("cruisecontrol")
+            .with_icon(icon),
         ..Default::default()
     };
     eframe::run_native(
@@ -20,7 +35,7 @@ pub fn gui(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> eframe::Re
             // This gives us image support:
             egui_extras::install_image_loaders(&cc.egui_ctx);
 
-            Ok(Box::new(GUI::with_receivers(data, toasts)))
+            Ok(Box::new(GUI::with_receivers(data, toasts, executor, cc.storage.unwrap())))
         }),
     )
 }
@@ -31,23 +46,86 @@ pub struct GUIData {
     pub last_command: Option<ControlPacket>,
 }
 
+#[cfg(target_os = "linux")]
+pub const DEFAULT_VOLUME_THRESHOLD: f32 = 5.0;
+#[cfg(target_os = "windows")]
+pub const DEFAULT_VOLUME_THRESHOLD: f32 = 1.0;
+const DEFAULT_TURN_GAIN: f32 = 0.3;
+const DEFAULT_FIRE_DISTANCE: f32 = 55.0;
+
 struct GUI {
     data: Receiver<GUIData>,
     toasts: mpsc::Receiver<Toast>,
+    executor: Option<Runtime>,
+    volume_threshold: f32,
+    auto_turn_gain: f32,
+    /// mm
+    auto_fire_distance: f32,
+    selected_auto: usize,
 }
 
 impl GUI {
-    fn with_receivers(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>) -> Self {
+    fn with_receivers(data: Receiver<GUIData>, toasts: mpsc::Receiver<Toast>, executor: Runtime, storage: &dyn Storage) -> Self {
+        let volume_threshold: f32 = storage.get_string("volume_threshold").map(|s| s.parse().ok()).flatten().unwrap_or(DEFAULT_VOLUME_THRESHOLD);
+
+        let auto_turn_gain: f32 = storage.get_string("auto_turn_gain").map(|s| s.parse().ok()).flatten().unwrap_or(DEFAULT_TURN_GAIN);
+
+        let auto_fire_distance: f32 = storage.get_string("auto_fire_distance").map(|s| s.parse().ok()).flatten().unwrap_or(DEFAULT_FIRE_DISTANCE);
+
+        let selected_auto: usize = storage.get_string("selected_auto").map(|s| s.parse().ok()).flatten().unwrap_or(0);
+
+
         Self {
             data,
             toasts,
+            executor: Some(executor),
+            volume_threshold,
+            auto_turn_gain,
+            auto_fire_distance,
+            selected_auto,
         }
     }
 }
 
+// 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");
+
+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());
+        egui::SidePanel::right(Id::new("config")).resizable(false).show(ctx, |ui| {
+            ui.heading("configuration");
+            ui.add(egui::Slider::new(&mut self.volume_threshold, 0.0..=10.0).text("volume threshold"));
+            ui.label("higher accepts less noise (better)");
+            ui.add(egui::Slider::new(&mut self.auto_turn_gain, 0.0..=1.0).text("auto turn kP"));
+            ui.add(egui::Slider::new(&mut self.auto_fire_distance, 30.0..=100.0).text("auto fire distance (mm)"));
+            ui.horizontal(|ui| {
+                egui::ComboBox::new("auto selector", "select auto")
+                    .show_index(ui, &mut self.selected_auto, 3, |n| ["a","b","c"][n]);
+                ui.button("refresh").clicked();
+            });
+
+            let storage = _frame.storage_mut().unwrap();
+            storage.set_string("volume_threshold", format!("{}",self.volume_threshold));
+            storage.set_string("auto_turn_gain", format!("{}",self.auto_turn_gain));
+            storage.set_string("auto_fire_distance", format!("{}",self.auto_fire_distance));
+            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| {
             ui.heading("Cruise Control");
 
@@ -74,5 +152,25 @@ impl eframe::App for GUI {
         }
 
         toasts.show(ctx);
+
+        if ctx.input(|i| i.viewport().close_requested()) {
+            self.executor.take().unwrap().shutdown_timeout(Duration::from_millis(100));
+        }
+    }
+}
+
+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);
     }
 }

interface/src/lib.rs

@@ -0,0 +1,12 @@
+#![feature(iter_collect_into)]
+
+use atomic_float::AtomicF32;
+use gui::DEFAULT_VOLUME_THRESHOLD;
+
+pub mod gui;
+pub mod storage_dir;
+pub mod combatlog;
+pub mod auto;
+
+pub const POWER_THRESHOLD: AtomicF32 = AtomicF32::new(DEFAULT_VOLUME_THRESHOLD);
+

interface/src/main.rs

@@ -1,18 +1,23 @@
-#![feature(iter_collect_into)]
-use std::{ops::ControlFlow, result, sync::Arc, thread::{self, sleep}, time::Duration};
+use std::{fmt::format, ops::ControlFlow, result, sync::{atomic::Ordering, Arc}, thread::{self, sleep}, time::Duration};
 
 use anyhow::{Context, Ok, Result};
+use atomic_float::AtomicF32;
+use interface::{auto::get_confs, combatlog::{combat_logger, CombatData}, POWER_THRESHOLD};
 use common::{ControlPacket, TelemetryPacket};
 use cpal::traits::{DeviceTrait, HostTrait, StreamTrait};
 use egui_toast::{Toast, ToastKind};
-use gui::{gui, GUIData, GUI};
+use interface::gui::{gui, GUIData, DEFAULT_VOLUME_THRESHOLD, GUI};
 use pitch_detection::{detector::{mcleod::McLeodDetector, PitchDetector}, utils};
 use rust_music_theory::note::{Note, NoteLetter, Pitch, Tuning};
-use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, spawn, sync::{self, mpsc, watch, RwLock}, time::timeout};
+use tokio::{io::{AsyncReadExt, AsyncWriteExt, BufWriter, WriteHalf}, net::{tcp::{OwnedReadHalf, OwnedWriteHalf}, TcpStream}, spawn, sync::{self, broadcast, mpsc, watch, RwLock}, time::timeout};
 
-mod gui;
 
 fn main() -> Result<()> {
+    get_confs().unwrap();
+    panic!("got too far");
+
+    let (logging_sender, combatlog) = mpsc::channel(64);
+
     // assumes pulseaudio system with f32 samples and 2204 sample packets
     dbg!(cpal::available_hosts());
     let host = cpal::default_host();
@@ -23,30 +28,46 @@ fn main() -> Result<()> {
     #[cfg(target_os = "linux")]
     let device = host.devices().unwrap().find(|d|d.name().unwrap() == "pulse").context("no pulse")?;
 
-
     let config = device.default_input_config()?;
 
     dbg!(config.sample_format());
     let rate = config.sample_rate();
 
-    let (sender, notes) = mpsc::channel(2);
+    let (sender, notes) = broadcast::channel(2);
 
-    const POWER_THRESHOLD: f32 = 5.0;
     const CLARITY_THRESHOLD: f32 = 0.85;
     #[cfg(target_os = "linux")]
     const PACKET_LEN: usize = 2204;
     #[cfg(target_os = "windows")]
-    const PACKET_LEN: usize = 512;
+    const PACKET_LEN: usize = 1800;
+
+    let mut packet = Vec::new();
 
     let stream = device.build_input_stream(&config.into(), 
         move | data: &[f32], _: &_| {
+            let mut data = data;
+
+            if packet.len() > PACKET_LEN {
+                packet.clear();
+            }
+
+            if data.len() <= PACKET_LEN {
+                packet.extend_from_slice(data);
+                if packet.len() > PACKET_LEN {
+                    data = &packet;
+                } else {
+                    return;
+                }
+            }
             assert!(data.len() >= PACKET_LEN);
             let data = &data[..PACKET_LEN];
 
             // reinitialized every packet as it is not thread safe
             let mut detctor = McLeodDetector::new(PACKET_LEN, PACKET_LEN/2);
             let vol = utils::buffer::square_sum(data);
-            sender.blocking_send((detctor.get_pitch(data, rate.0 as usize, POWER_THRESHOLD, CLARITY_THRESHOLD),vol)).unwrap();
+            if let Err(e) = sender.send((detctor.get_pitch(data, rate.0 as usize, POWER_THRESHOLD.load(Ordering::Relaxed), CLARITY_THRESHOLD).map(|p|p.frequency),vol)) {
+                println!("channel: {e}");
+            }
             
         }, 
         move |err| {eprintln!("{err}")} , 
@@ -62,32 +83,53 @@ fn main() -> Result<()> {
     let (data_sender, gui_data) =watch::channel(GUIData::default());
 
 
+    let spawner = executor.handle().clone();
     thread::spawn(move || {
-        let control = executor.block_on(async {
-            toast_sender.send(Toast::new().text("connecting to bot").kind(ToastKind::Info)).await.unwrap();
-            let cruisecontrol = TcpStream::connect("192.168.1.2:1234").await?;
-            println!("connected");
-            toast_sender.send(Toast::new().text("connected").kind(ToastKind::Success)).await.unwrap();
-            cruisecontrol.set_nodelay(true)?;
-            let (telem, control) = cruisecontrol.into_split();
+        spawner.block_on(async {
+            let log_toasts = toast_sender.clone();
+            tokio::spawn(async move {
+                if let Err(e) = combat_logger(combatlog).await {
+                    let _ = log_toasts.clone().send(Toast::new().text(format!("logger crashed: {e:?}")).kind(ToastKind::Error)).await;
+                }
+            });
 
-            tokio::spawn(telemetry_handler(telem, data_sender.clone()));
+            loop {
+                if let Err(e) = connect(toast_sender.clone(), notes.resubscribe(), data_sender.clone(), logging_sender.clone()).await {
+                    if let Err(_) = toast_sender.send(Toast::new().text(format!("{e:?}")).kind(ToastKind::Error)).await {
+                        break;
+                    };
+                }
+            }
+        });
 
-            Ok(control)
-        }).unwrap();
-
-        executor.block_on(controller(notes, control, data_sender.clone())).unwrap()
     });
 
     println!("launching gui");
-    gui(gui_data, toasts).unwrap();
+    gui(gui_data, toasts, executor).unwrap();
 
     drop(stream);
 
     Ok(())
 }
 
-async fn telemetry_handler(mut telem: OwnedReadHalf, gui: watch::Sender<GUIData>) -> Result<()> {
+/// frequency, volume
+type Detection = (Option<f32>, f32);
+
+async fn connect(toast_sender: mpsc::Sender<Toast>, notes: broadcast::Receiver<Detection>, data_sender: watch::Sender<GUIData>, logging_sender: mpsc::Sender<CombatData>) -> Result<()>{
+    toast_sender.send(Toast::new().text("connecting to bot").kind(ToastKind::Info)).await?;
+    let cruisecontrol = TcpStream::connect("192.168.1.2:1234").await?;
+    println!("connected");
+    toast_sender.send(Toast::new().text("connected").kind(ToastKind::Success)).await?;
+    cruisecontrol.set_nodelay(true)?;
+    let (telem, control) = cruisecontrol.into_split();
+
+    tokio::spawn(telemetry_handler(telem, data_sender.clone(), logging_sender.clone()));
+
+    controller(notes, control, data_sender.clone(), logging_sender.clone()).await?;
+    Ok(())
+}
+
+async fn telemetry_handler(mut telem: OwnedReadHalf, gui: watch::Sender<GUIData>, logging_sender: mpsc::Sender<CombatData>) -> Result<()> {
     let mut buf = vec![0; 2048];
     loop {
         let len = telem.read_u32().await.context("bad length")? as usize;
@@ -95,7 +137,9 @@ async fn telemetry_handler(mut telem: OwnedReadHalf, gui: watch::Sender<GUIData>
         telem.read_exact(data).await?;
         let telem: TelemetryPacket = postcard::from_bytes(&data)?;
 
-        println!("telem: {telem:?}");
+        //println!("telem: {telem:?}");
+
+        logging_sender.send(CombatData::Telemetry(telem.clone())).await?;
 
         gui.send_modify(|gui| {
             gui.telemetry = Some(telem);
@@ -104,7 +148,7 @@ async fn telemetry_handler(mut telem: OwnedReadHalf, gui: watch::Sender<GUIData>
     }
 }
 
-async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32>>, f32)>, controller: OwnedWriteHalf, gui: watch::Sender<GUIData>) -> Result<()> {
+async fn controller(mut notes: broadcast::Receiver<Detection>, controller: OwnedWriteHalf, gui: watch::Sender<GUIData>, logging_sender: mpsc::Sender<CombatData>) -> Result<()> {
     let mut controller = BufWriter::new(controller);
     //send_packet(&mut controller, ControlPacket::Arm(true)).await?;
     //println!("armed flipper");
@@ -117,7 +161,7 @@ async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32
     loop {
         let mut control = ControlPacket::Stop;
 
-        let result::Result::Ok(note) = timeout(Duration::from_millis(95), notes.recv()).await else {
+        let result::Result::Ok(note) = timeout(Duration::from_millis(250), notes.recv()).await else {
             println!("timeout");
             send_packet(&mut controller, ControlPacket::Stop).await?;
             continue;
@@ -125,14 +169,15 @@ async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32
 
         let (note,vol) = note.context("channel closed")?;
         if let Some(note) = note {
-            dbg!(note.frequency);
-            if let ControlFlow::Break(_) = sax_control(&mut control, vol, &note) {
+            dbg!(note);
+            if let ControlFlow::Break(_) = sax_control(&mut control, vol, note) {
                 if let ControlFlow::Break(_) = recorder_control(&mut control, vol, note) {
                     continue;
                 }
             }
 
             send_packet(&mut controller, control.clone()).await?;
+            logging_sender.send(CombatData::Control(control.clone())).await?;
             gui.send_modify(|gui| gui.last_command = Some(control));
         } else {
             send_packet(&mut controller, ControlPacket::Twist(0.0, 0.0)).await?;
@@ -145,16 +190,16 @@ async fn controller(mut notes: mpsc::Receiver<(Option<pitch_detection::Pitch<f32
 /// Weapon enabled
 const ARMED: bool = true;
 
-fn sax_control(control: &mut ControlPacket, vol: f32, note: &pitch_detection::Pitch<f32>) -> ControlFlow<()> {
-    if note.frequency < 150. {
+fn sax_control(control: &mut ControlPacket, vol: f32, frequency: f32) -> ControlFlow<()> {
+    if frequency < 150. {
         println!("too low");
         return ControlFlow::Break(());
     }
-    if note.frequency > 270. {
+    if frequency > 270. {
         println!("too high");
         return ControlFlow::Break(());
     }
-    let note = Note::from_freq(note.frequency, Tuning::EqualTemperament);
+    let note = Note::from_freq(frequency, Tuning::EqualTemperament);
     //dbg!(note.clarity);
     //dbg!(vol);
     match note.pitch {
@@ -198,16 +243,16 @@ fn sax_control(control: &mut ControlPacket, vol: f32, note: &pitch_detection::Pi
 }
 
 
-fn recorder_control(control: &mut ControlPacket, vol: f32, note: pitch_detection::Pitch<f32>) -> ControlFlow<()> {
-    if note.frequency < 300. {
+fn recorder_control(control: &mut ControlPacket, vol: f32, frequency: f32) -> ControlFlow<()> {
+    if frequency < 300. {
         println!("too low");
         return ControlFlow::Break(());
     }
-    if note.frequency > 600. {
+    if frequency > 600. {
         println!("too high");
         return ControlFlow::Break(());
     }
-    let note = Note::from_freq(note.frequency, Tuning::EqualTemperament);
+    let note = Note::from_freq(frequency, Tuning::EqualTemperament);
     //dbg!(note.clarity);
     //dbg!(vol);
     match note.pitch {

interface/src/storage_dir.rs

@@ -0,0 +1,157 @@
+// copied from eframe (private item)
+// https://docs.rs/eframe/latest/src/eframe/native/file_storage.rs.html#17
+
+use std::path::PathBuf;
+
+use eframe::egui;
+
+pub fn storage() -> PathBuf {
+    storage_dir("cruisecontrol").unwrap()
+}
+
+pub fn storage_dir(app_id: &str) -> Option<PathBuf> {
+
+    use egui::os::OperatingSystem as OS;
+
+    use std::env::var_os;
+
+    match OS::from_target_os() {
+
+        OS::Nix => var_os("XDG_DATA_HOME")
+
+            .map(PathBuf::from)
+
+            .filter(|p| p.is_absolute())
+
+            .or_else(|| home::home_dir().map(|p| p.join(".local").join("share")))
+
+            .map(|p| {
+
+                p.join(
+
+                    app_id
+
+                        .to_lowercase()
+
+                        .replace(|c: char| c.is_ascii_whitespace(), ""),
+
+                )
+
+            }),
+
+        OS::Mac => home::home_dir().map(|p| {
+
+            p.join("Library")
+
+                .join("Application Support")
+
+                .join(app_id.replace(|c: char| c.is_ascii_whitespace(), "-"))
+
+        }),
+
+        OS::Windows => roaming_appdata().map(|p| p.join(app_id).join("data")),
+
+        OS::Unknown | OS::Android | OS::IOS => None,
+
+    }
+
+}
+
+// Adapted from
+
+// https://github.com/rust-lang/cargo/blob/6e11c77384989726bb4f412a0e23b59c27222c34/crates/home/src/windows.rs#L19-L37
+
+#[cfg(all(windows, not(target_vendor = "uwp")))]
+
+#[allow(unsafe_code)]
+
+fn roaming_appdata() -> Option<PathBuf> {
+
+    use std::ffi::OsString;
+
+    use std::os::windows::ffi::OsStringExt;
+
+    use std::ptr;
+
+    use std::slice;
+
+
+    use windows_sys::Win32::Foundation::S_OK;
+
+    use windows_sys::Win32::System::Com::CoTaskMemFree;
+
+    use windows_sys::Win32::UI::Shell::{
+
+        FOLDERID_RoamingAppData, SHGetKnownFolderPath, KF_FLAG_DONT_VERIFY,
+
+    };
+
+
+    extern "C" {
+
+        fn wcslen(buf: *const u16) -> usize;
+
+    }
+
+    let mut path_raw = ptr::null_mut();
+
+
+    // SAFETY: SHGetKnownFolderPath allocates for us, we don't pass any pointers to it.
+
+    // See https://learn.microsoft.com/en-us/windows/win32/api/shlobj_core/nf-shlobj_core-shgetknownfolderpath
+
+    let result = unsafe {
+
+        SHGetKnownFolderPath(
+
+            &FOLDERID_RoamingAppData,
+
+            KF_FLAG_DONT_VERIFY as u32,
+
+            std::ptr::null_mut(),
+
+            &mut path_raw,
+
+        )
+
+    };
+
+
+    let path = if result == S_OK {
+
+        // SAFETY: SHGetKnownFolderPath indicated success and is supposed to allocate a nullterminated string for us.
+
+        let path_slice = unsafe { slice::from_raw_parts(path_raw, wcslen(path_raw)) };
+
+        Some(PathBuf::from(OsString::from_wide(path_slice)))
+
+    } else {
+
+        None
+
+    };
+
+
+    // SAFETY:
+
+    // This memory got allocated by SHGetKnownFolderPath, we didn't touch anything in the process.
+
+    // A null ptr is a no-op for `CoTaskMemFree`, so in case this failed we're still good.
+
+    // https://learn.microsoft.com/en-us/windows/win32/api/combaseapi/nf-combaseapi-cotaskmemfree
+
+    unsafe { CoTaskMemFree(path_raw.cast()) };
+
+
+    path
+
+}
+
+
+#[cfg(any(not(windows), target_vendor = "uwp"))]
+
+fn roaming_appdata() -> Option<PathBuf> {
+
+    None
+
+}