merge kick conflict

controller/src/config.rs

@@ -127,6 +127,7 @@ pub struct Config {
 	pub reader: Option<Reader>,
 	pub strategy: Option<Strategy>,
 	pub state_randomizer: bool,
+	pub racing: bool,
 	pub team: Team,
 	pub software_switch_initialize_pin: u8,
 	pub software_switch_toggle_pin: u8,
@@ -187,6 +188,7 @@ impl Default for Config {
 			}),
 			motors: None,
 			state_randomizer: false,
+			racing: false,
 			reader: Some(Reader {
 				uart_path: "/dev/ttyAMA0".to_string(),
 				line_sensor_count: 46,

controller/src/main.rs

@@ -4,6 +4,7 @@ use controller::{
 	modules::{
 		camera, line,
 		motors::Motors,
+		racing::Racing,
 		reader::Reader,
 		server::StateRecorder,
 		state::{self, ModuleSync},
@@ -100,6 +101,7 @@ async fn handle_config_change(cfg: Config) -> Result<Vec<AnyModule>> {
 		ref motors,
 		ref server,
 		ref state_randomizer,
+		ref racing,
 		ref reader,
 		ref strategy,
 		..
@@ -147,5 +149,9 @@ async fn handle_config_change(cfg: Config) -> Result<Vec<AnyModule>> {
 		new_modules.push(Box::new(state_randomizer::StateRandomizer::new()));
 	}
 
+	if *racing {
+		new_modules.push(Box::new(Racing {}));
+	}
+
 	Ok(new_modules)
 }

controller/src/modules/mod.rs

@@ -12,6 +12,7 @@ pub mod line;
 #[cfg(test)]
 pub mod line_test;
 pub mod motors;
+pub mod racing;
 pub mod reader;
 pub mod server;
 pub mod state;

controller/src/modules/racing.rs

@@ -0,0 +1,33 @@
+use std::sync::Arc;
+
+use crate::math::vec2::Vec2;
+
+use super::{
+	state::{ModuleSync, State},
+	Module,
+};
+use anyhow::Result;
+use async_trait::async_trait;
+use parking_lot::RwLock;
+
+pub struct Racing {}
+
+#[async_trait]
+impl Module for Racing {
+	fn name(&self) -> &'static str {
+		"racing"
+	}
+
+	async fn tick(&mut self, state: &mut Arc<RwLock<State>>, sync: &mut ModuleSync) -> Result<()> {
+		state.write().move_vector = Some((Vec2::new(0.0, 1.0), false));
+		Ok(())
+	}
+
+	async fn start(&mut self) -> Result<()> {
+		Ok(())
+	}
+
+	async fn stop(&mut self) -> Result<()> {
+		Ok(())
+	}
+}