feat: add color profiles for all trad cv missions

Author: Cowboylaserkittenjetshark

src/main.rs

@@ -438,7 +438,12 @@ async fn run_mission(mission: &str, cancel: CancellationToken) -> Result<()> {
             gate_target().await,
         ))
         .execute()),
-        "octagon" => ctwrap!(octagon(static_context().await, &config.missions.octagon).execute()),
+        "octagon" => ctwrap!(octagon(
+            static_context().await,
+            &config.missions.octagon,
+            &config.get_color_profile().unwrap()
+        )
+        .execute()),
         "buoy_circle" => ctwrap!(buoy_circle_sequence(&FullActionContext::new(
             control_board().await,
             meb().await,
@@ -477,7 +482,11 @@ async fn run_mission(mission: &str, cancel: CancellationToken) -> Result<()> {
             .unwrap();
             Ok(())
         }
-        "slalom" => ctwrap!(slalom(static_context().await, &config.missions.slalom)),
+        "slalom" => ctwrap!(slalom(
+            static_context().await,
+            &config.missions.slalom,
+            &config.get_color_profile().unwrap()
+        )),
         "sonar" => {
             let _ = sonar(static_context().await, &config.sonar, cancel).await;
             Ok(())

src/missions/octagon.rs

@@ -3,7 +3,7 @@ use tokio_serial::SerialStream;
 
 use crate::{
     act_nest,
-    config::octagon::Config,
+    config::{octagon::Config, ColorProfile},
     missions::{
         action::{
             ActionChain, ActionConcurrent, ActionDataConditional, ActionSequence, ActionWhile,
@@ -43,6 +43,7 @@ pub fn octagon<
 >(
     context: &'static Con,
     config: &Config,
+    color_profile: &ColorProfile,
 ) -> impl ActionExec<()> + 'static {
     const FULL_SPEED_Y: f32 = 0.7;
     const FULL_SPEED_X: f32 = 0.0;

src/missions/slalom.rs

@@ -20,6 +20,7 @@ use crate::{
     config::{
         slalom::{Config, Side::*},
         sonar::Config as SonarConfig,
+        ColorProfile,
     },
     missions::{
         action::ActionExec,
@@ -34,6 +35,7 @@ pub async fn slalom<
 >(
     context: &Con,
     config: &Config,
+    color_profile: &ColorProfile,
 ) {
     use crate::vision::slalom::Slalom;
     #[cfg(feature = "logging")]
@@ -42,7 +44,10 @@ pub async fn slalom<
     let cb = context.get_control_board();
     let _ = cb.bno055_periodic_read(true).await;
 
-    let mut vision = VisionNormAngle::<Con, Slalom, f64>::new(context, Slalom::default());
+    let mut vision = VisionNormAngle::<Con, Slalom, f64>::new(
+        context,
+        Slalom::from_color_profile(color_profile),
+    );
 
     let initial_yaw = loop {
         if let Some(initial_angle) = cb.responses().get_angles().await {

src/vision/path_cv.rs

@@ -73,17 +73,17 @@ impl PathCV {
 }
 
 impl PathCV {
-    pub fn from_color_profile(color_profile: &ColorProfile) -> Self {
-        Self::new(color_profile.orange.clone(), Size::from((400, 300)))
-    }
-
     pub fn new(color_bounds: RangeInclusive<Yuv>, size: Size) -> Self {
         Self {
             color_bounds,
             size,
             image: Mat::default().into(),
         }
     }
+
+    pub fn from_color_profile(color_profile: &ColorProfile) -> Self {
+        Self::new(color_profile.orange.clone(), Size::from((400, 300)))
+    }
 }
 
 impl Default for PathCV {

src/vision/slalom.rs

@@ -1,3 +1,5 @@
+use crate::config::ColorProfile;
+
 use super::{image_prep::resize, MatWrapper, PosVector, VisualDetection, VisualDetector, Yuv};
 use opencv::{
     core::{in_range, Point, Scalar, Size, Vector},
@@ -24,6 +26,10 @@ impl Slalom {
             image: Mat::default().into(),
         }
     }
+
+    pub fn from_color_profile(color_profile: &ColorProfile) -> Self {
+        Self::new(color_profile.orange.clone(), Size::from((400, 300)))
+    }
 }
 
 // TODO: Change these to match slalom, not path