Initial restructuring after _actual_ spec added

gem-remotes-esp32.code-workspace

@@ -0,0 +1,11 @@
+{
+	"folders": [
+		{
+			"path": "gem-remotes-esp32"
+		},
+		{
+			"path": "gem-remotes-lib"
+		}
+	],
+	"settings": {}
+}

gem-remotes-esp32/src/ble_server.rs

@@ -1,6 +1,19 @@
+/*
+BLE Server
+
+This module is responsible for:
+  - Setting up the bluetooth GAP profile
+  - Setting up the GATT characteristics
+  - Managing the advertising and pairing modes
+  - Taking writeable GATT characteristics and putting them in the event q
+  - taking status events from the q and putting them in the read GATT characteristics
+
+  TODO: Consider splitting up these tasks.
+
+*/
 
 use log::*; //{trace, debug, info, warn, error}
-use esp32_nimble::{enums::*, uuid128, BLEAdvertisementData, BLEDevice, BLEServer, NimbleProperties, OnWriteArgs};
+use esp32_nimble::{enums::*, uuid128, BLEAdvertisementData, BLEDevice, BLEServer, DescriptorProperties, NimbleProperties, OnWriteArgs};
 use esp32_nimble::utilities::BleUuid;
 use anyhow::Result;
 use closure::closure;
@@ -14,6 +27,9 @@ use gem_remotes_lib::{
     DispatchSendQ,
     Commands,
     Button,
+    EMPTY_MOTORS,
+    EMPTY_LIMITS,
+    Statuses,
 };
 
 // TODO HARDWARE: test these values to see if they are suitable
@@ -37,10 +53,26 @@ const DEVICE_NAME: &str = "Gem Remotes";
 const UUID_SERVICE_PAIR: BleUuid = BleUuid::from_uuid128([0xB4, 0x09, 0x8D, 0xE0, 0x61, 0x08, 0x66, 0xBA, 0x61, 0x4B, 0x3C, 0xF1, 0x5A, 0xAD, 0x66, 0x99]);
 const UUID_SERVICE_LIFT: BleUuid = uuid128!("c1400000-8dda-45a3-959b-d23a0f8f53d7");
 
+// Command Characteristics
 const UUID_BUTTON_UP: BleUuid = uuid128!("c1401121-8dda-45a3-959b-d23a0f8f53d7");
 const UUID_BUTTON_DOWN: BleUuid = uuid128!("c1401122-8dda-45a3-959b-d23a0f8f53d7");
 const UUID_BUTTON_STOP: BleUuid = uuid128!("c1401123-8dda-45a3-959b-d23a0f8f53d7");
-const UUID_BLUETOOTH_NAME: BleUuid = uuid128!("c1401224-8dda-45a3-959b-d23a0f8f53d7");
+const UUID_BUTTON_AUX: BleUuid = uuid128!("c1401124-8dda-45a3-959b-d23a0f8f53d7");
+const UUID_BUTTON_LEARN: BleUuid = uuid128!("c1401223-8dda-45a3-959b-d23a0f8f53d7");
+const UUID_BUTTON_AUTO: BleUuid = uuid128!("c1401225-8dda-45a3-959b-d23a0f8f53d7");
+const UUID_BLUETOOTH_NAME: BleUuid = uuid128!("c1411224-8dda-45a3-959b-d23a0f8f53d7");
+
+// Status Characteristics
+const UUID_STATUS_LIMITS: BleUuid = uuid128!("c1401321-8dda-45a3-959b-d23a0f8f53d7");
+const UUID_STATUS_MOTOR: BleUuid = uuid128!("c1401322-8dda-45a3-959b-d23a0f8f53d7");
+const UUID_STATUS_STATUS: BleUuid = uuid128!("c1401323-8dda-45a3-959b-d23a0f8f53d7");
+const UUID_STATUS_REASON: BleUuid = uuid128!("c1401324-8dda-45a3-959b-d23a0f8f53d7");
+
+// Expanded Services
+const UUID_EXPANDED_SSID: BleUuid = uuid128!("c1411221-8dda-45a3-959b-d23a0f8f53d7"); //IMPLIMENT
+const UUID_EXPANDED_WIFI_PASS: BleUuid = uuid128!("c1411222-8dda-45a3-959b-d23a0f8f53d7"); //IMPLIMENT
+const UUID_EXPANDED_LOG_TRIGGER: BleUuid = uuid128!("c1401421-8dda-45a3-959b-d23a0f8f53d7"); //IMPLIMENT
+const UUID_EXPANDED_LOG_DATA: BleUuid = uuid128!("c1401422-8dda-45a3-959b-d23a0f8f53d7"); //IMPLIMENT
 
 const BLE_BUTTON_RELEASE: u8 = 0;
 const BLE_BUTTON_PRESS: u8 = 1;
@@ -56,13 +88,15 @@ pub struct BleServer {
 impl BleServer {
     pub fn new(dp: &mut Dispatch) -> Self {
         let cmds = vec![
-            Commands::NotifyMotorDown { data: Button::Released },
-            Commands::NotifyMotorStop { data: Button::Released },
-            Commands::NotifyMotorUp { data: Button::Released },
             Commands::PairTimerExpired,
             Commands::AllowPairing,
             Commands::EraseBleBonds,
             Commands::BluetoothName { data: Arc::new(String::new())},
+            Commands::BluetoothStatusLimits { data: EMPTY_LIMITS },
+            Commands::BluetoothStatusMotor { data: EMPTY_MOTORS },
+            Commands::BluetoothStatusStatus { data: Statuses::empty() },
+            Commands::BluetoothStatusReason { data: Arc::<String>::new("".to_string()) },
+            //TODONOW! We need to add the status commands here!
         ];
         let r = dp.get_callback_channel(&cmds);
         let s = dp.get_cmd_channel();
@@ -96,16 +130,18 @@ impl BleServer {
         // --- Button Up Bluetooth GATT ----------------------------------------------------------
         let button_up = lift_service.lock().create_characteristic(
             UUID_BUTTON_UP,
-            NimbleProperties::READ | NimbleProperties::WRITE_NO_RSP | NimbleProperties::NOTIFY,
+            NimbleProperties::WRITE,
         );
         button_up.lock().set_value(&[0])
         .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
             on_bluetooth_cmd(&sender, args, Commands::BluetoothUp {data: Button::Released})
         }));
+        let button_up_name = button_up.lock().create_descriptor(BleUuid::Uuid16(0x2901), DescriptorProperties::READ);
+        button_up_name.lock().set_value(b"Command Up");
         // --- Button Down Bluetooth GATT --------------------------------------------------------
         let button_down = lift_service.lock().create_characteristic(
             UUID_BUTTON_DOWN,
-            NimbleProperties::READ | NimbleProperties::WRITE_NO_RSP | NimbleProperties::NOTIFY,
+            NimbleProperties::WRITE,
         );
         button_down.lock().set_value(&[0])
         .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
@@ -114,21 +150,69 @@ impl BleServer {
         // --- Button Stop Bluetooth GATT --------------------------------------------------------
         let button_stop = lift_service.lock().create_characteristic(
             UUID_BUTTON_STOP,
-            NimbleProperties::READ | NimbleProperties::WRITE_NO_RSP | NimbleProperties::NOTIFY,
+            NimbleProperties::WRITE,
         );
         button_stop.lock().set_value(&[1])
         .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
             on_bluetooth_cmd(&sender, args, Commands::BluetoothStop {data: Button::Released})
         }));
+        // --- Button Aux Bluetooth GATT --------------------------------------------------------
+        let button_aux = lift_service.lock().create_characteristic(
+            UUID_BUTTON_AUX,
+            NimbleProperties::WRITE,
+        );
+        button_aux.lock().set_value(&[0])
+        .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
+            on_bluetooth_cmd(&sender, args, Commands::BluetoothAux {data: Button::Released})
+        }));
+        // --- Button Learn Bluetooth GATT --------------------------------------------------------
+        let button_learn = lift_service.lock().create_characteristic(
+            UUID_BUTTON_LEARN,
+            NimbleProperties::WRITE | NimbleProperties::READ,
+        );
+        button_learn.lock().set_value(&[0])
+        .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
+            on_bluetooth_cmd(&sender, args, Commands::BluetoothLearn {data: Button::Released})
+        }));
+        // --- Button Auto Bluetooth GATT --------------------------------------------------------
+        let button_auto = lift_service.lock().create_characteristic(
+            UUID_BUTTON_AUTO,
+            NimbleProperties::WRITE,
+        );
+        button_auto.lock().set_value(&[0])
+        .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
+            on_bluetooth_cmd(&sender, args, Commands::BluetoothAuto {data: Button::Released})
+        }));
         // --- Device Name Bluetooth GATT --------------------------------------------------------
         let device_name = lift_service.lock().create_characteristic(
             UUID_BLUETOOTH_NAME,
-            NimbleProperties::READ | NimbleProperties::WRITE,
+            NimbleProperties::WRITE | NimbleProperties::READ,
         );
         device_name.lock().set_value(self.dev_name.as_bytes())
         .on_write(closure!(clone sender, |args: &mut OnWriteArgs| {
             on_bluetooth_cmd(&sender, args, Commands::BluetoothName { data: Arc::new(String::new())}.clone())
         }));
+        // --- Status Limits Bluetooth GATT --------------------------------------------------------
+        let status_limits = lift_service.lock().create_characteristic(
+            UUID_STATUS_LIMITS,
+            NimbleProperties::READ | NimbleProperties::INDICATE,
+        );
+        // --- Status Motor Bluetooth GATT --------------------------------------------------------
+        let status_motor = lift_service.lock().create_characteristic(
+            UUID_STATUS_MOTOR,
+            NimbleProperties::READ  | NimbleProperties::INDICATE,
+        );
+        // --- Status Status Bluetooth GATT --------------------------------------------------------
+        let status_status = lift_service.lock().create_characteristic(
+            UUID_STATUS_STATUS,
+            NimbleProperties::READ | NimbleProperties::INDICATE,
+        );
+        // --- Status Reason Bluetooth GATT --------------------------------------------------------
+        let status_reason = lift_service.lock().create_characteristic(
+            UUID_STATUS_REASON,
+            NimbleProperties::READ | NimbleProperties::INDICATE,
+        );
+
         // Default to not pairable
         self.advertise_unpairable()?;
         
@@ -137,23 +221,29 @@ impl BleServer {
             let cmd =self.recv_q.recv().await.expect("Bluetooth notification queue unexpectedly closed");
             trace!("Received update to bluetooth variable {:?}", cmd);
             match cmd {
-                // TODO DISCUSS: This logic (if one button is pressed others are released) could be done in app instead.
+                // Handle events that require bluetooth, such as status and pairing changes
-                Commands::NotifyMotorUp{data} => {
+
-                    button_up.lock().set_value(&button_to_ble_button(data)).notify();
+                //Status changes to notify app on:
+                Commands::BluetoothStatusLimits{data} => {
+                    status_limits.lock().set_value(&data.as_bytes()).notify(); // Also handles indicate
                 }
-                Commands::NotifyMotorDown{data} => {
+                Commands::BluetoothStatusMotor{data} => {
-                    button_down.lock().set_value(&button_to_ble_button(data)).notify();
+                    status_motor.lock().set_value(&data.as_bytes()).notify(); // Also handles indicate
                 }
-                Commands::NotifyMotorStop{data} => {
+                Commands::BluetoothStatusStatus{data} => {
-                    button_up.lock().set_value(&button_to_ble_button(data)).notify();
+                    status_status.lock().set_value(&data.to_le_bytes()).notify(); // Also handles indicate
                 }
+                Commands::BluetoothStatusReason{data} => {
+                    status_reason.lock().set_value(data.as_str().as_bytes()).notify(); // Also handles indicate
+                }
+
                 Commands::PairTimerExpired => {
                     self.advertise_unpairable()?;
                     self.send_q.send(Commands::PairTimerClear).await?;
                 }
                 Commands::AllowPairing => {
                     self.advertise_pairable()?;
-                    debug!("pairing mode / non-pairing mode not currently supported");
+                    debug!("pairing mode / non-pairing mode not currently supported"); //TODO Really?  Didn't we just test this?
                 }
                 Commands::EraseBleBonds => {
                     ble_device.delete_all_bonds().expect("Failed trying to erase bluetooth bonding information");
@@ -233,6 +323,15 @@ fn on_bluetooth_cmd(sender: &DispatchSendQ, args: &mut OnWriteArgs, cmd: Command
                 sender.send_blocking(Commands::BluetoothName { data: Arc::new(String::from_str(DEVICE_NAME).unwrap()) })
             }
         }
+        Commands::BluetoothAuto { data: _ } => {
+            sender.send_blocking(Commands::BluetoothAuto { data: ble_to_button(v) })
+        }
+        Commands::BluetoothAux { data: _ } => {
+            sender.send_blocking(Commands::BluetoothAux { data: ble_to_button(v) })
+        }
+        Commands::BluetoothLearn { data: _ } => {
+            sender.send_blocking(Commands::BluetoothLearn { data: ble_to_button(v) })
+        }
         //TODO when we get name changes, truncate to 31 chars, because that's what we have anyway.
         _ => {error!("Tried to handle an unknown bluetooth command: {:?}",cmd);Ok(())}
     };
@@ -290,12 +389,5 @@ fn set_server_callbacks(server: &mut BLEServer, sender: DispatchSendQ) {
     });
 }
 
-fn button_to_ble_button(but: Button) -> [u8; 1] {
-    match but {
-        Button::Released => {[BLE_BUTTON_RELEASE]}
-        Button::Pressed => {[BLE_BUTTON_PRESS]}
-    }
-}
-
 //TODO set maximum pairs to remember?
 //TODO after disconnect, it returns to scanning - will it return to directed scanning?  Find out when directed is working.

gem-remotes-esp32/src/main.rs

@@ -1,5 +1,5 @@
 const BUTTON_HOLD_TIME_MS: u64 = 1_200;
-const STOP_SAFETY_TIME_MS: u64 = 2_000;
+const STOP_SAFETY_TIME_MS: u64 = 3_000;
 const PAIR_TIME_MS: u64 = 30_000;
 
 // Crates used in release
@@ -12,7 +12,7 @@ use std::ops::Deref;
 
 use gem_remotes_lib::{
     Commands,
-    Controller,
+    FakePic,
     Dispatch,
 };
 
@@ -20,10 +20,8 @@ use gem_remotes_lib::{
 mod test_console;
 
 // Release modules
-mod motor_driver;
 mod message_timer;
 mod ble_server;
-mod pair_button_driver;
 
 use crate::message_timer::MessageTimer;
 //use crate::commands::Commands;
@@ -72,12 +70,8 @@ async fn main_loop() -> Result<()> {
     // Create dispatch early so it can outlive most other things
     let mut dp = Dispatch::new();
 
-    // Debug Drivers (TODO DEBUG: remove debug)
-    let motor_driver = motor_driver::MotorDriverDebug::new();
-
     // Setup of various drivers that need to out-live the executor
-    let m_chan = Controller::prepare_controller(&mut dp);
+    let mut f_pic = FakePic::with_defaults(&mut dp);
-    let mut motor_control = Controller::new(m_chan, dp.get_cmd_channel(), motor_driver.get_endpoint());
     // Setup callback timers
     let mut button_timer = MessageTimer::<Commands, Commands>::new_on_dispatch(
         Commands::ButtonTimerRestart,
@@ -107,12 +101,11 @@ async fn main_loop() -> Result<()> {
     tasks.push(executor.spawn(test_console::start_cli(cli_endpoint)));
 
     // Queueu up our async tasks
-    tasks.push(executor.spawn(motor_control.run()));
     tasks.push(executor.spawn(button_timer.run()));
     tasks.push(executor.spawn(stopping_timer.run()));
     tasks.push(executor.spawn(pairing_timer.run()));
     tasks.push(executor.spawn(ble_server.run()));
-    tasks.push(executor.spawn(motor_driver.run()));
+    tasks.push(executor.spawn(f_pic.run()));
     tasks.push(executor.spawn(dp.cmd_loop()));
 
     //Once we have all our tasks, await on them all to run them in parallel.

gem-remotes-esp32/src/message_timer.rs

@@ -30,6 +30,7 @@ pub struct MessageTimer <Q, S> {
 }
 
 impl<Q: PartialEq, S: Clone> MessageTimer<Q, S> {
+    /*
     pub fn new(
         restart: Q, 
         cancel: Q, 
@@ -48,6 +49,7 @@ impl<Q: PartialEq, S: Clone> MessageTimer<Q, S> {
             state: State::Stopped,
         }
     }
+    */
 
     pub fn new_on_dispatch(
         restart: Commands,

gem-remotes-esp32/src/motor_driver.rs

@@ -1,70 +0,0 @@
-/// Handles the actual hardware interface with motor or its controller.
-
-use log::*; //{trace, debug, info, warn, error}
-use anyhow::Result;
-use async_channel::unbounded;
-use gem_remotes_lib::{MotorCommands, MotorRecvQ, MotorSendQ};
-
-
-pub struct MotorDriverDebug{
-    endpoint: MotorSendQ, // Endpoint to hand to dispatch or anyone else sending commands here.
-    recv_q: MotorRecvQ,
-}
-
-/// Debug / example version of Motor Driver.
-impl MotorDriverDebug {
-    pub fn new() -> Self {
-        let (s,r) = unbounded(); // TODO: reserve a reasonable amount for all unbounded?
-        MotorDriverDebug {
-            endpoint: s,
-            recv_q: r,
-        }
-    }
-
-    pub fn get_endpoint(&self) -> MotorSendQ {
-        self.endpoint.clone()
-    }
-
-    pub async fn run(&self) -> Result<()> {
-        loop {
-            let cmd = self.recv_q.recv()
-                .await
-                .expect("Unexpected failure in motor driver command queue");
-            self.handle_cmd(cmd)
-                .await
-                .expect("Unexpected failure of motor driver notification queue");
-        }
-    }
-
-    async fn handle_cmd(&self, cmd: MotorCommands) -> Result<()> {
-        match cmd {
-            MotorCommands::StartUp => {self.start_up().await?;}
-            MotorCommands::StartDown => {self.start_down().await?;}
-            MotorCommands::Stop => {self.stop().await?;}
-        }
-        Ok(())
-    }
-
-    async fn start_up(&self) -> Result<()> {
-        warn!("Starting motor, direction: Up");
-        Ok(())
-    }
-    async fn start_down(&self) -> Result<()> {
-        warn!("Starting motor, direction: Down");
-        Ok(())
-    }
-    async fn stop(&self) -> Result<()> {
-        warn!("Stopping motor");
-        Ok(())
-    }
-    
-}
-
-
-//TODO: we should fix panic to ensure that we shut down motors before rebooting ESP!
-// Maybe by getting another endpoint and passing it to the panic handler?  Add a different 
-// command that doesn't just stop, but stops and stops processing any new commands.
-
-//TODO: Design - are there any implications to the PIC motor driver essentially sending button
-// presses instead of commanding the motor on/off?  Feedback loops?  No way to know without PIC 
-// code.

gem-remotes-esp32/src/pair_button_driver.rs

@@ -1,34 +0,0 @@
-use log::*; //{trace, debug, info, warn, error}
-use anyhow::Result;
-use async_channel::Sender;
-use esp_idf_svc::timer::EspTaskTimerService;
-use core::time::Duration;
-
-use gem_remotes_lib::{
-    Commands,
-    Dispatch,
-};
-
-type SendQ = Sender<Commands>;
-
-pub struct PairButtonDriver {
-    _send: SendQ
-}
-
-impl PairButtonDriver {
-    pub fn new(dp: &mut Dispatch) -> Self {
-        let s = dp.get_cmd_channel();
-        Self { _send: s }
-    }
-
-    pub async fn run(&self) -> Result<()> {
-        let timer_service = EspTaskTimerService::new()?;
-        let mut async_timer = timer_service.timer_async()?;
-        debug!("Waiting on pairing button presses");
-        loop {
-            //TO DO: Watch for incoming pair button presses from the PIC and/or hardware buttons
-            async_timer.after(Duration::from_millis(10_000)).await?; // no need to panic on test console driver timer failure
-            //When we find a press, send PicRecvPair
-        }
-    }
-}

gem-remotes-esp32/src/test_console.rs

@@ -35,26 +35,6 @@ use gem_remotes_lib::{
 
 #[derive(Command)]
 pub enum Menu{//<'a> {
-    /// Simulate the PIC controller sending aus n Up character
-    PicRecvUp {
-        /// 0 for not pressed, 1 for pressed
-        data: u8,
-    },
-
-    /// Simulate the PIC controller sending us a Down character
-    PicRecvDown {
-        /// 0 for not pressed, 1 for pressed
-        data: u8,
-    },
-
-    /// Simulate the PIC controller sending us a Stop character
-    PicRecvStop {
-        /// 0 for not pressed, 1 for pressed
-        data: u8,
-    },
-
-    /// Simulate the PIC controller sending a "pair" button press
-    PicRecvPair,
 
     /// Send a bluetooth characteristic: Up
     BluetoothUp {
@@ -121,40 +101,6 @@ pub fn process_menu(
     match command {
         // We ignore sending errors throughout because the Cli interface is only for
         // testing and debugging.
-        Menu::PicRecvUp {data} => {
-            let but = input_to_button(data);
-            match but {
-                Some(d) => {
-                    println!("Sending PicRecvUp command");
-                    let _ = dispatch.send_blocking(Commands::PicRecvUp{data: d});
-                }
-                None => {println!("Incorrect value; enter 0 or 1")}
-            }
-        }
-        Menu::PicRecvDown{data} => {
-            let but = input_to_button(data);
-            match but {
-                Some(d) => {
-                    println!("Sending PicRecvUp command");
-                    let _ = dispatch.send_blocking(Commands::PicRecvDown{data: d});
-                }
-                None => {println!("Incorrect value; enter 0 or 1")}
-            }
-        }
-        Menu::PicRecvStop{data} => {
-            let but = input_to_button(data);
-            match but {
-                Some(d) => {
-                    println!("Sending PicRecvUp command");
-                    let _ = dispatch.send_blocking(Commands::PicRecvStop{data: d});
-                }
-                None => {println!("Incorrect value; enter 0 or 1")}
-            }
-        }
-        Menu::PicRecvPair => {
-            cli.writer().write_str("Sending PIC command and timer reset (the job of the pair button driver, once PIC interface exists)")?; //TODO: PIC get this.
-            let _ = dispatch.send_blocking(Commands::AllowPairing);
-        }
         Menu::BluetoothUp { data } => {
             let but = input_to_button(data);
             match but {

gem-remotes-lib/Cargo.toml

@@ -15,6 +15,7 @@ edition = "2021"
 anyhow = "1.0.86"
 async-channel = "2.3.1"
 async-io = "2.3.4"
+bitflags = "2.6.0"
 log = "0.4.22"
 strum = "0.26.3"
 strum_macros = "0.26.4"

gem-remotes-lib/src/commands.rs

@@ -4,6 +4,10 @@ use strum_macros::EnumCount as EnumCountMacro;
 use std::mem::discriminant;
 use std::sync::Arc;
 
+use crate::fake_limits::Limits;
+use crate::fake_motor::Motors;
+use crate::fake_status::Statuses;
+
 #[derive(Clone, EnumCountMacro, Debug)]
 pub enum Commands {
     // Use Arc for any data larger than 4 bytes, to keep message passing queue size down.
@@ -11,50 +15,73 @@ pub enum Commands {
     // Inputs sent from the PIC microcontroller
     // TODO: move these to buttons driver, for eventual move to ESP only?
 
-    // PIC button commands are considered "remote" due to the delay in sending notification
+    // Commands to Fake PIC from console
-    PicRecvUp {data: Button},
+    FPicToggleAux,
-    PicRecvDown {data: Button},
+    FPicToggleAuto,
-    PicRecvStop {data: Button},
+    FPicPressLearn,
-    PicRecvLimitUp {data: Button}, 
+    FPicPressUp,
-    PicRecvLimitDown {data: Button},
+    FPicPressDown,
-    PicRecvAutoMode {data: Toggle},  // 0 for disallowed, 1 for allowed
+    FPicPressStop, // Releasing up or down should be equivalent to stop, as motors can only go in one direction at a time.
+    FPicTogglePanic,
+    FPicLockout,
+    FPicFault {data: Arc<String>}, // String is cause.  Send empty string to clear fault.
+    FPicLimit {data: Limits},
 
     // TODO: real hardware buttons - consider re-sending occasionally when pressed, so that transitions like holding up -> stopping -> holding down -> stopped -> (should go down but gets no new notice) work.
 
-    // Inputs from bluetooth
+    // Inputs via bluetooth (Recv from app)
-    BluetoothUp {data: Button}, //TODO change these to real button states and change them on input.
+    BluetoothUp {data: Button},
     BluetoothDown {data: Button},
-    BluetoothStop {data: Button}, // There is no state where releasing the stop button induces a change.
+    BluetoothStop {data: Button}, 
+    BluetoothAux {data: Button},
+    BluetoothAuto {data: Button},
+    BluetoothLearn {data: Button},
     BluetoothName {data: Arc<String>},
-    //TODO: Allow auto mode to be set via bluetooth as well
+    // TODONOW: Do we have a separate panic command?  Very hard to send up,down,and stop 'simultaneously' from app
+    
+    // Status (Send to app)
+    BluetoothStatusLimits {data: Limits},
+    BluetoothStatusMotor {data: Motors},
+    BluetoothStatusStatus {data: Statuses},
+    BluetoothStatusReason {data: Arc<String>},
+
 
     // Internal messages
     StopTimerExpired, // Sent when the 2 second stop sequence is complete
     StopTimerRestart,
     StopTimerClear,
-    ButtonTimerExpired, // TODO: these won't be necessary for  hardware buttons; rename to PIC timer?
+    ButtonTimerExpired, // TODO: these won't be necessary for hardware buttons; rename to PIC timer?
     ButtonTimerRestart,
     ButtonTimerClear,
     PairTimerExpired,
     AllowPairing, // Also serves as the timer restart command
     PairTimerClear,
 
+    /* We no longer use these; delete!
     NotifyMotorUp {data: Button},
     NotifyMotorDown {data: Button},
     NotifyMotorStop {data: Button},
+    */
 
     EraseBleBonds,
 
     TestingExit, // Used only in unit/integration tests.  Do not subscribe for.
 }
 
-#[derive(Copy, Clone, Debug)]
+#[derive(Copy, Clone, Debug, PartialEq)]
 pub enum Button {
     Released = 0,
     Pressed =1
 }
 
+impl Button {
+    pub fn is_pressed(self) -> bool {
+        self == Button::Pressed
+    }
+}
+
 // Distinguish toggles(like auto) which is on/off from buttons (which are pressed/released)
+//TODONOW: remove?
 #[derive(Copy, Clone, Debug)]
 pub enum Toggle {
     Inactive = 0,

gem-remotes-lib/src/fake_limits.rs

@@ -0,0 +1,62 @@
+/// Fake Limit switch states for simulation.
+/// 
+
+#[derive(Copy, Clone, Debug)]
+pub enum LimitStatus {
+    NotActive = 0,
+    BottomActive,
+    TopActive,
+    NotPresent = -1,
+}
+
+impl LimitStatus {
+    pub fn to_u8(self) -> u8 {
+        match self {
+            LimitStatus::NotActive => {0}
+            LimitStatus::BottomActive => {1}
+            LimitStatus::TopActive =>{2}
+            LimitStatus::NotPresent => {25}
+        }
+    }
+    pub fn from_u8(i: u8) -> LimitStatus {
+        match i {
+            0 => {LimitStatus::NotActive}
+            1 => {LimitStatus::BottomActive}
+            2 => {LimitStatus::TopActive}
+            _ => {LimitStatus::NotPresent} // Interpret bad data as missing limit
+        }
+    }
+}
+
+#[derive(Copy, Clone, Debug)]
+pub struct Limits {
+    pub only_starboard_bow: LimitStatus,
+    pub port_bow: LimitStatus,
+    pub starboard_quarter: LimitStatus,
+    pub port_quarter: LimitStatus,
+
+}
+
+impl Limits {
+    pub fn as_bytes(&self) -> [u8; 4] {
+        [self.only_starboard_bow.to_u8(),
+         self.port_bow.to_u8(),
+         self.starboard_quarter.to_u8(),
+         self.port_quarter.to_u8()]
+    }
+    pub fn from_bytes(b: [u8; 4]) -> Limits {
+        Limits{
+            only_starboard_bow:LimitStatus::from_u8(b[0]),
+            port_bow:LimitStatus::from_u8(b[1]),
+            starboard_quarter:LimitStatus::from_u8(b[2]),
+            port_quarter:LimitStatus::from_u8(b[3]),
+        }
+    }
+}
+
+pub const EMPTY_LIMITS: Limits = Limits{
+    only_starboard_bow: LimitStatus::NotPresent,
+    port_bow: LimitStatus::NotPresent,
+    starboard_quarter: LimitStatus::NotPresent,
+    port_quarter: LimitStatus::NotPresent,
+};

gem-remotes-lib/src/fake_motor.rs

@@ -0,0 +1,137 @@
+/// Fake motor for simulation and testing
+/// 
+
+
+#[derive(Copy, Clone, Debug, PartialEq)]
+pub enum MotorStatus {
+    Stopped = 0,
+    GoingUp,
+    GoingDown,
+    Cooldown,
+    NotPresent = -1,
+}
+
+impl MotorStatus {
+    pub fn to_u8(self) -> u8 {
+        match self {
+            MotorStatus::Stopped => {0}
+            MotorStatus::GoingUp => {1}
+            MotorStatus::GoingDown => {2}
+            MotorStatus::Cooldown => {3}
+            MotorStatus::NotPresent => {255}
+        }
+    }
+    pub fn from_u8(i: u8) -> MotorStatus {
+        match i {
+            0 => {MotorStatus::Stopped}
+            1 => {MotorStatus::GoingUp}
+            2 => {MotorStatus::GoingDown}
+            3 => {MotorStatus::Cooldown}
+            _ => {MotorStatus::NotPresent} // Assume bad data is no motor
+        }
+    }
+}
+
+#[derive(Copy, Clone, Debug)]
+pub struct Motors {
+    pub only_starboard_bow: MotorStatus,
+    pub port_bow: MotorStatus,
+    pub starboard_quarter: MotorStatus,
+    pub port_quarter: MotorStatus,
+
+}
+
+impl Motors {
+    pub fn update_status(&mut self, status: MotorStatus) -> () {
+        if self.only_starboard_bow != MotorStatus::NotPresent {
+            self.only_starboard_bow = status;
+        }
+        if self.port_bow != MotorStatus::NotPresent {
+            self.port_bow = status;
+        }
+        if self.starboard_quarter != MotorStatus::NotPresent {
+            self.starboard_quarter = status;
+        }
+        if self.port_quarter != MotorStatus::NotPresent {
+            self.port_quarter = status;
+        }
+    }
+    pub fn as_bytes(&self) -> [u8; 4] {
+        [self.only_starboard_bow.to_u8(),
+         self.port_bow.to_u8(),
+         self.starboard_quarter.to_u8(),
+         self.port_quarter.to_u8()]
+    }
+    pub fn from_bytes(b: [u8; 4]) -> Motors {
+        Motors{
+            only_starboard_bow: MotorStatus::from_u8(b[0]),
+            port_bow: MotorStatus::from_u8(b[1]),
+            starboard_quarter: MotorStatus::from_u8(b[2]),
+            port_quarter: MotorStatus::from_u8(b[3]),
+        }
+    }
+    pub fn going_up(&self) -> bool {
+        // Since this is just simulation code, there is no need to check for
+        // complex and disallowed states.
+        self.only_starboard_bow == MotorStatus::GoingUp ||
+        self.port_bow == MotorStatus::GoingUp ||
+        self.starboard_quarter == MotorStatus::GoingUp ||
+        self.port_quarter == MotorStatus::GoingUp
+    }
+    pub fn going_down(&self) -> bool {
+        // Since this is just simulation code, there is no need to check for
+        // complex and disallowed states.
+        self.only_starboard_bow == MotorStatus::GoingDown ||
+        self.port_bow == MotorStatus::GoingDown ||
+        self.starboard_quarter == MotorStatus::GoingDown ||
+        self.port_quarter == MotorStatus::GoingDown
+    }
+    pub fn are_cooldown(&self) -> bool {
+        // Since this is just simulation code, there is no need to check for
+        // complex and disallowed states.
+        self.only_starboard_bow == MotorStatus::Cooldown ||
+        self.port_bow == MotorStatus::Cooldown ||
+        self.starboard_quarter == MotorStatus::Cooldown ||
+        self.port_quarter == MotorStatus::Cooldown
+    }
+    pub fn are_stopped(&self) -> bool {
+        // Since this is just simulation code, there is no need to check for
+        // complex and disallowed states.
+        !(self.going_up() || self.going_down())
+    }
+    pub fn finish_cooldown(&mut self) -> () {
+        if self.only_starboard_bow == MotorStatus::Cooldown {
+            self.only_starboard_bow = MotorStatus::Stopped
+        }
+        if self.port_bow == MotorStatus::Cooldown {
+            self.port_bow = MotorStatus::Stopped
+        }
+        if self.starboard_quarter == MotorStatus::Cooldown {
+            self.starboard_quarter = MotorStatus::Stopped
+        }
+        if self.port_quarter == MotorStatus::Cooldown {
+            self.port_quarter = MotorStatus::Stopped
+        }
+    }
+    pub fn stop(&mut self) -> () {
+        if self.only_starboard_bow == MotorStatus::GoingDown || self.only_starboard_bow == MotorStatus::GoingUp {
+            self.only_starboard_bow = MotorStatus::Stopped;
+        }
+        if self.port_bow == MotorStatus::GoingDown || self.port_bow == MotorStatus::GoingUp {
+            self.port_bow = MotorStatus::Stopped;
+        }
+        if self.starboard_quarter == MotorStatus::GoingDown || self.starboard_quarter == MotorStatus::GoingUp {
+            self.starboard_quarter = MotorStatus::Stopped;
+        }
+        if self.port_quarter == MotorStatus::GoingDown || self.port_quarter == MotorStatus::GoingUp {
+            self.port_quarter = MotorStatus::Stopped;
+        }
+    }
+}
+
+pub const EMPTY_MOTORS: Motors = Motors{
+    only_starboard_bow: MotorStatus::NotPresent,
+    port_bow: MotorStatus::NotPresent,
+    starboard_quarter: MotorStatus::NotPresent,
+    port_quarter: MotorStatus::NotPresent,
+};

gem-remotes-lib/src/fake_pic.rs

@@ -0,0 +1,237 @@
+/// Emulate the PIC controller for testing purposes
+/// 
+/// This does not aim to be an accurate representation of the logic on the PIC,
+/// and there are several things it does not handle (eg RF remotes, safety 
+/// checks), but is intended to be used in testing and simulation of the 
+/// testing and simulation ESP code.
+/// 
+/// Notable absences in logic: Cooldown can be bypassed by first stopping.
+
+use anyhow::Result;
+use log::*; //{trace, debug, info, warn, error}
+use std::sync::Arc;
+
+use crate::fake_motor::{Motors,MotorStatus};
+use crate::fake_limits::{Limits, LimitStatus, EMPTY_LIMITS};
+use crate::fake_status::Statuses;
+use crate::dispatch::{Dispatch, DispatchRecvQ, DispatchSendQ};
+use crate::commands::{Commands};
+
+pub struct FakePic {
+    motor_state: Motors,
+    limit_state: Limits,
+    status_state: Statuses,
+    fault_cause: String,
+    send_q: DispatchSendQ,
+    recv_q: DispatchRecvQ,
+}
+
+impl FakePic {
+    // Construct a FakePic with some default testing hardware
+    pub fn with_defaults(dp: &mut Dispatch) -> Self {
+        let cmd_filter = vec![
+            Commands::FPicToggleAux,
+            Commands::FPicToggleAuto,
+            Commands::FPicPressLearn,
+            Commands::FPicPressUp,
+            Commands::FPicPressDown,
+            Commands::FPicPressStop,
+            Commands::FPicTogglePanic,
+            Commands::FPicLockout,
+            Commands::FPicFault{data: Arc::<String>::new("".to_string())},
+            Commands::FPicLimit{data: EMPTY_LIMITS},
+            Commands::BluetoothAuto{data: crate::Button::Released},
+            Commands::BluetoothAux{data: crate::Button::Released},
+            Commands::BluetoothLearn{data: crate::Button::Released},
+            Commands::BluetoothUp{data: crate::Button::Released},
+            Commands::BluetoothDown{data: crate::Button::Released},
+            Commands::BluetoothStop{data: crate::Button::Released},
+            Commands::PairTimerExpired,
+            Commands::StopTimerExpired,
+            Commands::ButtonTimerExpired,
+        ];
+        FakePic { 
+            motor_state: Motors{
+                // Two motors (initially stopped)
+                only_starboard_bow: MotorStatus::Stopped,
+                port_bow: MotorStatus::Stopped,
+                starboard_quarter: MotorStatus::NotPresent,
+                port_quarter: MotorStatus::NotPresent,
+            }, 
+            limit_state: Limits{
+                only_starboard_bow: LimitStatus::NotActive,
+                port_bow: LimitStatus::NotActive,
+                starboard_quarter: LimitStatus::NotPresent,
+                port_quarter: LimitStatus::NotPresent,
+            }, 
+            status_state: Statuses::empty(),
+            fault_cause: "".to_string(),
+            send_q: dp.get_cmd_channel(),
+            recv_q: dp.get_callback_channel(&cmd_filter),
+        }
+    }
+    // === Change Fake Hardware Parameters ======================================================
+    pub fn change_limits(&mut self, l: Limits) -> () {
+        self.limit_state = l;
+    }
+    pub fn change_motors(&mut self, m: Motors) -> () {
+        self.motor_state = m;
+    }
+    // === Handle button presses on the PIC =====================================================
+    pub async fn toggle_aux(&mut self) -> Result<()> {
+        self.status_state ^= Statuses::AUX;
+        self.send_q.send(Commands::BluetoothStatusStatus { data: self.status_state }).await?;
+        Ok(())
+    }
+    pub async fn toggle_auto(&mut self) -> Result<()> {
+        self.status_state ^= Statuses::AUTO;
+        self.send_q.send(Commands::BluetoothStatusStatus { data: self.status_state }).await?;
+        Ok(())
+    }
+    pub async fn press_learn(&mut self) -> Result<()> {
+        self.status_state |= Statuses::LEARN;
+        self.send_q.send(Commands::AllowPairing).await?; //This starts the timer, and changes bluetooth modes
+        Ok(())
+    }
+    pub async fn exit_learn(&mut self) -> Result<()> {
+        self.status_state -= Statuses::LEARN;
+        // Other changes, such as changing the bluetooth modes, are handled in the ble_server when it gets this event
+        Ok(())
+    }
+    pub async fn press_up(&mut self) -> Result<()> {
+        if self.status_state.union(Statuses::PANIC).is_empty() || self.status_state.union(Statuses::LOCKOUT).is_empty(){
+            warn!("Ignoring commands while in panic or lockout mode!")
+        }
+        if self.motor_state.are_cooldown() {
+            info!("Ignoring commands while motors cool down")
+        }
+        else if self.motor_state.going_down() {
+            warn!("Reversing from down to up; entering cooldown!");
+            self.motor_state.update_status(MotorStatus::Cooldown);
+            self.send_q.send(Commands::StopTimerRestart).await?;
+            self.send_q.send(Commands::BluetoothStatusMotor { data: self.motor_state }).await?;
+        }
+        else {
+            info!("Starting motors moving up!");
+            self.motor_state.update_status(MotorStatus::GoingUp);
+            self.send_q.send(Commands::ButtonTimerRestart).await?;
+            self.send_q.send(Commands::BluetoothStatusMotor{ data: self.motor_state }).await?;
+        }
+        Ok(())
+    }
+    pub async fn press_down(&mut self) -> Result<()> {
+        if self.status_state.union(Statuses::PANIC).is_empty() || self.status_state.union(Statuses::LOCKOUT).is_empty() {
+            warn!("Ignoring commands while in panic or lockout mode!")
+        }
+        else if self.motor_state.are_cooldown() {
+            info!("Ignoring commands while motors cool down")
+        }
+        else if self.motor_state.going_up() {
+            warn!("Reversing from up to down; entering cooldown!");
+            self.motor_state.update_status(MotorStatus::Cooldown);
+            self.send_q.send(Commands::StopTimerRestart).await?;
+            self.send_q.send(Commands::BluetoothStatusMotor { data: self.motor_state }).await?;
+        }
+        else {
+            info!("Starting motors moving down!");
+            self.motor_state.update_status(MotorStatus::GoingDown);
+            self.send_q.send(Commands::ButtonTimerRestart).await?;
+            self.send_q.send(Commands::BluetoothStatusMotor{ data: self.motor_state }).await?;
+        }
+        Ok(())
+    }
+    pub async fn press_stop(&mut self) -> Result<()> {
+        self.motor_state.stop();
+        self.send_q.send(Commands::BluetoothStatusMotor { data: self.motor_state }).await?;
+        Ok(())
+    }
+    pub async fn toggle_panic(&mut self) -> Result<()> {
+        self.status_state ^= Statuses::PANIC;
+        self.motor_state.stop();
+        self.send_q.send(Commands::BluetoothStatusStatus { data: self.status_state }).await?;
+        self.send_q.send(Commands::BluetoothStatusMotor { data: self.motor_state }).await?;
+        Ok(())
+    }
+    pub async fn lockout(&mut self) -> Result<()> {
+        self.status_state &= Statuses::LOCKOUT; // No toggle; lockout can only be cleared by reboot per spec
+        self.motor_state.stop();
+        self.send_q.send(Commands::BluetoothStatusStatus { data: self.status_state }).await?;
+        self.send_q.send(Commands::BluetoothStatusMotor { data: self.motor_state }).await?;
+        Ok(())
+    }
+    pub async fn fault(&mut self, cause: String) -> Result<()> {
+        if cause.is_empty() {
+            self.status_state -= Statuses::FAULT;
+        } else {
+            self.status_state |= Statuses::FAULT;
+        }
+        self.fault_cause = cause;
+        self.send_q.send(Commands::BluetoothStatusStatus { data: self.status_state }).await?;
+        Ok(())
+    }
+    pub async fn change_limit(&mut self, limits: Limits) -> Result<()> {
+        self.limit_state = limits;
+        self.send_q.send(Commands::BluetoothStatusLimits {data: self.limit_state.clone() }).await?;        
+        Ok(())
+    }
+    pub async fn exit_cooldown(&mut self) -> Result<()> {
+        self.motor_state.finish_cooldown();
+        self.send_q.send(Commands::BluetoothStatusMotor { data: self.motor_state }).await?;
+        Ok(())
+    }
+
+    // === Handle events from event manager =====================================================
+    pub async fn run(&mut self) -> Result<()> {
+        let cmd = self.recv_q.recv().await.expect("PIC simulator failed waiting for messages");
+        match cmd {
+            // Commands from testing and user
+            Commands::FPicToggleAux => {self.toggle_aux().await}
+            Commands::FPicToggleAuto => {self.toggle_auto().await}
+            Commands::FPicPressLearn => {self.press_learn().await}
+            Commands::FPicPressUp => {self.press_up().await}
+            Commands::FPicPressDown => {self.press_down().await}
+            Commands::FPicPressStop => {self.press_stop().await}
+            Commands::FPicTogglePanic => {self.toggle_panic().await}
+            Commands::FPicLockout => {self.lockout().await}
+            Commands::FPicFault{data} => {self.fault(data.to_string()).await}
+            Commands::FPicLimit { data } => {self.change_limit(data).await}
+            // Commands from bluetooth
+            Commands::BluetoothAuto { data } => {
+                if data.is_pressed() {
+                    self.toggle_auto().await?;
+                } Ok(())
+            }
+            Commands::BluetoothAux { data } => {
+                if data.is_pressed() {
+                    self.toggle_aux().await?;
+                } Ok(())
+            }
+            Commands::BluetoothLearn { data } => {
+                if data.is_pressed() {
+                    self.press_learn().await?;
+                } Ok(())
+            }
+            Commands::BluetoothUp { data } => {
+                if data.is_pressed() {
+                    self.press_up().await?;
+                } else {
+                    self.press_stop().await?; // Releasing up is equivalent to stop
+                } Ok(())
+            }
+            Commands::BluetoothDown { data } => {
+                if data.is_pressed() {
+                    self.press_down().await?;
+                } else {
+                    self.press_stop().await?; // Releasing down is equivalent to stop
+                } Ok(())
+            }
+            Commands::BluetoothStop { .. } => {self.press_stop().await} // Stopping on release of stop button is a noop but safe.
+            // Commands from timers
+            Commands::PairTimerExpired => {self.exit_learn().await}
+            Commands::StopTimerExpired => {self.exit_cooldown().await}
+            Commands::ButtonTimerExpired => {self.press_stop().await}
+            _ => {warn!("Unknown command received by Fake PIC simulator!"); Ok(())}
+        }
+    }
+
+}

gem-remotes-lib/src/fake_status.rs

@@ -0,0 +1,28 @@
+/// Fake device status tracking the various statuses the PIC can have.
+
+use bitflags::bitflags;
+
+bitflags! {
+    #[derive(Debug, Clone, Copy)]
+    pub struct Statuses: u16 {
+        const LOCKOUT = 1 << 0;
+        const PANIC = 1 << 1;
+        const FAULT = 1 << 2;
+        const LEARN = 1 << 3;
+        const AUTO = 1 << 4;
+        const AUX = 1 << 5;
+    }
+}
+
+impl Statuses {
+    pub fn to_le_bytes(&self) -> [u8;2] {
+        self.bits().to_le_bytes()
+    }
+    pub fn from_le_bytes(b: &[u8]) -> Statuses {
+        // No sanity checking is done; but this function is not used even in test code right now.
+        let mut bytes = [0;2];
+        bytes[0] = *b.get(0).unwrap();
+        bytes[1] = *b.get(1).unwrap();
+        Statuses::from_bits(u16::from_le_bytes(bytes)).unwrap()
+    }
+}

gem-remotes-lib/src/lib.rs

@@ -4,26 +4,36 @@
 // Modules in this crate
 pub mod commands;
 pub mod dispatch;
-pub mod motor_controller;
+pub mod fake_pic;
+pub mod fake_limits;
+pub mod fake_motor;
+pub mod fake_status;
+//pub mod ble_lift_service;
 
 // Re-published items
 pub use commands::{
     Button, 
-    Commands
+    Commands,
-};
-pub use motor_controller::{
-    AutoMode,
-    Controller,
-    LimitState,
-    MotorCommands,
-    MotorRecvQ,
-    MotorSendQ,
 };
 pub use dispatch::{
     Dispatch,
     DispatchSendQ,
     DispatchRecvQ,
 };
+pub use fake_limits::{
+    Limits,
+    LimitStatus,
+    EMPTY_LIMITS
+};
+pub use fake_motor::{
+    Motors,
+    MotorStatus,
+    EMPTY_MOTORS,
+};
+pub use fake_status::Statuses;
+pub use fake_pic::FakePic;
+//pub use ble_lift_service::BleLiftService;
+
 
 
 

gem-remotes-lib/src/motor_controller.rs

@@ -1,766 +0,0 @@
-/// State machine of the motor's current state, that takes as inputs
-/// command messages.
-
-use log::*; //{trace, debug, info, warn, error}
-use anyhow::{anyhow, Result};
-use async_channel::{Receiver, Sender};
-use crate::commands::{Commands, Button, Toggle};
-use crate::dispatch::{Dispatch, DispatchRecvQ, DispatchSendQ};
-
-// The main internal state of the controller, representing the current control method of the motors.
-#[derive(Clone, Copy, Debug, PartialEq)]
-enum ControllerStates {
-    Stopped,
-    Stopping,
-    GoingUp,
-    AutoUp,
-    GoingDown,
-    AutoDown,
-}
-
-#[derive(Clone, Copy, Debug, PartialEq)]
-pub enum MotorCommands {
-    StartUp,
-    StartDown,
-    Stop
-}
-
-pub type MotorSendQ = Sender<MotorCommands>;
-pub type MotorRecvQ = Receiver<MotorCommands>;
-
-#[derive(Clone, Copy, Debug, PartialEq)]
-pub enum AutoMode {
-    Disallowed = 0,
-    Allowed = 1,
-}
-
-#[derive(Clone, Copy, Debug, PartialEq)]
-pub enum LimitState {
-    NoLimitsHit,
-    UpperHit,
-    LowerHit,
-    BothHit,
-}
-
-pub struct Controller {
-    state: ControllerStates,
-    recv: DispatchRecvQ,
-    send: DispatchSendQ,
-    motor_q: MotorSendQ,
-    auto_mode: AutoMode,
-    limit_state: LimitState,
-}
-
-impl Controller {
-    pub fn new(recv: DispatchRecvQ, send: DispatchSendQ, motor_q: MotorSendQ) -> Self {
-        Controller {
-            state: ControllerStates::Stopping,
-            recv: recv,
-            send: send,
-            motor_q: motor_q,
-            auto_mode: AutoMode::Disallowed,  // Use safe default
-            limit_state: LimitState::BothHit, // Use safe default
-        }
-    }
-
-    /// Tell the message dispatch which messages we are interested in receiving, and get
-    /// a callback channel that receives those messages.
-    pub fn prepare_controller(dp: &mut Dispatch) -> DispatchRecvQ {
-        let cmds = vec![
-            Commands::PicRecvUp{data: Button::Released},
-            Commands::PicRecvDown{data: Button::Released},
-            Commands::PicRecvStop{data: Button::Released},
-            Commands::BluetoothUp{data: Button::Released},
-            Commands::BluetoothDown{data: Button::Released},
-            Commands::BluetoothStop{data: Button::Released},
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvLimitDown{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Inactive},
-            Commands::StopTimerExpired,
-            Commands::ButtonTimerExpired,
-        ];
-        dp.get_callback_channel(&cmds)
-    }
-
-    async fn enter_state(&mut self, new_s: &ControllerStates) -> Result<()> {
-        match new_s {
-            ControllerStates::Stopped => {
-                // Other notify commands are sent directly from the motor controller
-                self.send.send(Commands::NotifyMotorStop{data: Button::Released}).await?;
-            }
-            ControllerStates::Stopping => {
-                self.send.send(Commands::StopTimerRestart).await?;
-                self.motor_q.send(MotorCommands::Stop).await?;
-                self.send.send(Commands::NotifyMotorStop{data: Button::Pressed}).await?;
-            }
-            ControllerStates::GoingUp => {
-                self.send.send(Commands::ButtonTimerRestart).await?;
-                self.motor_q.send(MotorCommands::StartUp).await?;
-                self.send.send(Commands::NotifyMotorUp{data: Button::Pressed}).await?;
-            }
-            ControllerStates::AutoUp => {
-                self.motor_q.send(MotorCommands::StartUp).await?;
-                self.send.send(Commands::NotifyMotorUp{data: Button::Pressed}).await?;
-            }
-            ControllerStates::GoingDown => {
-                self.send.send(Commands::ButtonTimerRestart).await?;
-                self.motor_q.send(MotorCommands::StartDown).await?;
-                self.send.send(Commands::NotifyMotorUp{data: Button::Pressed}).await?;
-            }
-            ControllerStates::AutoDown => {
-                self.motor_q.send(MotorCommands::StartDown).await?;
-                self.send.send(Commands::NotifyMotorUp{data: Button::Pressed}).await?;
-            }
-        }
-        Ok(())
-    }
-
-    async fn exit_state(&mut self, old_s: &ControllerStates) -> Result <()> {
-        match old_s {
-            ControllerStates::Stopped => {}
-            ControllerStates::Stopping => {
-                self.send.send(Commands::StopTimerClear).await?;
-            }
-            ControllerStates::GoingUp => {
-                self.send.send(Commands::ButtonTimerClear).await?;
-                self.send.send(Commands::NotifyMotorUp{data: Button::Released}).await?;
-            }
-            ControllerStates::AutoUp => {
-                self.send.send(Commands::NotifyMotorUp{data: Button::Released}).await?;
-            }
-            ControllerStates::GoingDown => {
-                self.send.send(Commands::ButtonTimerClear).await?;
-                self.send.send(Commands::NotifyMotorDown{data: Button::Released}).await?;
-            }
-            ControllerStates::AutoDown => {
-                self.send.send(Commands::NotifyMotorDown{data: Button::Released}).await?;
-            }
-        }
-        Ok(())
-    }
-
-    fn change_state_if_released(&self, data: &Button, new_state: ControllerStates) -> ControllerStates {
-        match data {
-            Button::Released => {new_state}
-            Button::Pressed => {self.state.clone()}
-        }
-    }
-
-    fn change_state_if_pressed(&self, data: &Button, new_state: ControllerStates) -> ControllerStates {
-        match data {
-            Button::Released => {self.state.clone()}
-            Button::Pressed => {new_state}
-        }
-    }
-
-    /// Determines the state the controller should be in based on the command received.
-    async fn handle_cmd(&mut self, cmd: &Commands) -> Result<ControllerStates> {
-        let mut rc = self.state.clone(); // Don't transition by default.
-        match cmd {
-            Commands::PicRecvUp { data } | Commands::BluetoothUp { data }=> {
-                match self.state {
-                    ControllerStates::Stopped => {rc = self.change_state_if_pressed(data, self.remote_up_or_auto_up())}
-                    ControllerStates::Stopping => {}
-                    ControllerStates::GoingUp => {
-                        self.send.send(Commands::ButtonTimerRestart).await.expect("Failed to necessary timer");
-                        rc =  self.change_state_if_released(data, ControllerStates::Stopping)
-                    }
-                    ControllerStates::AutoUp => {} // Don't stop auto on button release
-                    ControllerStates::GoingDown | 
-                    ControllerStates::AutoDown => {
-                        rc= self.change_state_if_pressed(data, ControllerStates::Stopping)
-                    }
-                }
-            }
-            Commands::PicRecvDown { data } | Commands::BluetoothDown { data } => {
-                match self.state {
-                    ControllerStates::Stopped => {rc = self.change_state_if_pressed(data, self.remote_down_or_auto_down())}
-                    ControllerStates::Stopping => {}
-                    ControllerStates::GoingUp | 
-                    ControllerStates::AutoUp => {
-                        rc = self.change_state_if_pressed(data, ControllerStates::Stopping)
-                    }
-                    ControllerStates::GoingDown => {
-                        self.send.send(Commands::ButtonTimerRestart).await.expect("Failed to necessary timer");
-                        rc = self.change_state_if_released(data, ControllerStates::Stopping)
-                    }
-                    ControllerStates::AutoDown => {}
-                }
-            }
-            Commands::PicRecvStop { data } | Commands::BluetoothStop { data } => {
-                match self.state {
-                    ControllerStates::Stopped => {}
-                    ControllerStates::Stopping => {}
-                    ControllerStates::GoingUp |
-                    ControllerStates::AutoUp | 
-                    ControllerStates::GoingDown |
-                    ControllerStates::AutoDown => {
-                        rc = self.change_state_if_pressed(data, ControllerStates::Stopping)
-                    }
-                }
-            }
-            Commands::PicRecvLimitUp { data } => {
-                self.adjust_limit(LimitState::UpperHit, data);
-                match self.state {
-                    ControllerStates::Stopped => {} // Ignore; this could just be our initial notification on startup.
-                    ControllerStates::Stopping => {}
-                    ControllerStates::GoingUp | 
-                    ControllerStates::AutoUp=> {
-                        released_warning(data, "Limit switches may be installed incorrectly!");
-                        rc = self.change_state_if_pressed(data, ControllerStates::Stopping)
-                    }
-                    ControllerStates::GoingDown | 
-                    ControllerStates::AutoDown=> {
-                        pressed_warning(data, "Limit switches may be installed incorrectly!");
-                        // Stop out of an abundance of caution.  We should not get a limit press, even if it's the wrong one.
-                        rc = self.change_state_if_pressed(data, ControllerStates::Stopping)
-                    } 
-                }
-            }
-            Commands::PicRecvLimitDown { data } => {
-                self.adjust_limit(LimitState::LowerHit, data);
-                match self.state {
-                    ControllerStates::Stopped => {} // Ignore; this could just be our initial notification on startup.
-                    ControllerStates::Stopping => {}
-                    ControllerStates::GoingUp |
-                    ControllerStates::AutoUp => {
-                        pressed_warning(data, "Limit switches may be installed incorrectly!");
-                        // Stop out of an abundance of caution.  We should not get a limit press, even if it's the wrong one.
-                        rc = self.change_state_if_pressed(data, ControllerStates::Stopping)
-                    }
-                    ControllerStates::GoingDown |
-                    ControllerStates::AutoDown => {
-                        released_warning(data, "Limit switches may be installed incorrectly!");
-                        rc = self.change_state_if_pressed(data, ControllerStates::Stopping)
-                    }
-                }
-            }
-            Commands::PicRecvAutoMode { data } => {
-                self.set_auto(data);
-                match self.state {
-                    ControllerStates::Stopped => {}
-                    ControllerStates::Stopping => {}
-                    ControllerStates::GoingUp => {}
-                    ControllerStates::AutoUp => {rc = ControllerStates::GoingUp}
-                    ControllerStates::GoingDown => {}
-                    ControllerStates::AutoDown => {rc = ControllerStates::GoingDown}
-                }
-            }
-            Commands::StopTimerExpired => {
-                match self.state {
-                    ControllerStates::Stopped => {}
-                    ControllerStates::Stopping => {rc = ControllerStates::Stopped}
-                    ControllerStates::GoingUp |
-                    ControllerStates::AutoUp |
-                    ControllerStates::GoingDown |
-                    ControllerStates::AutoDown => {
-                        warn!("Stop timer returned in an inappropriate state! {:?}", self.state)
-                    }
-                }
-            }
-            Commands::ButtonTimerExpired => {
-                match self.state {
-                    ControllerStates::Stopped => {}
-                    ControllerStates::Stopping => {}
-                    ControllerStates::GoingUp => {rc = ControllerStates::Stopping}
-                    ControllerStates::AutoUp => {}
-                    ControllerStates::GoingDown => {rc = ControllerStates::Stopping}
-                    ControllerStates::AutoDown => {}
-                }
-            }
-            // Commands we should ignore (not using _ because we want to ensure all commands are accounted for!)
-            Commands::StopTimerRestart | 
-            Commands::StopTimerClear | 
-            Commands::ButtonTimerRestart |
-            Commands::ButtonTimerClear |
-            Commands::PairTimerClear |
-            Commands::PairTimerExpired |
-            Commands::AllowPairing |
-            Commands::EraseBleBonds => {
-                warn!("Unexpected command received by motor controller") // TODO: internal "us" error.
-            }
-            Commands::NotifyMotorDown { data } |
-            Commands::NotifyMotorStop { data } |
-            Commands::NotifyMotorUp { data } => {
-                warn!("Unexpected command received by motor controller {:?}", data) // TODO: internal "us" error.
-            }
-            Commands::BluetoothName { data } => {
-                warn!("Unexpected command received by motor controller {:?}", data) // TODO: internal "us" error.
-            }
-            Commands::TestingExit => {
-                return Err(anyhow!("Exiting due to testing"))
-            }
-        }
-    //self.state.clone() // Don't transition by default
-    Ok(rc)
-    }
-
-    async fn transition_state(&mut self, old_s: &ControllerStates, new_s: &ControllerStates) -> Result<()> {
-        if old_s != new_s {
-            self.exit_state(&old_s).await?;
-            self.enter_state(&new_s).await?;
-        }
-        self.state = new_s.clone();
-        Ok(())
-    }
-
-    pub async fn run(&mut self) -> Result<()> {
-        // On entry, assume initial stopping state
-        debug!("Setting motor controller initial state to stopping");
-        self.state = ControllerStates::Stopping;
-        self.enter_state(&ControllerStates::Stopping).await?;
-        loop {
-            let cmd = self.recv.recv().await.expect("Motor controller command queue unexpectedly failed");
-            trace!("Got command {:?}",cmd);
-            match self.handle_cmd(&cmd).await {
-                Ok(new_s) => {
-                    trace!("State current {:?} new {:?}", self.state, new_s);
-                    self.transition_state(&self.state.clone(), &new_s)
-                        .await
-                        .expect("Unexpected state change failure in motor controller");
-                }
-                Err(_) => {break;}
-            }
-        }
-        Err(anyhow!("Unexpectedly exited loop"))
-    }
-
-    fn remote_up_or_auto_up(&self) -> ControllerStates {
-        self.up_or_auto_up(ControllerStates::GoingUp)
-    }
-
-    fn up_or_auto_up(&self, up: ControllerStates) -> ControllerStates {
-        // Assume that checking the limit against the direction has already been performed.
-        match self.auto_mode {
-            AutoMode::Disallowed => {
-                up // TODO: this allows manual buttons to override limits as long as "auto" mode is off.
-            }
-            AutoMode::Allowed => {
-                match self.limit_state {
-                    LimitState::NoLimitsHit | LimitState::LowerHit=> {
-                        ControllerStates::AutoUp
-                    }
-                    LimitState::UpperHit => {
-                        ControllerStates::Stopping // Failsafe as we are already at our upper limit. TODO: maybe should be manual up?
-                    }
-                    LimitState::BothHit => {
-                        up
-                    }
-                }
-            }
-        }
-    }
-
-    fn remote_down_or_auto_down(&self) -> ControllerStates {
-        self.down_or_auto_down(ControllerStates::GoingDown)
-    }
-
-    fn down_or_auto_down(&self, down: ControllerStates) -> ControllerStates {
-        // Assume that checking the limit against the direction has already been performed.
-        match self.auto_mode {
-            AutoMode::Disallowed => {
-                down // TODO: this allows manual buttons to override limits as long as "auto" mode is off.
-            }
-            AutoMode::Allowed => {
-                match self.limit_state {
-                    LimitState::NoLimitsHit | LimitState::LowerHit=> {
-                        ControllerStates::AutoDown
-                    }
-                    LimitState::UpperHit => {
-                        ControllerStates::Stopping // Failsafe as we are already at our upper limit. TODO: Maybe should be manual down?
-                    }
-                    LimitState::BothHit => {
-                        down
-                    }
-                }
-            }
-        }
-    }
-
-    fn set_auto(&mut self, data: &Toggle) {
-        match data {
-            Toggle::Inactive => {
-                self.auto_mode = AutoMode::Disallowed;
-            }
-            Toggle::Active => {
-                if self.limit_state == LimitState::BothHit {
-                    warn!("Limit switches not detected.  Aborting auto  mode.");
-                } else {
-                    self.auto_mode = AutoMode::Allowed;
-                }
-            }
-        }
-    }
-
-    // Adjusts the current limit state, based on its present state and an incoming button press or release.
-    fn adjust_limit(&mut self, limit: LimitState, pressed: &Button) {
-        match pressed {
-            Button::Released => {
-                match limit {
-                    LimitState::NoLimitsHit => {
-                        unreachable!("There is no way to press NoLimits")
-                    }
-                    LimitState::LowerHit => {
-                        match self.limit_state {
-                            LimitState::NoLimitsHit |
-                            LimitState::UpperHit => {warn!("removed limit we never hit {:?}", LimitState::LowerHit);} //TODO intenral error
-                            LimitState::LowerHit => {self.limit_state = LimitState::NoLimitsHit;}
-                            LimitState::BothHit => {self.limit_state = LimitState::UpperHit;}
-                        }
-                    }
-                    LimitState::UpperHit => {
-                        match self.limit_state {
-                            LimitState::NoLimitsHit |
-                            LimitState::LowerHit => {warn!("removed limit we never hit {:?}", LimitState::UpperHit);} //TODO intenral error
-                            LimitState::UpperHit => {self.limit_state = LimitState::NoLimitsHit;}
-                            LimitState::BothHit => {self.limit_state = LimitState::LowerHit;}
-                        }
-                    }
-                    LimitState::BothHit => {
-                        unreachable!("There is no way to press BothHit")
-                    }
-                }
-            }
-            Button::Pressed => {
-                match limit {
-                    LimitState::NoLimitsHit => {
-                        unreachable!("There is no way to press BothHit")
-                    }
-                    LimitState::LowerHit => {
-                        match self.limit_state {
-                            LimitState::NoLimitsHit => {self.limit_state = LimitState::LowerHit;}
-                            LimitState::LowerHit => {}
-                            LimitState::UpperHit => {self.limit_state = LimitState::BothHit;}
-                            LimitState::BothHit => {}
-                        }
-                    }
-                    LimitState::UpperHit => {
-                        match self.limit_state {
-                            LimitState::NoLimitsHit => {self.limit_state = LimitState::UpperHit;}
-                            LimitState::LowerHit => {self.limit_state = LimitState::BothHit;}
-                            LimitState::UpperHit => {}
-                            LimitState::BothHit => {}
-                        }
-                    }
-                    LimitState::BothHit => {
-                        unreachable!("There is no way to press BothHit")
-                    }
-                }
-            }
-        }
-    }
-
-}
-
-// Give a user warning if the given button state is pressed at the time
-fn pressed_warning(data: &Button, warn: &str) {
-    match data {
-        Button::Pressed => {warn!("{}", warn);} // TODO: user warning, not internal
-        Button::Released => {}
-    }
-}
-
-// Give a user warning if the given button state is released at the time
-fn released_warning(data: &Button, warn: &str) {
-    match data {
-        Button::Released => {warn!("{}", warn);} // TODO: user warning, not internal
-        Button::Pressed => {}
-    }
-}
-
-//// Test ////////////////////////////////////////////////////////////////////////////////////////
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use async_channel::{unbounded, TryRecvError};
-    use async_io::block_on;
-
-    // Creates a new controller for use in tests.  Has async-channen send, recv, and motor
-    // endpoints to use.  Starts in AutoMode::Disallowed and LimitState::BothHit
-    fn create_controller() -> (Controller, DispatchSendQ, DispatchRecvQ, MotorRecvQ) {
-        let (ch1s, ch1r) = unbounded();
-        let (ch2s, ch2r) = unbounded();
-        let (chms, chmr) = unbounded();
-        let con = Controller::new(ch1r, ch2s, chms);
-        (con, ch1s, ch2r, chmr)
-    }
-
-    // Send a series of messages to the controller, then exit.
-    fn run_cmd_queue(con: &mut Controller, cs: DispatchSendQ, q: &mut Vec<Commands>) -> Result<()>{
-        block_on (
-            async {
-                q.push(Commands::TestingExit);
-                for c in q {
-                    cs.send(c.clone()).await?
-                }
-                let _ = con.run().await; // If this doesn't error out of the loop, we'll hang here
-                Ok(())
-            }
-        )
-    }
-
-    /* States we want to test:
-    Controller states:
-        Stopped,
-        Stopping,
-        GoingUp,
-        AutoUp,
-        GoingDown,
-        AutoDown,
-    Auto states:
-        Disallowed
-        Allowed
-    Limit states:
-        NoLimitsHit,
-        UpperHit,
-        LowerHit,
-        BothHit,
-     */
-
-    #[test]
-    fn motor_stops_on_initialization() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::Stopping);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_stop_state_after_timeout() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::Stopped);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_refuses_auto_when_bothhit() -> Result<()>{
-        let (mut con, cs, _cr, _mr) = create_controller();
-        let mut q = vec![
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.auto_mode, AutoMode::Disallowed);
-        Ok(())
-    }
-
-    #[test]
-    fn motor_succeeds_auto_when_not_bothhit() -> Result<()>{
-        let (mut con, cs, _cr, _mr) = create_controller();
-        let mut q = vec![
-            Commands::PicRecvLimitDown { data: Button::Released },
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.auto_mode, AutoMode::Allowed);
-        Ok(())
-    }
-
-    #[test]
-    fn motor_enters_timed_up() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvUp { data: Button::Pressed }
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::GoingUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_stops_after_no_input_no_auto() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::BluetoothDown { data: Button::Pressed },
-            Commands::ButtonTimerExpired,
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::Stopping);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartDown);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_stops_on_release_timed_up() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvUp { data: Button::Pressed },
-            Commands::PicRecvUp { data: Button::Released },
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::Stopping);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-    #[test]
-    fn motor_stops_on_limit_timed_up() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvUp { data: Button::Pressed },
-            Commands::PicRecvLimitUp { data: Button::Pressed },
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::Stopping);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_enters_auto_up() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            Commands::PicRecvUp { data: Button::Pressed },
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::AutoUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_does_not_stop_after_no_input_in_auto() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            Commands::BluetoothDown { data: Button::Pressed },
-            Commands::ButtonTimerExpired,
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::AutoDown);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartDown);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_does_not_stop_auto_release() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            Commands::PicRecvUp { data: Button::Pressed },
-            Commands::PicRecvUp { data: Button::Released },
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::AutoUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_switches_to_timed_when_auto_toggled_off() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            Commands::PicRecvUp { data: Button::Pressed },
-            Commands::PicRecvAutoMode{data: Toggle::Inactive},
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::GoingUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp); // Second up commanded should be okay
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_continues_with_additional_presses() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            Commands::PicRecvUp { data: Button::Pressed },
-            Commands::PicRecvUp { data: Button::Released },
-            Commands::BluetoothUp { data: Button::Pressed },
-            Commands::BluetoothUp { data: Button::Released },
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::AutoUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_stops_on_opposite_button() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            Commands::PicRecvUp { data: Button::Pressed },
-            Commands::PicRecvUp { data: Button::Released },
-            Commands::BluetoothDown { data: Button::Pressed },
-            Commands::BluetoothDown { data: Button::Released },
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::Stopping);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-
-    #[test]
-    fn motor_stops_if_limits_installed_backwards() -> Result<()>{
-        let (mut con, cs, _cr, mr) = create_controller();
-        let mut q = vec![
-            Commands::StopTimerExpired,
-            Commands::PicRecvLimitUp{data: Button::Released},
-            Commands::PicRecvLimitDown{data: Button::Released},
-            Commands::PicRecvAutoMode{data: Toggle::Active},
-            Commands::PicRecvUp { data: Button::Pressed },
-            Commands::PicRecvUp { data: Button::Released },
-            Commands::PicRecvLimitDown { data: Button::Pressed },
-            ];
-        run_cmd_queue(&mut con, cs, &mut q)?;
-        assert_eq!(con.state, ControllerStates::Stopping);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::StartUp);
-        assert_eq!(mr.try_recv().unwrap(), MotorCommands::Stop);
-        assert_eq!(mr.try_recv(), Err(TryRecvError::Empty)); // Make sure queue is empty
-        Ok(())
-    }
-}