Automatically execute the process again on a panic

Cargo.lock

@@ -205,6 +205,7 @@ name = "ev3dev-pid-linefollow"
 version = "0.1.0"
 dependencies = [
  "ev3dev-lang-rust",
+ "exec",
  "image",
  "imageproc",
  "itertools",
@@ -215,6 +216,16 @@ dependencies = [
  "thiserror",
 ]
 
+[[package]]
+name = "exec"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "886b70328cba8871bfc025858e1de4be16b1d5088f2ba50b57816f4210672615"
+dependencies = [
+ "errno",
+ "libc",
+]
+
 [[package]]
 name = "exr"
 version = "1.5.2"

Cargo.toml

@@ -13,6 +13,7 @@ pid = "4.0"
 thiserror = "1.0"
 rand = "0.8"
 itertools = "0.10"
+exec = "0.3"
 
 [profile.release]
 lto = true

src/main.rs

@@ -8,19 +8,30 @@ use display::{
 use ev3dev_lang_rust::{
     motors::LargeMotor, sensors::ColorSensor, Device, Ev3Error, Ev3Result, Screen,
 };
+use exec::execvp;
+use itertools::Itertools;
 use pid::Pid;
 use rand::{thread_rng, Rng};
 use rusttype::Font;
 use std::{
+    env,
     error::Error,
-    iter,
+    iter, panic,
     thread::sleep,
     time::{Duration, Instant},
 };
 use thiserror::Error;
 
 fn main() {
-    while try_main().is_err() {
+    // This loop just restarts the program in case of an error.
+    // Such error may occur when a motor or sensor got disconnected.
+    let args = env::args().collect_vec();
+    panic::set_hook(Box::new(move |_| {
+        let err = execvp(&args[0], &args[1..]);
+        println!("Couldn't restart the program: {err}");
+    }));
+    while let Err(e) = try_main() {
+        println!("Error: {e:?}");
         sleep(Duration::from_millis(10));
     }
 }
@@ -89,10 +100,24 @@ fn select_values(
     let mut k_d = thread_rng().gen_range(0.01..=10.0);
     let mut v = thread_rng().gen_range(1..=100);
     let mut selected = Kp;
+    let mut times_pressed_up = 0;
+    let mut times_pressed_down = 0;
     draw_settings(screen, k_p, k_i, k_d, v, selected, font);
 
     loop {
         buttons.process();
+        if buttons.is_up_pressed() {
+            times_pressed_up = 0;
+        }
+        if buttons.is_down_pressed() {
+            times_pressed_down = 0;
+        }
+        if buttons.is_up() {
+            times_pressed_up += 1;
+        }
+        if buttons.is_down() {
+            times_pressed_down += 1;
+        }
         if buttons.is_enter_pressed() {
             break;
         }
@@ -130,7 +155,7 @@ fn select_values(
                 };
                 if buttons.is_up() {
                     *param = (*param
-                        + if buttons.is_up_pressed() {
+                        + if times_pressed_up > 10 {
                             0.01f32
                         } else {
                             0.1f32
@@ -139,7 +164,7 @@ fn select_values(
                 }
                 if buttons.is_down() {
                     *param = (*param
-                        - if buttons.is_down_pressed() {
+                        - if times_pressed_down > 10 {
                             0.01f32
                         } else {
                             0.1f32