diff --git a/common/Cargo.lock b/common/Cargo.lock
index 07233c97..4a41fb60 100644
--- a/common/Cargo.lock
+++ b/common/Cargo.lock
@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "anstream"
-version = "0.5.0"
+version = "0.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1f58811cfac344940f1a400b6e6231ce35171f614f26439e80f8c1465c5cc0c"
+checksum = "2ab91ebe16eb252986481c5b62f6098f3b698a45e34b5b98200cf20dd2484a44"
 dependencies = [
  "anstyle",
  "anstyle-parse",
@@ -18,15 +18,15 @@ dependencies = [
 
 [[package]]
 name = "anstyle"
-version = "1.0.3"
+version = "1.0.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b84bf0a05bbb2a83e5eb6fa36bb6e87baa08193c35ff52bbf6b38d8af2890e46"
+checksum = "7079075b41f533b8c61d2a4d073c4676e1f8b249ff94a393b0595db304e0dd87"
 
 [[package]]
 name = "anstyle-parse"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "938874ff5980b03a87c5524b3ae5b59cf99b1d6bc836848df7bc5ada9643c333"
+checksum = "317b9a89c1868f5ea6ff1d9539a69f45dffc21ce321ac1fd1160dfa48c8e2140"
 dependencies = [
  "utf8parse",
 ]
@@ -42,9 +42,9 @@ dependencies = [
 
 [[package]]
 name = "anstyle-wincon"
-version = "2.1.0"
+version = "3.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58f54d10c6dfa51283a066ceab3ec1ab78d13fae00aa49243a45e4571fb79dfd"
+checksum = "f0699d10d2f4d628a98ee7b57b289abbc98ff3bad977cb3152709d4bf2330628"
 dependencies = [
  "anstyle",
  "windows-sys",
@@ -67,9 +67,9 @@ dependencies = [
 
 [[package]]
 name = "askama"
-version = "0.12.0"
+version = "0.12.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "47cbc3cf73fa8d9833727bbee4835ba5c421a0d65b72daf9a7b5d0e0f9cfb57e"
+checksum = "b79091df18a97caea757e28cd2d5fda49c6cd4bd01ddffd7ff01ace0c0ad2c28"
 dependencies = [
  "askama_derive",
  "askama_escape",
@@ -77,14 +77,14 @@ dependencies = [
 
 [[package]]
 name = "askama_derive"
-version = "0.12.1"
+version = "0.12.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c22fbe0413545c098358e56966ff22cdd039e10215ae213cfbd65032b119fc94"
+checksum = "9a0fc7dcf8bd4ead96b1d36b41df47c14beedf7b0301fc543d8f2384e66a2ec0"
 dependencies = [
+ "askama_parser",
  "basic-toml",
  "mime",
  "mime_guess",
- "nom",
  "proc-macro2",
  "quote",
  "serde",
@@ -97,6 +97,15 @@ version = "0.10.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "619743e34b5ba4e9703bba34deac3427c72507c7159f5fd030aea8cac0cfe341"
 
+[[package]]
+name = "askama_parser"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c268a96e01a4c47c8c5c2472aaa570707e006a875ea63e819f75474ceedaf7b4"
+dependencies = [
+ "nom",
+]
+
 [[package]]
 name = "assert-json-diff"
 version = "2.0.2"
@@ -169,9 +178,9 @@ checksum = "b4682ae6287fcf752ecaabbfcc7b6f9b72aa33933dc23a554d853aea8eea8635"
 
 [[package]]
 name = "byteorder"
-version = "1.4.3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
@@ -190,9 +199,9 @@ dependencies = [
 
 [[package]]
 name = "cargo-platform"
-version = "0.1.3"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2cfa25e60aea747ec7e1124f238816749faa93759c6ff5b31f1ccdda137f4479"
+checksum = "12024c4645c97566567129c204f65d5815a8c9aecf30fcbe682b2fe034996d36"
 dependencies = [
  "serde",
 ]
@@ -211,15 +220,6 @@ dependencies = [
  "thiserror",
 ]
 
-[[package]]
-name = "cc"
-version = "1.0.83"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f1174fb0b6ec23863f8b971027804a42614e347eafb0a95bf0b12cdae21fc4d0"
-dependencies = [
- "libc",
-]
-
 [[package]]
 name = "cfg-if"
 version = "1.0.0"
@@ -228,9 +228,9 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "clap"
-version = "4.4.4"
+version = "4.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b1d7b8d5ec32af0fadc644bf1fd509a688c2103b185644bb1e29d164e0703136"
+checksum = "d04704f56c2cde07f43e8e2c154b43f216dc5c92fc98ada720177362f953b956"
 dependencies = [
  "clap_builder",
  "clap_derive",
@@ -238,9 +238,9 @@ dependencies = [
 
 [[package]]
 name = "clap_builder"
-version = "4.4.4"
+version = "4.4.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5179bb514e4d7c2051749d8fcefa2ed6d06a9f4e6d69faf3805f5d80b8cf8d56"
+checksum = "0e231faeaca65ebd1ea3c737966bf858971cd38c3849107aa3ea7de90a804e45"
 dependencies = [
  "anstream",
  "anstyle",
@@ -296,25 +296,14 @@ checksum = "a26ae43d7bcc3b814de94796a5e736d4029efb0ee900c12e2d54c993ad1a1e07"
 
 [[package]]
 name = "errno"
-version = "0.3.4"
+version = "0.3.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "add4f07d43996f76ef320709726a556a9d4f965d9410d8d0271132d2f8293480"
+checksum = "ac3e13f66a2f95e32a39eaa81f6b95d42878ca0e1db0c7543723dfe12557e860"
 dependencies = [
- "errno-dragonfly",
  "libc",
  "windows-sys",
 ]
 
-[[package]]
-name = "errno-dragonfly"
-version = "0.1.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "aa68f1b12764fab894d2755d2518754e71b4fd80ecfb822714a1206c2aab39bf"
-dependencies = [
- "cc",
- "libc",
-]
-
 [[package]]
 name = "fastrand"
 version = "2.0.1"
@@ -469,21 +458,21 @@ checksum = "e2abad23fbc42b3700f2f279844dc832adb2b2eb069b2df918f455c4e18cc646"
 
 [[package]]
 name = "libc"
-version = "0.2.148"
+version = "0.2.149"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cdc71e17332e86d2e1d38c1f99edcb6288ee11b815fb1a4b049eaa2114d369b"
+checksum = "a08173bc88b7955d1b3145aa561539096c421ac8debde8cbc3612ec635fee29b"
 
 [[package]]
 name = "libm"
-version = "0.2.7"
+version = "0.2.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7012b1bbb0719e1097c47611d3898568c546d597c2e74d66f6087edd5233ff4"
+checksum = "4ec2a862134d2a7d32d7983ddcdd1c4923530833c9f2ea1a44fc5fa473989058"
 
 [[package]]
 name = "linux-raw-sys"
-version = "0.4.8"
+version = "0.4.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3852614a3bd9ca9804678ba6be5e3b8ce76dfc902cae004e3e0c44051b6e88db"
+checksum = "da2479e8c062e40bf0066ffa0bc823de0a9368974af99c9f6df941d2c231e03f"
 
 [[package]]
 name = "lock_api"
@@ -503,9 +492,9 @@ checksum = "b5e6163cb8c49088c2c36f57875e58ccd8c87c7427f7fbd50ea6710b2f3f2e8f"
 
 [[package]]
 name = "memchr"
-version = "2.6.3"
+version = "2.6.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8f232d6ef707e1956a43342693d2a31e72989554d58299d7a88738cc95b0d35c"
+checksum = "f665ee40bc4a3c5590afb1e9677db74a508659dfd71e126420da8274909a0167"
 
 [[package]]
 name = "mime"
@@ -541,9 +530,9 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.16"
+version = "0.2.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f30b0abd723be7e2ffca1272140fac1a2f084c77ec3e123c192b66af1ee9e6c2"
+checksum = "39e3200413f237f41ab11ad6d161bc7239c84dcb631773ccd7de3dfe4b5c267c"
 dependencies = [
  "autocfg",
  "libm",
@@ -584,9 +573,9 @@ checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.67"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d433d9f1a3e8c1263d9456598b16fec66f4acc9a74dacffd35c7bb09b3a1328"
+checksum = "134c189feb4956b20f6f547d2cf727d4c0fe06722b20a0eec87ed445a97f92da"
 dependencies = [
  "unicode-ident",
 ]
@@ -765,9 +754,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.18"
+version = "1.0.19"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0293b4b29daaf487284529cc2f5675b8e57c61f70167ba415a463651fd6a918"
+checksum = "ad977052201c6de01a8ef2aa3378c4bd23217a056337d1d6da40468d267a4fb0"
 dependencies = [
  "serde",
 ]
@@ -811,9 +800,9 @@ checksum = "38b58827f4464d87d377d175e90bf58eb00fd8716ff0a62f80356b5e61555d0d"
 
 [[package]]
 name = "smallvec"
-version = "1.11.0"
+version = "1.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "62bb4feee49fdd9f707ef802e22365a35de4b7b299de4763d44bfea899442ff9"
+checksum = "942b4a808e05215192e39f4ab80813e599068285906cc91aa64f923db842bd5a"
 
 [[package]]
 name = "spin"
@@ -844,9 +833,9 @@ checksum = "73473c0e59e6d5812c5dfe2a064a6444949f089e20eec9a2e5506596494e4623"
 
 [[package]]
 name = "syn"
-version = "2.0.37"
+version = "2.0.38"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7303ef2c05cd654186cb250d29049a24840ca25d2747c25c0381c8d9e2f582e8"
+checksum = "e96b79aaa137db8f61e26363a0c9b47d8b4ec75da28b7d1d614c2303e232408b"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -868,18 +857,18 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.48"
+version = "1.0.49"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9d6d7a740b8a666a7e828dd00da9c0dc290dff53154ea77ac109281de90589b7"
+checksum = "1177e8c6d7ede7afde3585fd2513e611227efd6481bd78d2e82ba1ce16557ed4"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.48"
+version = "1.0.49"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49922ecae66cc8a249b77e68d1d0623c1b2c514f0060c27cdc68bd62a1219d35"
+checksum = "10712f02019e9288794769fba95cd6847df9874d49d871d062172f9dd41bc4cc"
 dependencies = [
  "proc-macro2",
  "quote",
diff --git a/common/ferrostar-core/Cargo.toml b/common/ferrostar-core/Cargo.toml
index b6829038..df3f5c9f 100644
--- a/common/ferrostar-core/Cargo.toml
+++ b/common/ferrostar-core/Cargo.toml
@@ -29,4 +29,4 @@ assert-json-diff = "2.0.2"
 proptest = "1.3.1"
 
 [lib]
-crate-type = ["cdylib", "staticlib"]
+crate-type = ["cdylib", "staticlib", "lib"]
diff --git a/common/ferrostar-core/src/models.rs b/common/ferrostar-core/src/models.rs
index ae0e30e8..40fad2d9 100644
--- a/common/ferrostar-core/src/models.rs
+++ b/common/ferrostar-core/src/models.rs
@@ -82,7 +82,7 @@ pub struct Route {
 /// NOTE: OSRM specifies this rather precisely as "travel along a single way to the subsequent step"
 /// but we will intentionally define this somewhat looser unless/until it becomes clear something
 ///
-#[derive(Clone, Debug)]
+#[derive(Clone, Debug, PartialEq)]
 pub struct RouteStep {
     /// The starting location of the step (start of the maneuver).
     pub start_location: GeographicCoordinates,
@@ -96,6 +96,7 @@ pub struct RouteStep {
 
 // TODO: trigger_at doesn't really have to live in the public interface; figure out if we want to have a separate FFI vs internal type
 
+#[derive(Debug, PartialEq)]
 pub struct SpokenInstruction {
     /// Plain-text instruction which can be synthesized with a TTS engine.
     pub text: String,
@@ -104,6 +105,7 @@ pub struct SpokenInstruction {
     pub trigger_at: GeographicCoordinates,
 }
 
+#[derive(Debug, PartialEq)]
 pub struct VisualInstructions {
     pub primary_content: VisualInstructionContent,
     pub secondary_content: Option<VisualInstructionContent>,
@@ -144,6 +146,7 @@ pub enum ManeuverModifier {
     SharpLeft,
 }
 
+#[derive(Debug, Eq, PartialEq)]
 pub struct VisualInstructionContent {
     pub text: String,
     pub maneuver_type: Option<ManeuverType>,
diff --git a/common/ferrostar-core/src/navigation_controller/models.rs b/common/ferrostar-core/src/navigation_controller/models.rs
index 5494fe02..d5ad7496 100644
--- a/common/ferrostar-core/src/navigation_controller/models.rs
+++ b/common/ferrostar-core/src/navigation_controller/models.rs
@@ -23,6 +23,7 @@ pub(super) enum TripState {
 }
 
 /// Public updates pushed up to the direct user of the NavigationController.
+#[derive(Debug, PartialEq)]
 pub enum NavigationStateUpdate {
     Navigating {
         snapped_user_location: UserLocation,
diff --git a/common/ferrostar-core/src/navigation_controller/utils.rs b/common/ferrostar-core/src/navigation_controller/utils.rs
index 01aa89fc..c2a746dc 100644
--- a/common/ferrostar-core/src/navigation_controller/utils.rs
+++ b/common/ferrostar-core/src/navigation_controller/utils.rs
@@ -1,5 +1,5 @@
 use crate::models::{GeographicCoordinates, RouteStep, UserLocation};
-use geo::{Closest, HaversineClosestPoint, HaversineDistance, LineString, Point};
+use geo::{Closest, ClosestPoint, HaversineDistance, LineString, Point};
 
 #[cfg(test)]
 use proptest::prelude::*;
@@ -13,7 +13,7 @@ use std::time::SystemTime;
 pub fn snap_to_line(location: &UserLocation, line: &LineString) -> UserLocation {
     let original_point = Point::new(location.coordinates.lng, location.coordinates.lat);
 
-    match line.haversine_closest_point(&original_point) {
+    match line.closest_point(&original_point) {
         Closest::Intersection(snapped) | Closest::SinglePoint(snapped) => UserLocation {
             coordinates: GeographicCoordinates {
                 lng: snapped.x(),
@@ -92,10 +92,10 @@ pub fn do_advance_to_next_step(
 #[cfg(test)]
 proptest! {
     #[test]
-    fn test_should_advance_exact_position(x1 in -180f64..180f64, y1 in -90f64..90f64,
-                                          x2 in -180f64..180f64, y2 in -90f64..90f64,
-                                          distance: u16, minimum_horizontal_accuracy: u16,
-                                          excess_inaccuracy in 0f64..65535f64) {
+    fn should_advance_exact_position(x1 in -180f64..180f64, y1 in -90f64..90f64,
+                                     x2 in -180f64..180f64, y2 in -90f64..90f64,
+                                     distance: u16, minimum_horizontal_accuracy: u16,
+                                     excess_inaccuracy in 0f64..65535f64) {
         let route_step = RouteStep {
             start_location: GeographicCoordinates { lng: x1, lat: y1 },
             end_location: GeographicCoordinates { lng: x2, lat: y2 },
diff --git a/common/ferrostar-core/src/routing_adapters/osrm/mod.rs b/common/ferrostar-core/src/routing_adapters/osrm/mod.rs
index 85712e40..cd233787 100644
--- a/common/ferrostar-core/src/routing_adapters/osrm/mod.rs
+++ b/common/ferrostar-core/src/routing_adapters/osrm/mod.rs
@@ -101,7 +101,7 @@ mod tests {
     const VALHALLA_OSRM_RESPONSE: &str = r#"{"routes":[{"weight_name":"auto","weight":56.002,"duration":11.488,"distance":284,"legs":[{"via_waypoints":[],"annotation":{"maxspeed":[{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"}],"speed":[24.7,24.7,24.7,24.7,24.7,24.7,24.7,24.7,24.7],"distance":[23.6,14.9,9.6,13.2,25,28.1,38.1,41.6,90],"duration":[0.956,0.603,0.387,0.535,1.011,1.135,1.539,1.683,3.641]},"admins":[{"iso_3166_1_alpha3":"USA","iso_3166_1":"US"}],"weight":56.002,"duration":11.488,"steps":[{"intersections":[{"bearings":[288],"entry":[true],"admin_index":0,"out":0,"geometry_index":0,"location":[-149.543469,60.534716]}],"speedLimitUnit":"mph","maneuver":{"type":"depart","instruction":"Drive west on AK 1/Seward Highway.","bearing_after":288,"bearing_before":0,"location":[-149.543469,60.534716]},"speedLimitSign":"mutcd","name":"Seward Highway","duration":11.488,"distance":284,"driving_side":"right","weight":56.002,"mode":"driving","ref":"AK 1","geometry":"wzvmrBxalf|GcCrX}A|Nu@jI}@pMkBtZ{@x^_Afj@Inn@`@veB"},{"intersections":[{"bearings":[89],"entry":[true],"in":0,"admin_index":0,"geometry_index":9,"location":[-149.548581,60.534991]}],"speedLimitUnit":"mph","maneuver":{"type":"arrive","instruction":"You have arrived at your destination.","bearing_after":0,"bearing_before":269,"location":[-149.548581,60.534991]},"speedLimitSign":"mutcd","name":"Seward Highway","duration":0,"distance":0,"driving_side":"right","weight":0,"mode":"driving","ref":"AK 1","geometry":"}kwmrBhavf|G??"}],"distance":284,"summary":"AK 1"}],"geometry":"wzvmrBxalf|GcCrX}A|Nu@jI}@pMkBtZ{@x^_Afj@Inn@`@veB"}],"waypoints":[{"distance":0,"name":"AK 1","location":[-149.543469,60.534715]},{"distance":0,"name":"AK 1","location":[-149.548581,60.534991]}],"code":"Ok"}"#;
 
     #[test]
-    fn test_parse_standard_osrm() {
+    fn parse_standard_osrm() {
         let parser = OsrmResponseParser::new(6);
         let response = parser
             .parse_response(STANDARD_OSRM_POLYLINE6_RESPONSE.into())
@@ -187,7 +187,7 @@ mod tests {
     }
 
     #[test]
-    fn test_parse_valhalla_osrm() {
+    fn parse_valhalla_osrm() {
         let parser = OsrmResponseParser::new(6);
         let response = parser
             .parse_response(VALHALLA_OSRM_RESPONSE.into())
diff --git a/common/ferrostar-core/src/routing_adapters/osrm/models.rs b/common/ferrostar-core/src/routing_adapters/osrm/models.rs
index 259e2fe3..5a51e8bb 100644
--- a/common/ferrostar-core/src/routing_adapters/osrm/models.rs
+++ b/common/ferrostar-core/src/routing_adapters/osrm/models.rs
@@ -264,7 +264,7 @@ mod tests {
     // TODO: RouteLeg
 
     #[test]
-    fn test_deserialize_annotation() {
+    fn deserialize_annotation() {
         // Example from Mapbox's public docs, which include several annotations not supported at
         // the time of this writing.
         let data = r#"{
@@ -371,7 +371,7 @@ mod tests {
     }
 
     #[test]
-    fn test_deserialize_banner_instruction() {
+    fn deserialize_banner_instruction() {
         // Example from Mapbox's public docs
         let data = r#"
         {
diff --git a/common/ferrostar-core/src/routing_adapters/valhalla.rs b/common/ferrostar-core/src/routing_adapters/valhalla.rs
index 24167087..2e0a155a 100644
--- a/common/ferrostar-core/src/routing_adapters/valhalla.rs
+++ b/common/ferrostar-core/src/routing_adapters/valhalla.rs
@@ -115,7 +115,7 @@ mod tests {
     ];
 
     #[test]
-    fn test_not_enough_locations() {
+    fn not_enough_locations() {
         let generator =
             ValhallaHttpRequestGenerator::new(ENDPOINT_URL.to_string(), COSTING.to_string());
 
@@ -127,7 +127,7 @@ mod tests {
     }
 
     #[test]
-    fn test_request_body_without_course() {
+    fn request_body_without_course() {
         let generator =
             ValhallaHttpRequestGenerator::new(ENDPOINT_URL.to_string(), COSTING.to_string());
 
@@ -168,7 +168,7 @@ mod tests {
     }
 
     #[test]
-    fn test_request_body_with_course() {
+    fn request_body_with_course() {
         let generator =
             ValhallaHttpRequestGenerator::new(ENDPOINT_URL.to_string(), COSTING.to_string());
 
@@ -211,7 +211,7 @@ mod tests {
     }
 
     #[test]
-    fn test_request_body_with_invalid_horizontal_accuracy() {
+    fn request_body_with_invalid_horizontal_accuracy() {
         let generator =
             ValhallaHttpRequestGenerator::new(ENDPOINT_URL.to_string(), COSTING.to_string());
         let location = UserLocation {
diff --git a/common/ferrostar-core/tests/navigation_controller.rs b/common/ferrostar-core/tests/navigation_controller.rs
new file mode 100644
index 00000000..3a0083a6
--- /dev/null
+++ b/common/ferrostar-core/tests/navigation_controller.rs
@@ -0,0 +1,147 @@
+extern crate ferrostar_core;
+
+use ferrostar_core::routing_adapters::osrm::OsrmResponseParser;
+use ferrostar_core::{
+    NavigationController, NavigationControllerConfig, NavigationStateUpdate, Route,
+    RouteResponseParser, StepAdvanceMode, UserLocation,
+};
+use std::time::SystemTime;
+
+const TWO_STEP_RESPONSE: &str = r#"{"routes":[{"weight_name":"auto","weight":56.002,"duration":11.488,"distance":284,"legs":[{"via_waypoints":[],"annotation":{"maxspeed":[{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"},{"speed":89,"unit":"km/h"}],"speed":[24.7,24.7,24.7,24.7,24.7,24.7,24.7,24.7,24.7],"distance":[23.6,14.9,9.6,13.2,25,28.1,38.1,41.6,90],"duration":[0.956,0.603,0.387,0.535,1.011,1.135,1.539,1.683,3.641]},"admins":[{"iso_3166_1_alpha3":"USA","iso_3166_1":"US"}],"weight":56.002,"duration":11.488,"steps":[{"intersections":[{"bearings":[288],"entry":[true],"admin_index":0,"out":0,"geometry_index":0,"location":[-149.543469,60.534716]}],"speedLimitUnit":"mph","maneuver":{"type":"depart","instruction":"Drive west on AK 1/Seward Highway.","bearing_after":288,"bearing_before":0,"location":[-149.543469,60.534716]},"speedLimitSign":"mutcd","name":"Seward Highway","duration":11.488,"distance":284,"driving_side":"right","weight":56.002,"mode":"driving","ref":"AK 1","geometry":"wzvmrBxalf|GcCrX}A|Nu@jI}@pMkBtZ{@x^_Afj@Inn@`@veB"},{"intersections":[{"bearings":[89],"entry":[true],"in":0,"admin_index":0,"geometry_index":9,"location":[-149.548581,60.534991]}],"speedLimitUnit":"mph","maneuver":{"type":"arrive","instruction":"You have arrived at your destination.","bearing_after":0,"bearing_before":269,"location":[-149.548581,60.534991]},"speedLimitSign":"mutcd","name":"Seward Highway","duration":0,"distance":0,"driving_side":"right","weight":0,"mode":"driving","ref":"AK 1","geometry":"}kwmrBhavf|G??"}],"distance":284,"summary":"AK 1"}],"geometry":"wzvmrBxalf|GcCrX}A|Nu@jI}@pMkBtZ{@x^_Afj@Inn@`@veB"}],"waypoints":[{"distance":0,"name":"AK 1","location":[-149.543469,60.534715]},{"distance":0,"name":"AK 1","location":[-149.548581,60.534991]}],"code":"Ok"}"#;
+
+/// Gets a route with two steps.
+///
+/// The accuracy of each parser is tested separately in the routing_adapters module;
+/// this function simply intends to return a route with two steps.
+fn get_route_with_two_steps() -> Route {
+    let parser = OsrmResponseParser::new(6);
+    parser
+        .parse_response(TWO_STEP_RESPONSE.into())
+        .expect("Unable to parse OSRM response")
+        .pop()
+        .expect("Expected a route")
+}
+
+#[test]
+fn simple_route_state_machine_manual_advance() {
+    let route = get_route_with_two_steps();
+    let initial_user_location = UserLocation {
+        coordinates: route.steps[0].start_location,
+        horizontal_accuracy: 0.0,
+        course_over_ground: None,
+        timestamp: SystemTime::now(),
+    };
+    let user_location_end_of_first_step = UserLocation {
+        coordinates: route.steps[0].end_location,
+        horizontal_accuracy: 0.0,
+        course_over_ground: None,
+        timestamp: SystemTime::now(),
+    };
+
+    let controller = NavigationController::new(
+        initial_user_location,
+        route,
+        NavigationControllerConfig {
+            step_advance: StepAdvanceMode::Manual,
+        },
+    );
+
+    // The first update is meaningless in this test, except to get the state
+    let initial_state = controller.update_user_location(initial_user_location);
+    let NavigationStateUpdate::Navigating {
+        snapped_user_location,
+        current_step: first_step,
+        ..
+    } = controller.update_user_location(initial_user_location)
+    else {
+        panic!("Expected state to be navigating");
+    };
+    assert_eq!(initial_user_location, snapped_user_location);
+
+    // Nothing should happen if given the exact same user location update
+    assert_eq!(
+        controller.update_user_location(initial_user_location),
+        initial_state
+    );
+
+    // The current step should not advance until we specifically trigger an advance
+    assert!(matches!(
+        controller.update_user_location(user_location_end_of_first_step),
+        NavigationStateUpdate::Navigating {
+            current_step: first_step,
+            ..
+        }
+    ));
+
+    // Jump to the next step
+    let NavigationStateUpdate::Navigating {
+        current_step: second_step,
+        ..
+    } = controller.advance_to_next_step()
+    else {
+        panic!("Expected state to be navigating");
+    };
+
+    assert_ne!(first_step, second_step);
+
+    // There are only two steps, so advancing to the next step should put us in the "arrived" state
+    assert!(matches!(
+        controller.advance_to_next_step(),
+        NavigationStateUpdate::Arrived { .. }
+    ));
+}
+
+#[test]
+fn simple_route_state_machine_advances_with_location_change() {
+    let route = get_route_with_two_steps();
+    let initial_user_location = UserLocation {
+        coordinates: route.steps[0].start_location,
+        horizontal_accuracy: 0.0,
+        course_over_ground: None,
+        timestamp: SystemTime::now(),
+    };
+    let user_location_end_of_first_step = UserLocation {
+        coordinates: route.steps[0].end_location,
+        horizontal_accuracy: 0.0,
+        course_over_ground: None,
+        timestamp: SystemTime::now(),
+    };
+
+    let controller = NavigationController::new(
+        initial_user_location,
+        route,
+        NavigationControllerConfig {
+            // NOTE: We will use an exact location to trigger the update;
+            // this is not testing the thresholds.
+            step_advance: StepAdvanceMode::DistanceToLastWaypoint { distance: 0, minimum_horizontal_accuracy: 0 },
+        },
+    );
+
+    // The first update is meaningless in this test, except to get the state
+    let initial_state = controller.update_user_location(initial_user_location);
+    let NavigationStateUpdate::Navigating {
+        current_step: first_step,
+        ..
+    } = controller.update_user_location(initial_user_location)
+    else {
+        panic!("Expected state to be navigating");
+    };
+
+    // Nothing should happen if given the exact same user location update
+    assert_eq!(
+        controller.update_user_location(initial_user_location),
+        initial_state
+    );
+
+    // The current step should change when we jump to the end location
+    let NavigationStateUpdate::Navigating {
+        current_step: second_step,
+        ..
+    } = controller.update_user_location(user_location_end_of_first_step)
+    else {
+        panic!("Expected state to be navigating");
+    };
+
+    assert_ne!(first_step, second_step);
+}
+