484 lines
16 KiB
C++
484 lines
16 KiB
C++
/**
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* \file pros/misc.h
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*
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* Contains prototypes for miscellaneous functions pertaining to the controller,
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* battery, and competition control.
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*
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* Visit https://pros.cs.purdue.edu/v5/tutorials/topical/controller.html to
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* learn more.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
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* All rights reservered.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#ifndef _PROS_MISC_H_
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#define _PROS_MISC_H_
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#include <stdint.h>
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#define NUM_V5_PORTS (22)
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/******************************************************************************/
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/** V5 Competition **/
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/******************************************************************************/
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#define COMPETITION_DISABLED (1 << 0)
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#define COMPETITION_AUTONOMOUS (1 << 1)
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#define COMPETITION_CONNECTED (1 << 2)
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/**
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* Get the current status of the competition control.
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*
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* \return The competition control status as a mask of bits with
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* COMPETITION_{ENABLED,AUTONOMOUS,CONNECTED}.
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*/
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#ifdef __cplusplus
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extern "C" {
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namespace pros {
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namespace c {
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#endif
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uint8_t competition_get_status(void);
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#ifdef __cplusplus
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}
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}
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}
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#endif
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#define competition_is_disabled() ((competition_get_status() & COMPETITION_DISABLED) != 0)
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#define competition_is_connected() ((competition_get_status() & COMPETITION_CONNECTED) != 0)
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#define competition_is_autonomous() ((competition_get_status() & COMPETITION_AUTONOMOUS) != 0)
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/******************************************************************************/
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/** V5 Controller **/
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/******************************************************************************/
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#ifdef __cplusplus
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extern "C" {
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namespace pros {
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#endif
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typedef enum { E_CONTROLLER_MASTER = 0, E_CONTROLLER_PARTNER } controller_id_e_t;
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typedef enum {
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E_CONTROLLER_ANALOG_LEFT_X = 0,
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E_CONTROLLER_ANALOG_LEFT_Y,
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E_CONTROLLER_ANALOG_RIGHT_X,
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E_CONTROLLER_ANALOG_RIGHT_Y
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} controller_analog_e_t;
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typedef enum {
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E_CONTROLLER_DIGITAL_L1 = 6,
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E_CONTROLLER_DIGITAL_L2,
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E_CONTROLLER_DIGITAL_R1,
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E_CONTROLLER_DIGITAL_R2,
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E_CONTROLLER_DIGITAL_UP,
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E_CONTROLLER_DIGITAL_DOWN,
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E_CONTROLLER_DIGITAL_LEFT,
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E_CONTROLLER_DIGITAL_RIGHT,
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E_CONTROLLER_DIGITAL_X,
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E_CONTROLLER_DIGITAL_B,
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E_CONTROLLER_DIGITAL_Y,
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E_CONTROLLER_DIGITAL_A
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} controller_digital_e_t;
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#ifdef PROS_USE_SIMPLE_NAMES
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#ifdef __cplusplus
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#define CONTROLLER_MASTER pros::E_CONTROLLER_MASTER
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#define CONTROLLER_PARTNER pros::E_CONTROLLER_PARTNER
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#define ANALOG_LEFT_X pros::E_CONTROLLER_ANALOG_LEFT_X
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#define ANALOG_LEFT_Y pros::E_CONTROLLER_ANALOG_LEFT_Y
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#define ANALOG_RIGHT_X pros::E_CONTROLLER_ANALOG_RIGHT_X
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#define ANALOG_RIGHT_Y pros::E_CONTROLLER_ANALOG_RIGHT_Y
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#define DIGITAL_L1 pros::E_CONTROLLER_DIGITAL_L1
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#define DIGITAL_L2 pros::E_CONTROLLER_DIGITAL_L2
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#define DIGITAL_R1 pros::E_CONTROLLER_DIGITAL_R1
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#define DIGITAL_R2 pros::E_CONTROLLER_DIGITAL_R2
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#define DIGITAL_UP pros::E_CONTROLLER_DIGITAL_UP
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#define DIGITAL_DOWN pros::E_CONTROLLER_DIGITAL_DOWN
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#define DIGITAL_LEFT pros::E_CONTROLLER_DIGITAL_LEFT
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#define DIGITAL_RIGHT pros::E_CONTROLLER_DIGITAL_RIGHT
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#define DIGITAL_X pros::E_CONTROLLER_DIGITAL_X
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#define DIGITAL_B pros::E_CONTROLLER_DIGITAL_B
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#define DIGITAL_Y pros::E_CONTROLLER_DIGITAL_Y
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#define DIGITAL_A pros::E_CONTROLLER_DIGITAL_A
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#else
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#define CONTROLLER_MASTER E_CONTROLLER_MASTER
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#define CONTROLLER_PARTNER E_CONTROLLER_PARTNER
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#define ANALOG_LEFT_X E_CONTROLLER_ANALOG_LEFT_X
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#define ANALOG_LEFT_Y E_CONTROLLER_ANALOG_LEFT_Y
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#define ANALOG_RIGHT_X E_CONTROLLER_ANALOG_RIGHT_X
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#define ANALOG_RIGHT_Y E_CONTROLLER_ANALOG_RIGHT_Y
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#define DIGITAL_L1 E_CONTROLLER_DIGITAL_L1
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#define DIGITAL_L2 E_CONTROLLER_DIGITAL_L2
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#define DIGITAL_R1 E_CONTROLLER_DIGITAL_R1
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#define DIGITAL_R2 E_CONTROLLER_DIGITAL_R2
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#define DIGITAL_UP E_CONTROLLER_DIGITAL_UP
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#define DIGITAL_DOWN E_CONTROLLER_DIGITAL_DOWN
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#define DIGITAL_LEFT E_CONTROLLER_DIGITAL_LEFT
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#define DIGITAL_RIGHT E_CONTROLLER_DIGITAL_RIGHT
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#define DIGITAL_X E_CONTROLLER_DIGITAL_X
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#define DIGITAL_B E_CONTROLLER_DIGITAL_B
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#define DIGITAL_Y E_CONTROLLER_DIGITAL_Y
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#define DIGITAL_A E_CONTROLLER_DIGITAL_A
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#endif
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#endif
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/*
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Given an id and a port, this macro sets the port
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variable based on the id and allows the mutex to take that port.
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Returns error (in the function/scope it's in) if the controller
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failed to connect or an invalid id is given.
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*/
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#define CONTROLLER_PORT_MUTEX_TAKE(id, port) \
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switch (id) { \
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case E_CONTROLLER_MASTER: \
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port = V5_PORT_CONTROLLER_1; \
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break; \
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case E_CONTROLLER_PARTNER: \
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port = V5_PORT_CONTROLLER_2; \
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break; \
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default: \
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errno = EINVAL; \
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return PROS_ERR; \
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} \
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if (!internal_port_mutex_take(port)) { \
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errno = EACCES; \
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return PROS_ERR; \
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} \
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/******************************************************************************/
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/** Date and Time **/
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/******************************************************************************/
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extern const char* baked_date;
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extern const char* baked_time;
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typedef struct {
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uint16_t year; // Year - 1980
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uint8_t day;
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uint8_t month; // 1 = January
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} date_s_t;
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typedef struct {
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uint8_t hour;
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uint8_t min;
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uint8_t sec;
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uint8_t sec_hund; // hundredths of a second
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} time_s_t;
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#ifdef __cplusplus
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namespace c {
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#endif
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/**
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* Checks if the controller is connected.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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*
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* \return 1 if the controller is connected, 0 otherwise
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*/
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int32_t controller_is_connected(controller_id_e_t id);
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/**
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* Gets the value of an analog channel (joystick) on a controller.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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* \param channel
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* The analog channel to get.
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* Must be one of ANALOG_LEFT_X, ANALOG_LEFT_Y, ANALOG_RIGHT_X,
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* ANALOG_RIGHT_Y
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*
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* \return The current reading of the analog channel: [-127, 127].
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* If the controller was not connected, then 0 is returned
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*/
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int32_t controller_get_analog(controller_id_e_t id, controller_analog_e_t channel);
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/**
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* Gets the battery capacity of the given controller.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER
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*
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* \return The controller's battery capacity
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*/
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int32_t controller_get_battery_capacity(controller_id_e_t id);
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/**
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* Gets the battery level of the given controller.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER
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*
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* \return The controller's battery level
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*/
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int32_t controller_get_battery_level(controller_id_e_t id);
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/**
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* Checks if a digital channel (button) on the controller is currently pressed.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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* \param button
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* The button to read.
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* Must be one of DIGITAL_{RIGHT,DOWN,LEFT,UP,A,B,Y,X,R1,R2,L1,L2}
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*
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* \return 1 if the button on the controller is pressed.
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* If the controller was not connected, then 0 is returned
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*/
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int32_t controller_get_digital(controller_id_e_t id, controller_digital_e_t button);
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/**
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* Returns a rising-edge case for a controller button press.
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*
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* This function is not thread-safe.
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* Multiple tasks polling a single button may return different results under the
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* same circumstances, so only one task should call this function for any given
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* button. E.g., Task A calls this function for buttons 1 and 2. Task B may call
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* this function for button 3, but should not for buttons 1 or 2. A typical
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* use-case for this function is to call inside opcontrol to detect new button
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* presses, and not in any other tasks.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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* \param button
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* The button to read. Must be one of
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* DIGITAL_{RIGHT,DOWN,LEFT,UP,A,B,Y,X,R1,R2,L1,L2}
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*
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* \return 1 if the button on the controller is pressed and had not been pressed
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* the last time this function was called, 0 otherwise.
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*/
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int32_t controller_get_digital_new_press(controller_id_e_t id, controller_digital_e_t button);
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/**
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* Sets text to the controller LCD screen.
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*
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* \note Controller text setting is currently in beta, so continuous, fast
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* updates will not work well.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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* \param line
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* The line number at which the text will be displayed [0-2]
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* \param col
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* The column number at which the text will be displayed [0-14]
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* \param fmt
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* The format string to print to the controller
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* \param ...
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* The argument list for the format string
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t controller_print(controller_id_e_t id, uint8_t line, uint8_t col, const char* fmt, ...);
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/**
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* Sets text to the controller LCD screen.
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*
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* \note Controller text setting is currently in beta, so continuous, fast
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* updates will not work well.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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* \param line
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* The line number at which the text will be displayed [0-2]
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* \param col
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* The column number at which the text will be displayed [0-14]
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* \param str
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* The pre-formatted string to print to the controller
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t controller_set_text(controller_id_e_t id, uint8_t line, uint8_t col, const char* str);
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/**
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* Clears an individual line of the controller screen.
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*
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* \note Controller text setting is currently in beta, so continuous, fast
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* updates will not work well.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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* \param line
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* The line number to clear [0-2]
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t controller_clear_line(controller_id_e_t id, uint8_t line);
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/**
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* Clears all of the lines on the controller screen.
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*
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* \note Controller text setting is currently in beta, so continuous, fast
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* updates will not work well. On vexOS version 1.0.0 this function will block
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* for 110ms.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t controller_clear(controller_id_e_t id);
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/**
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* Rumble the controller.
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*
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* \note Controller rumble activation is currently in beta, so continuous, fast
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* updates will not work well.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EINVAL - A value other than E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER is
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* given.
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* EACCES - Another resource is currently trying to access the controller port.
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*
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* \param id
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* The ID of the controller (e.g. the master or partner controller).
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* Must be one of CONTROLLER_MASTER or CONTROLLER_PARTNER
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* \param rumble_pattern
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* A string consisting of the characters '.', '-', and ' ', where dots
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* are short rumbles, dashes are long rumbles, and spaces are pauses.
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* Maximum supported length is 8 characters.
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*
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* \return 1 if the operation was successful or PROS_ERR if the operation
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* failed, setting errno.
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*/
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int32_t controller_rumble(controller_id_e_t id, const char* rumble_pattern);
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/**
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* Gets the current voltage of the battery, as reported by VEXos.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EACCES - Another resource is currently trying to access the battery port.
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*
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* \return The current voltage of the battery
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*/
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int32_t battery_get_voltage(void);
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/**
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* Gets the current current of the battery, as reported by VEXos.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EACCES - Another resource is currently trying to access the battery port.
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*
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* \return The current current of the battery
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*/
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int32_t battery_get_current(void);
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/**
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* Gets the current temperature of the battery, as reported by VEXos.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EACCES - Another resource is currently trying to access the battery port.
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*
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* \return The current temperature of the battery
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*/
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double battery_get_temperature(void);
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/**
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* Gets the current capacity of the battery, as reported by VEXos.
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*
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* This function uses the following values of errno when an error state is
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* reached:
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* EACCES - Another resource is currently trying to access the battery port.
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*
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* \return The current capacity of the battery
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*/
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double battery_get_capacity(void);
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/**
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* Checks if the SD card is installed.
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*
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* \return 1 if the SD card is installed, 0 otherwise
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|
*/
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|
int32_t usd_is_installed(void);
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|
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#ifdef __cplusplus
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|
}
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|
}
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|
}
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|
#endif
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#endif // _PROS_MISC_H_
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