♻️ VDML Refactor

docs/STRUCTURE.md

@@ -10,17 +10,17 @@ Looking at the file structure of a project like this can feel intimidating. This
 - `include` contains the header files
   - `include/common` headers used in various parts of the project
   - `include/pros` headers that are distributed to user projects
+    - `include/pros/devices` headers containing api for interacting with V5 devices
   - `include/rtos` headers for the scheduler (FreeRTOS)
   - `include/system` headers for low-level system functionality
     - `include/system/dev` headers for serial I/O and file management
     - `include/system/user_functions` a horrifying mess that should be destroyed
-  - `include/vdml` headers for the VEX Data Management Layer (VDML), a system to ensure thread-safety when interacting with VEX devices
 
 - `scripts` contains scripts used for building ZestCode and projects that use ZestCode
 
 - `src` contains the source files
   - `src/common` sources defining symbols used throughout the project
-  - `src/devices` implementations of VEX device abstractions. Files prefixed with `vdml_` indicate that the file makes use of the VDML
+  - `src/devices` implementations of VEX device abstractions
   - `src/rtos` sources, build scripts, and misc files of FreeRTOS
   - `src/system` sources for low-level system functionality
     - `src/system/dev` sources for serial I/O and file management

include/api.h

@@ -39,16 +39,12 @@
     #include <unistd.h>
 #endif /* __cplusplus */
 
-#include "pros/colors.h"
-#include "pros/error.h"
 #include "pros/misc.h"
 #include "pros/rtos.h"
 
 #ifdef __cplusplus
-    #include "pros/colors.hpp"
     #include "pros/misc.hpp"
     #include "pros/rtos.hpp"
-    #include "pros/screen.hpp"
 #endif
 
 #endif // _PROS_API_H_

include/common/result.hpp

@@ -41,6 +41,20 @@ class ResultError {
     std::optional<RuntimeData> runtime_data;
 };
 
+/**
+ * @brief Unknown Error
+ *
+ */
+class UnknownError : public ResultError {
+  public:
+    template<typename T>
+        requires std::convertible_to<T, std::string>
+    UnknownError(T&& message)
+        : message(std::forward<T>(message)) {}
+
+    std::string message;
+};
+
 /**
  * @brief Trait to define a "sentinel" value for types indicating an error state.
  * @tparam T Type to provide a sentinel value for.

include/kapi.h

@@ -19,7 +19,7 @@
 #pragma once
 
 #include "api.h"
-#include "pros/apix.h"
+#include "pros/apix.hpp"
 #include "rtos/FreeRTOS.h"
 #include "rtos/stream_buffer.h"
 

include/pros/apix.h → include/pros/apix.hpp

@@ -559,134 +559,6 @@ void queue_reset(queue_t queue);
 
 ///@}
 
-/// \name Device Registration
-///@{
-
-/**
- * \enum v5_device_e
- * \brief
- * List of possible v5 devices
- *
- * This list contains all current V5 Devices, and mirrors V5_DeviceType from the
- * api.
- */
-typedef enum v5_device_e {
-    E_DEVICE_NONE = 0,      ///< No device is plugged into the port
-    E_DEVICE_MOTOR = 2,     ///< A motor is plugged into the port
-    E_DEVICE_ROTATION = 4,  ///< A rotation sensor is plugged into the port
-    E_DEVICE_IMU = 6,       ///< An inertial sensor is plugged into the port
-    E_DEVICE_DISTANCE = 7,  ///< A distance sensor is plugged into the port
-    E_DEVICE_RADIO = 8,     ///< A radio is plugged into the port
-    E_DEVICE_VISION = 11,   ///< A vision sensor is plugged into the port
-    E_DEVICE_ADI = 12,      ///< This port is an ADI expander
-    E_DEVICE_OPTICAL = 16,  ///< An optical sensor is plugged into the port
-    E_DEVICE_GPS = 20,      ///< A GPS sensor is plugged into the port
-    E_DEVICE_AIVISION = 29, ///< An AI Vision sensor is plugged into the port
-    E_DEVICE_SERIAL = 129,  ///< A serial device is plugged into the port
-    E_DEVICE_GENERIC __attribute__((deprecated("use E_DEVICE_SERIAL instead"))) = E_DEVICE_SERIAL,
-    E_DEVICE_UNDEFINED = 255 ///< The device type is not defined, or is not a valid device
-} v5_device_e_t;
-
-/**
- * Registers a device in the given zero-indexed port
- *
- * Registers a device of the given type in the given port into the registry, if
- * that type of device is detected to be plugged in to that port.
- *
- * This function uses the following values of errno when an error state is
- * reached:
- * ENXIO - The given value is not within the range of V5 ports (0-20), or a
- * a different device than specified is plugged in.
- * EADDRINUSE - The port is already registered to another device.
- *
- * \param port
- *        The port number to register the device
- * \param device
- *        The type of device to register
- *
- * \return 1 upon success, PROS_ERR upon failure
- *
- * \b Example:
- * \code
- * void opcontrol(void) {
- *   registry_bind_port(1, E_DEVICE_MOTOR);
- * }
- * \endcode
- */
-int registry_bind_port(uint8_t port, v5_device_e_t device_type);
-
-/**
- * Deregisters a devices from the given zero-indexed port
- *
- * Removes the device registed in the given port, if there is one.
- *
- * This function uses the following values of errno when an error state is
- * reached:
- * ENXIO - The given value is not within the range of V5 ports (0-20).
- *
- * \param port
- *        The port number to deregister
- *
- * \return 1 upon success, PROS_ERR upon failure
- *
- * \b Example:
- * \code
- * void opcontrol(void) {
- *   registry_bind_port(1, E_DEVICE_MOTOR);
- *   registry_unbind_port(1);
- * }
- * \endcode
- */
-int registry_unbind_port(uint8_t port);
-
-/**
- * Returns the type of device registered to the zero-indexed port.
- *
- * This function uses the following values of errno when an error state is
- * reached:
- * ENXIO - The given value is not within the range of V5 ports (0-20).
- *
- * \param port
- *        The V5 port number from 0-20
- *
- * \return The type of device that is registered into the port (NOT what is
- * plugged in)
- *
- * \b Example:
- * \code
- * void opcontrol(void) {
- *   registry_bind_port(1, E_DEVICE_MOTOR);
- *   printf("port 1 is registered to a motor: %d", registry_get_bound_type(1) == E_DEVICE_MOTOR);
- * }
- * \endcode
- */
-v5_device_e_t registry_get_bound_type(uint8_t port);
-
-/**
- * Returns the type of the device plugged into the zero-indexed port.
- *
- * This function uses the following values of errno when an error state is
- * reached:
- * ENXIO - The given value is not within the range of V5 ports (0-20).
- *
- * \param port
- *        The V5 port number from 0-20
- *
- * \return The type of device that is plugged into the port (NOT what is
- * registered)
- *
- * \b Example:
- * \code
- * void opcontrol(void) {
- *   registry_bind_port(1, E_DEVICE_MOTOR);
- *   printf("port 1 is registered to a motor: %d", registry_get_plugged_type(1) == E_DEVICE_MOTOR);
- * }
- * \endcode
- */
-v5_device_e_t registry_get_plugged_type(uint8_t port);
-
-///@}
-
 /// \name Startup options
 ///@{