apix.h

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#ifndef _PROS_API_EXTENDED_H_
#define _PROS_API_EXTENDED_H_
 
#include "api.h"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wall"
#pragma GCC diagnostic pop
 
#ifdef __cplusplus
namespace pros::c {
extern "C" {
#endif



 
typedef void* queue_t;
typedef void* sem_t;

bool task_abort_delay(task_t task);

void task_notify_when_deleting(
    task_t target_task,
    task_t task_to_notify,
    uint32_t value,
    notify_action_e_t notify_action
);

task_t mutex_get_owner(mutex_t mutex);

sem_t sem_create(uint32_t max_count, uint32_t init_count);

void sem_delete(sem_t sem);

sem_t sem_binary_create(void);

bool sem_wait(sem_t sem, uint32_t timeout);

bool sem_post(sem_t sem);

uint32_t sem_get_count(sem_t sem);

queue_t queue_create(uint32_t length, uint32_t item_size);

bool queue_prepend(queue_t queue, const void* item, uint32_t timeout);

bool queue_append(queue_t queue, const void* item, uint32_t timeout);

bool queue_peek(queue_t queue, void* const buffer, uint32_t timeout);

bool queue_recv(queue_t queue, void* const buffer, uint32_t timeout);

uint32_t queue_get_waiting(const queue_t queue);

uint32_t queue_get_available(const queue_t queue);

void queue_delete(queue_t queue);

void queue_reset(queue_t queue);



typedef enum v5_device_e {
    E_DEVICE_NONE = 0,      
    E_DEVICE_MOTOR = 2,     
    E_DEVICE_ROTATION = 4,  
    E_DEVICE_IMU = 6,       
    E_DEVICE_DISTANCE = 7,  
    E_DEVICE_RADIO = 8,     
    E_DEVICE_VISION = 11,   
    E_DEVICE_ADI = 12,      
    E_DEVICE_OPTICAL = 16,  
    E_DEVICE_GPS = 20,      
    E_DEVICE_AIVISION = 29, 
    E_DEVICE_SERIAL = 129,  
    E_DEVICE_GENERIC __attribute__((deprecated("use E_DEVICE_SERIAL instead"))) = E_DEVICE_SERIAL,
    E_DEVICE_UNDEFINED = 255 
} v5_device_e_t;

int registry_bind_port(uint8_t port, v5_device_e_t device_type);

int registry_unbind_port(uint8_t port);

v5_device_e_t registry_get_bound_type(uint8_t port);

v5_device_e_t registry_get_plugged_type(uint8_t port);



void enable_banner(bool enabled);

#define PRE_PROS_INIT_PRIORITY 101

#ifdef __cplusplus
    #define ENABLE_BANNER(enabled)                                                                 \
        static_assert(                                                                             \
            !__builtin_strcmp(__FUNCTION__, "top level"),                                          \
            "Cannot use ENABLE_BANNER inside a function!"                                          \
        );                                                                                         \
        __attribute__((constructor(PRE_PROS_INIT_PRIORITY))) static void _enable_banner_impl() {   \
            pros::c::enable_banner(enabled);                                                       \
        }
#else
    #define ENABLE_BANNER(enabled)                                                                 \
        static_assert(                                                                             \
            !__builtin_strcmp(__FUNCTION__, "top level"),                                          \
            "Cannot use ENABLE_BANNER inside a function!"                                          \
        );                                                                                         \
        __attribute__((constructor(PRE_PROS_INIT_PRIORITY))) static void _enable_banner_impl() {   \
            enable_banner(enabled);                                                                \
        }
#endif


int32_t serctl(const uint32_t action, void* const extra_arg);
 
/*
 * Control settings of the microSD card driver.
 *
 * \param action
 *          An action to perform on the microSD card driver. See the USDCTL_* macros
 *      for details on the different actions.
 * \param extra_arg
 *          An argument to pass in based on the action
 */
// Not yet implemented
// int32_t usdctl(const uint32_t action, void* const extra_arg);

int32_t fdctl(int file, const uint32_t action, void* const extra_arg);

int32_t motor_set_reversed(int8_t port, const bool reverse);

int32_t motor_is_reversed(int8_t port);

#define SERCTL_ACTIVATE 10

#define SERCTL_DEACTIVATE 11

#define SERCTL_BLKWRITE 12

#define SERCTL_NOBLKWRITE 13

#define SERCTL_ENABLE_COBS 14

#define SERCTL_DISABLE_COBS 15

#define DEVCTL_FIONREAD 16

#define DEVCTL_FIONWRITE 18

#define DEVCTL_SET_BAUDRATE 17


 
#ifdef __cplusplus
}
}
#endif
 
#endif // _PROS_API_EXTENDED_H_