kapi.h

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#pragma once
 
#include "api.h"
#include "pros/apix.h"
#include "rtos/FreeRTOS.h"
#include "rtos/stream_buffer.h"
 
#ifdef __cplusplus
extern "C" {
#define task_t pros::task_t
#define task_fn_t pros::task_fn_t
#define mutex_t pros::mutex_t
#define sem_t pros::c::sem_t
#define queue_t pros::c::queue_t
#endif
 
#define KDBG_FILENO 3
 
#define warn_printf(fmt, ...) dprintf(STDERR_FILENO, "%s:%d -- " fmt "\n", __FILE__, __LINE__, ##__VA_ARGS__)
#define warn_wprint(str) wprintf("%s", str)
 
#define kprintf(fmt, ...) dprintf(KDBG_FILENO, "%s:%d -- " fmt "\n", __FILE__, __LINE__, ##__VA_ARGS__)
#define kprint(str) kprintf("%s", str)
 
#ifndef PROS_RELEASING
#define kassert(cond)                     \
    do {                                    \
        if (!(cond)) {                        \
            kprint("Assertion failed: " #cond); \
        }                                     \
    } while (0)
#else
#define kassert(cond)
#endif
 
typedef uint32_t task_stack_t;

void rtos_suspend_all(void);

int32_t rtos_resume_all(void);

task_t task_create_static(task_fn_t task_code, void* const param, uint32_t priority, const size_t stack_size,
                          const char* const name, task_stack_t* const stack_buffer, static_task_s_t* const task_buffer);

mutex_t mutex_create_static(static_sem_s_t* mutex_buffer);

sem_t sem_create_static(uint32_t max_count, uint32_t init_count, static_sem_s_t* semaphore_buffer);

queue_t queue_create_static(uint32_t length, uint32_t item_size, uint8_t* storage_buffer,
                            static_queue_s_t* queue_buffer);
 

void display_fatal_error(const char* text);

void kprint_hex(uint8_t* s, size_t len);
 
int32_t xTaskGetSchedulerState();
#define taskSCHEDULER_SUSPENDED ((int32_t)0)
#define taskSCHEDULER_NOT_STARTED ((int32_t)1)
#define taskSCHEDULER_RUNNING ((int32_t)2)
 
#ifdef __cplusplus
#undef task_t
#undef task_fn_t
#undef mutex_t
}
#endif