registry.h

Go to the documentation of this file.

 
#pragma once
 
#include "pros/apix.h"
#include "v5_api.h"
#include "vdml/vdml.h"
 
#ifdef __cplusplus
#define v5_device_e_t pros::c::v5_device_e_t
extern "C" {
#endif
 
typedef struct {
    v5_device_e_t device_type;
    V5_DeviceT device_info;
    uint8_t pad[128];  // 16 bytes in adi_data_s_t times 8 ADI Ports = 128
} v5_smart_device_s_t;
 
/*
 * Detects the devices that are plugged in.
 *
 * Pulls the type names of plugged-in devices and stores them in the buffer
 * registry_types.
 */
void registry_update_types();
 
/*
 * Returns the information on the device registered to the 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 (1-21).
 *
 * \param port
 *        The V5 port number from 1-21
 *
 * \return A struct containing the device type and the info needed for api
 * functions
 */
v5_smart_device_s_t* registry_get_device(uint8_t port);
 
/*
 * Returns the information on the device registered to the 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 (1-21).
 *
 * \param port
 *        The V5 port number from 0-32
 *
 * \return A struct containing the device type and the info needed for api
 * functions
 */
v5_smart_device_s_t* registry_get_device_internal(uint8_t port);
 
/*
 * Checks whether there is a discrepancy between the binding of the port and
 * what is actually plugged in.
 *
 * If a device is plugged in but not registered, registers the port.
 * If a device is not plugged in and a device is registered, warns the user.
 * If one type of device is registered but another is plugged in, warns the user.
 *
 * 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 (1-21).
 *
 * \param port
 *        The V5 port number from 1-21
 * \param expected_t
 *        The expected type (i.e., the type of function being called. If
 *        E_DEVICE_NONE, indicates that background processing is calling this,
 *        and a mismatch will only occur if there is an actual discrepancy
 *        between what is registered and what is plugged in.
 *
 * \return 0 if the device registered matches the device plugged and the
 * expected device matches both of those or is E_DEVICE_NONE, 1 if the
 * registered device is not plugged in, and 2 if there is a mismatch. PROS_ERR
 * on exception.
 */
int32_t registry_validate_binding(uint8_t port, v5_device_e_t expected_t);
 
#ifdef __cplusplus
}
#undef v5_device_e_t
#endif