vdml.h

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#pragma once
 
#include <stdbool.h>
#include <stdint.h>
#include "vdml/registry.h"
 
#ifdef __cplusplus
#define v5_device_e_t pros::c::v5_device_e_t
#endif
 
#ifdef __cplusplus
extern "C" {
#endif

#define VALIDATE_PORT_NO(PORT) ((PORT) >= 0 && (PORT) < NUM_V5_PORTS)
 
#define VALIDATE_PORT_NO_INTERNAL(PORT) ((PORT) >= 0 && (PORT) < V5_MAX_DEVICE_PORTS)

#define claim_port(port, device_type, error_code)          \
  if (registry_validate_binding(port, device_type) != 0) { \
    return error_code;                                     \
  }                                                        \
  v5_smart_device_s_t* device = registry_get_device(port); \
  if (!port_mutex_take(port)) {                            \
    errno = EACCES;                                        \
    return error_code;                                     \
  }

#define claim_port_i(port, device_type) claim_port(port, device_type, PROS_ERR)

#define claim_port_f(port, device_type) claim_port(port, device_type, PROS_ERR_F)

int32_t claim_port_try(uint8_t port, v5_device_e_t type);

#define return_port(port, rtn) \
  port_mutex_give(port);       \
  return rtn;

extern int32_t port_errors;

void vdml_set_port_error(uint8_t port);

void vdml_unset_port_error(uint8_t port);

bool vdml_get_port_error(uint8_t port);

int port_mutex_take(uint8_t port);

int port_mutex_give(uint8_t port);

void port_mutex_take_all();

void port_mutex_give_all();

int internal_port_mutex_take(uint8_t port);

int internal_port_mutex_give(uint8_t port);
 
#define V5_PORT_BATTERY 24
#define V5_PORT_CONTROLLER_1 25
#define V5_PORT_CONTROLLER_2 26
 
#ifdef __cplusplus
}
#undef v5_device_e_t
#endif