Version bump and port change for testing

README.md

@@ -11,7 +11,7 @@ permalink: /
 Simple plug-and-play PROS template that handles drive base functions for VEX robots.  
 
 
-[EZ-Template Version](https://github.com/EZ-Robotics/EZ-Template): 2.1.2-RC1  
+[EZ-Template Version](https://github.com/EZ-Robotics/EZ-Template): 3.0.0-RC1 
 
 [Autonomous routines that used EZ-Template](https://photos.app.goo.gl/yRwuvmq7hDoM4f6EA)
 

common.mk

@@ -2,7 +2,7 @@ ARCHTUPLE=arm-none-eabi-
 DEVICE=VEX EDR V5
 
 MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
-CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES
+CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
 GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
 
 WARNFLAGS+=-Wno-psabi
@@ -201,7 +201,7 @@ library: $(LIBAR)
 
 .PHONY: template
 template: clean-template $(LIBAR)
-	$Dprosv5 c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
+	$Dpros c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
 endif
 
 # if project is a library source, compile the archive and link output.elf against the archive rather than source objects
@@ -227,7 +227,7 @@ $(COLD_BIN): $(COLD_ELF)
 $(COLD_ELF): $(COLD_LIBRARIES)
 	$(VV)mkdir -p $(dir $@)
 	$(call test_output_2,Creating cold package with $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(call wlprefix,--gc-keep-exported --whole-archive $^ -lstdc++ --no-whole-archive) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
-	$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP $@ $@, $(DONE_STRING))
+	$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP --strip-symbol=_PROS_COMPILE_TIMESTAMP_INT $@ $@, $(DONE_STRING))
 	@echo Section sizes:
 	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
 
@@ -272,7 +272,15 @@ $(VV)mkdir -p $(dir $(LDTIMEOBJ))
 @# Pipe a line of code defining _PROS_COMPILE_TOOLSTAMP and _PROS_COMPILE_DIRECTORY into GCC,
 @# which allows compilation from stdin. We define _PROS_COMPILE_DIRECTORY using a command line-defined macro
 @# which is the pwd | tail bit, which will truncate the path to the last 23 characters
-$(call test_output_2,Adding timestamp ,echo 'char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
+@# 
+@# const int _PROS_COMPILE_TIMESTAMP_INT = $(( $(date +%s) - $(date +%z) * 3600 ))
+@# char const * const _PROS_COMPILE_TIEMSTAMP = __DATE__ " " __TIME__
+@# char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";
+@#
+@# The shell command $$(($$(date +%s)+($$(date +%-z)/100*3600))) fetches the current
+@# unix timestamp, and then adds the UTC timezone offset to account for time zones.
+
+$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(wildcard $(shell pwd | tail -c 23))";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
 endef
 
 # these rules are for build-compile-commands, which just print out sysroot information

include/api.h

@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -40,16 +40,14 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 6
-#define PROS_VERSION_PATCH 2
-#define PROS_VERSION_STRING "3.6.2"
-
-#define PROS_ERR (INT32_MAX)
-#define PROS_ERR_F (INFINITY)
+#define PROS_VERSION_MINOR 8
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "3.8.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
 #include "pros/distance.h"
+#include "pros/error.h"
 #include "pros/ext_adi.h"
 #include "pros/gps.h"
 #include "pros/imu.h"

include/pros/adi.h

@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -701,7 +701,7 @@ int32_t adi_gyro_shutdown(adi_gyro_t gyro);
  * Reference type for an initialized potentiometer.
  *
  * This merely contains the port number for the potentiometer, unlike its use as an
- * object to store gyro data in PROS 2.
+ * object to store potentiometer data in PROS 2.
  */
 typedef int32_t adi_potentiometer_t;
 
@@ -757,6 +757,115 @@ adi_potentiometer_t adi_potentiometer_type_init(uint8_t port, adi_potentiometer_
  */
 double adi_potentiometer_get_angle(adi_potentiometer_t potentiometer);
 
+/**
+ * Reference type for an initialized addressable led.
+ *
+ * This merely contains the port number for the led, unlike its use as an
+ * object to store led data in PROS 2.
+ */
+typedef int32_t adi_led_t;
+
+/**
+ * Initializes a led on the given port of the original led.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of ADI Ports
+ * EINVAL - The ADI port given is not a valid port as defined below
+ * EADDRINUSE - The port is not configured for ADI output
+ *
+ * \param port
+ *        The ADI port to initialize as a led (from 1-8, 'a'-'h', 'A'-'H')
+ *
+ * \return An adi_led_t object containing the given port, or PROS_ERR if the
+ * initialization failed, setting errno
+ */
+adi_led_t adi_led_init(uint8_t port);
+
+/**
+ * @brief Clear the entire led strip of color
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of ADI Ports
+ * EINVAL - A given value is not correct, or the buffer is null
+ * EADDRINUSE - The port is not configured for ADI output
+ *
+ * @param led port of type adi_led_t
+ * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
+ * @param buffer_length length of buffer to clear
+ * @return PROS_SUCCESS if successful, PROS_ERR if not
+ */
+int32_t adi_led_clear_all(adi_led_t led, uint32_t* buffer, uint32_t buffer_length);
+
+/**
+ * @brief Set the entire led strip using the colors contained in the buffer
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of ADI Ports
+ * EINVAL - A given value is not correct, or the buffer is null
+ * EADDRINUSE - The port is not configured for ADI output
+ *
+ * @param led port of type adi_led_t
+ * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
+ * @param buffer_length length of buffer to clear
+ * @return PROS_SUCCESS if successful, PROS_ERR if not
+ */
+int32_t adi_led_set(adi_led_t led, uint32_t* buffer, uint32_t buffer_length);
+
+/**
+ * @brief Set the entire led strip to one color
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of ADI Ports
+ * EINVAL - A given value is not correct, or the buffer is null
+ * EADDRINUSE - The port is not configured for ADI output
+ *
+ * @param led port of type adi_led_t
+ * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
+ * @param buffer_length length of buffer to clear
+ * @param color color to set all the led strip value to
+ * @return PROS_SUCCESS if successful, PROS_ERR if not
+ */
+int32_t adi_led_set_all(adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color);
+
+/**
+ * @brief Set one pixel on the led strip
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of ADI Ports
+ * EINVAL - A given value is not correct, or the buffer is null
+ * EADDRINUSE - The port is not configured for ADI output
+ *
+ * @param led port of type adi_led_t
+ * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
+ * @param buffer_length length of the input buffer
+ * @param color color to clear all the led strip to
+ * @param pixel_position position of the pixel to clear
+ * @return PROS_SUCCESS if successful, PROS_ERR if not
+ */
+int32_t adi_led_set_pixel(adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color, uint32_t pixel_position);
+
+/**
+ * @brief Clear one pixel on the led strip
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of ADI Ports
+ * EINVAL - A given value is not correct, or the buffer is null
+ * EADDRINUSE - The port is not configured for ADI output
+ *
+ * @param led port of type adi_led_t
+ * @param buffer array of colors in format 0xRRGGBB, recommended that individual RGB value not to exceed 0x80 due to current draw
+ * @param buffer_length length of the input buffer
+ * @param pixel_position position of the pixel to clear
+ * @return PROS_SUCCESS if successful, PROS_ERR if not
+ */
+int32_t adi_led_clear_pixel(adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t pixel_position);
+
 #ifdef __cplusplus
 }  // namespace c
 }  // namespace pros

include/pros/adi.hpp

@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
  * License, v. 2.0. If a copy of the MPL was not distributed with this
@@ -21,6 +21,7 @@
 #include <cstdint>
 #include <tuple>
 #include <utility>
+#include <vector>
 
 #include "pros/adi.h"
 
@@ -493,10 +494,13 @@ class ADIEncoder : private ADIPort {
 	 * 		  sensor with the removable cover side up, and the "bottom" wire from
 	 * 		  the encoder sensor
 	 * \param reverse
-	 *        If "true", the sensor will count in theopposite direction
+	 *        If "true", the sensor will count in the opposite direction
 	 */
 	ADIEncoder(ext_adi_port_tuple_t port_tuple, bool reversed = false);
 
+	// Delete copy constructor to prevent a compilation error from the constructor above.
+	ADIEncoder(ADIEncoder &) = delete;
+
 	/**
 	 * Sets the encoder value to zero.
 	 *
@@ -760,6 +764,134 @@ class ADIPotentiometer : public ADIAnalogIn {
 	using ADIAnalogIn::get_value_calibrated;
 };
 
+class ADILed : protected ADIPort {
+	public:
+	/**
+	 * @brief Configures an ADI port to act as a LED.
+	 * 
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - Either the ADI port value or the smart port value is not within its
+	 *	   valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
+	 *
+	 * \param adi_port
+	 *        The ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
+	 * \param length
+	 *        The number of LEDs in the chain
+	 */
+	ADILed(std::uint8_t adi_port, std::uint32_t length);
+
+	/**
+	 * @brief Configures an ADI port on a adi_expander to act as a LED.
+	 * 
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - Either the ADI port value or the smart port value is not within its
+	 *	   valid range (ADI port: 1-8, 'a'-'h', or 'A'-'H'; smart port: 1-21).
+	 *
+	 * \param port_pair
+	 *        The pair of the smart port number (from 1-22) and the
+	 *  	  ADI port number (from 1-8, 'a'-'h', 'A'-'H') to configure
+	 * \param length
+	 * 	  The number of LEDs in the chain
+	 */
+	ADILed(ext_adi_port_pair_t port_pair, std::uint32_t length);
+
+	/**
+	 * @brief Operator overload to access the buffer in the ADILed class, it is 
+	 * recommended that you call .update(); after doing any operations with this.
+	 * 
+	 * @param i 0 indexed pixel of the lED
+	 * @return uint32_t& the address of the buffer at i to modify
+	 */
+	std::uint32_t& operator[] (size_t i);
+
+	/**
+	* @brief Clear the entire led strip of color
+	*
+	* This function uses the following values of errno when an error state is
+	* reached:
+	* ENXIO - The given value is not within the range of ADI Ports
+	* EINVAL - A parameter is out of bounds/incorrect
+	* EADDRINUSE - The port is not configured for ADI output
+	*
+	* @return PROS_SUCCESS if successful, PROS_ERR if not
+	*/
+	std::int32_t clear_all();
+	std::int32_t clear();
+
+	/**
+	* @brief Force the LED strip to update with the current buffered values, this
+	* should be called after any changes to the buffer using the [] operator.
+	*
+	* This function uses the following values of errno when an error state is
+	* reached:
+	* EINVAL - A parameter is out of bounds/incorrect
+	* EADDRINUSE - The port is not configured for ADI output
+	*
+	* @return PROS_SUCCESS if successful, PROS_ERR if not
+	*/
+	std::int32_t update() const;
+
+	/**
+	* @brief Set the entire led strip to one color
+	*
+	* This function uses the following values of errno when an error state is
+	* reached:
+	* EINVAL - A parameter is out of bounds/incorrect
+	* EADDRINUSE - The port is not configured for ADI output
+	*
+	* @param color color to set all the led strip value to
+	* @return PROS_SUCCESS if successful, PROS_ERR if not
+	*/
+	std::int32_t set_all(uint32_t color);
+
+	/**
+	* @brief Set one pixel on the led strip
+	*
+	* This function uses the following values of errno when an error state is
+	* reached:
+	* EINVAL - A parameter is out of bounds/incorrect
+	* EADDRINUSE - The port is not configured for ADI output
+	*
+	* @param color color to clear all the led strip to
+	* @param pixel_position position of the pixel to clear
+	* @return PROS_SUCCESS if successful, PROS_ERR if not
+	*/
+	std::int32_t set_pixel(uint32_t color, uint32_t pixel_position);
+
+	/**
+	* @brief Clear one pixel on the led strip
+	*
+	* This function uses the following values of errno when an error state is
+	* reached:
+	* EINVAL - A parameter is out of bounds/incorrect
+	* EADDRINUSE - The port is not configured for ADI output
+	*
+	* @param pixel_position position of the pixel to clear
+	* @return PROS_SUCCESS if successful, PROS_ERR if not
+	*/
+	std::int32_t clear_pixel(uint32_t pixel_position);
+
+	/**
+	* @brief Get the length of the led strip
+	*
+	* This function uses the following values of errno when an error state is
+	* reached:
+	* EINVAL - A parameter is out of bounds/incorrect
+	* EADDRINUSE - The port is not configured for ADI output
+	*
+	* @return The length (in pixels) of the LED strip
+	*/
+	std::int32_t length();
+
+	protected:
+	std::vector<uint32_t> _buffer;
+};
+
+// Alias for ADILed
+using ADILED = ADILed;
+
 }  // namespace pros
 
 #endif  // _PROS_ADI_HPP_

include/pros/api_legacy.h

@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public