⬆️ PROS 4 Porting work

.github/workflows/deploy-to-github-pages.yml

@@ -0,0 +1,55 @@
+# Simple workflow for deploying static content to GitHub Pages
+name: Deploy static content to Pages
+
+on:
+  # Runs on pushes targeting the default branch
+  push:
+    branches: [website]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# Sets permissions of the GITHUB_TOKEN to allow deployment to GitHub Pages
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+# Allow one concurrent deployment
+concurrency:
+  group: "pages"
+  cancel-in-progress: true
+
+env:
+  # Hosted GitHub runners have 7 GB of memory available, let's use 6 GB
+  NODE_OPTIONS: --max-old-space-size=6144
+
+jobs:
+  # Single deploy job since we're just deploying
+  deploy:
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Set up Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: 16.x
+          cache: yarn
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --non-interactive
+      - name: Build
+        run: yarn build
+      - name: Setup Pages
+        uses: actions/configure-pages@v3
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v2
+        with:
+          # Upload entire repository
+          path: build
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v2

.gitignore

@@ -22,11 +22,9 @@ yarn-error.log*
 # Compiled Object files
 *.o
 *.obj
-
 # Executables
 *.bin
 *.elf
-
 # PROS
 bin/
 .vscode/
@@ -44,4 +42,5 @@ EZ-Template-Example-Project/compile_commands.json
 EZ-Template-Example-Project/temp.log
 EZ-Template-Example-Project/temp.errors
 EZ-Template-Example-Project/*.ini
-EZ-Template-Example-Project/.d/
+EZ-Template-Example-Project/.d/
+.d/

EZ-Template-Example-Project/include/EZ-Template/piston.hpp

@@ -14,7 +14,7 @@ class Piston {
   /**
    * Piston used throughout.
    */
-  pros::ADIDigitalOut piston;
+  pros::adi::DigitalOut piston;
 
   /**
    * Piston constructor.  This class keeps track of piston state.  The starting position of your piston is FALSE.

EZ-Template-Example-Project/include/EZ-Template/sdcard.hpp

@@ -51,8 +51,8 @@ inline bool auton_selector_running;
 
 extern bool turn_off;
 
-extern pros::ADIDigitalIn* limit_switch_left;
-extern pros::ADIDigitalIn* limit_switch_right;
+extern pros::adi::DigitalIn* limit_switch_left;
+extern pros::adi::DigitalIn* limit_switch_right;
 /**
  * Initialize two limitswithces to change pages on the lcd
  *
@@ -61,7 +61,7 @@ extern pros::ADIDigitalIn* limit_switch_right;
  * @param right_limit_port
  *        port for the right limit switch
  */
-void limit_switch_lcd_initialize(pros::ADIDigitalIn* right_limit, pros::ADIDigitalIn* left_limit = nullptr);
+void limit_switch_lcd_initialize(pros::adi::DigitalIn* right_limit, pros::adi::DigitalIn* left_limit = nullptr);
 
 /**
  * pre_auto_task

EZ-Template-Example-Project/include/pros/adi.hpp

@@ -153,8 +153,8 @@ class ADIAnalogIn : protected ADIPort {
 	 * this time and computes an average from approximately 500 samples, 1 ms
 	 * apart, for a 0.5 s period of calibration. The average value thus calculated
 	 * is returned and stored for later calls to the
-	 * pros::ADIAnalogIn::get_value_calibrated() and
-	 * pros::ADIAnalogIn::get_value_calibrated_HR() functions. These functions
+	 * pros::adi::AnalogIn::get_value_calibrated() and
+	 * pros::adi::AnalogIn::get_value_calibrated_HR() functions. These functions
 	 * will return the difference between this value and the current sensor value
 	 * when called.
 	 *
@@ -172,10 +172,10 @@ class ADIAnalogIn : protected ADIPort {
 	/**
 	 * Gets the 12 bit calibrated value of an analog input port.
 	 *
-	 * The pros::ADIAnalogIn::calibrate() function must be run first. This
+	 * The pros::adi::AnalogIn::calibrate() function must be run first. This
 	 * function is inappropriate for sensor values intended for integration, as
 	 * round-off error can accumulate causing drift over time. Use
-	 * pros::ADIAnalogIn::get_value_calibrated_HR() instead.
+	 * pros::adi::AnalogIn::get_value_calibrated_HR() instead.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:
@@ -189,7 +189,7 @@ class ADIAnalogIn : protected ADIPort {
 	/**
 	 * Gets the 16 bit calibrated value of an analog input port.
 	 *
-	 * The pros::ADIAnalogIn::calibrate() function must be run first. This is
+	 * The pros::adi::AnalogIn::calibrate() function must be run first. This is
 	 * intended for integrated sensor values such as gyros and accelerometers to
 	 * reduce drift due to round-off, and should not be used on a sensor such as a
 	 * line tracker or potentiometer.
@@ -735,7 +735,7 @@ class ADIPotentiometer : public ADIAnalogIn {
 	 * this time and computes an average from approximately 500 samples, 1 ms
 	 * apart, for a 0.5 s period of calibration. The average value thus calculated
 	 * is returned and stored for later calls to the
-	 * pros::ADIPotentiometer::get_value_calibrated() function. This function
+	 * pros::adi::Potentiometer::get_value_calibrated() function. This function
 	 * will return the difference between this value and the current sensor value
 	 * when called.
 	 *
@@ -752,7 +752,7 @@ class ADIPotentiometer : public ADIAnalogIn {
 	/**
 	 * Gets the 12 bit calibrated value of a potentiometer port.
 	 *
-	 * The pros::ADIPotentiometer::calibrate() function must be run first.
+	 * The pros::adi::Potentiometer::calibrate() function must be run first.
 	 *
 	 * This function uses the following values of errno when an error state is
 	 * reached:

common.mk

@@ -5,11 +5,24 @@ MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
 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
 
+# Check if the llemu files in libvgl exist. If they do, define macros that the
+# llemu headers in the kernel repo can use to conditionally include the libvgl
+# versions
+ifneq (,$(wildcard ./include/liblvgl/llemu.h))
+	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_H
+endif
+ifneq (,$(wildcard ./include/liblvgl/llemu.hpp))
+	CPPFLAGS += -D_PROS_INCLUDE_LIBLVGL_LLEMU_HPP
+endif
+
 WARNFLAGS+=-Wno-psabi
 
 SPACE := $() $()
 COMMA := ,
 
+C_STANDARD?=gnu11
+CXX_STANDARD?=gnu++20
+
 DEPDIR := .d
 $(shell mkdir -p $(DEPDIR))
 DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
@@ -24,8 +37,8 @@ wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
 LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
-CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu11
-CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu++17
+CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)
+CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(CXX_STANDARD)
 LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib $(GCCFLAGS)
 SIZEFLAGS=-d --common
 NUMFMTFLAGS=--to=iec --format %.2f --suffix=B

include/EZ-Template/drive/drive.hpp

@@ -66,12 +66,12 @@ class Drive {
   /**
    * Left tracking wheel.
    */
-  pros::ADIEncoder left_tracker;
+  pros::adi::Encoder left_tracker;
 
   /**
    * Right tracking wheel.
    */
-  pros::ADIEncoder right_tracker;
+  pros::adi::Encoder right_tracker;
 
   /**
    * Left rotation tracker.

include/EZ-Template/piston.hpp

@@ -14,7 +14,7 @@ class Piston {
   /**
    * Piston used throughout.
    */
-  pros::ADIDigitalOut piston;
+  pros::adi::DigitalOut piston;
 
   /**
    * Piston constructor.  This class keeps track of piston state.  The starting position of your piston is FALSE.

include/EZ-Template/sdcard.hpp

@@ -51,8 +51,8 @@ inline bool auton_selector_running;
 
 extern bool turn_off;
 
-extern pros::ADIDigitalIn* limit_switch_left;
-extern pros::ADIDigitalIn* limit_switch_right;
+extern pros::adi::DigitalIn* limit_switch_left;
+extern pros::adi::DigitalIn* limit_switch_right;
 /**
  * Initialize two limitswithces to change pages on the lcd
  *
@@ -61,7 +61,7 @@ extern pros::ADIDigitalIn* limit_switch_right;
  * @param right_limit_port
  *        port for the right limit switch
  */
-void limit_switch_lcd_initialize(pros::ADIDigitalIn* right_limit, pros::ADIDigitalIn* left_limit = nullptr);
+void limit_switch_lcd_initialize(pros::adi::DigitalIn* right_limit, pros::adi::DigitalIn* left_limit = nullptr);
 
 /**
  * pre_auto_task

include/api.h

@@ -39,13 +39,15 @@
 #include <unistd.h>
 #endif /* __cplusplus */
 
-#define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 8
-#define PROS_VERSION_PATCH 3
-#define PROS_VERSION_STRING "3.8.3"
+#define PROS_VERSION_MAJOR 4
+#define PROS_VERSION_MINOR 1
+
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "4.1.0"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
+#include "pros/device.h"
 #include "pros/distance.h"
 #include "pros/error.h"
 #include "pros/ext_adi.h"
@@ -63,12 +65,15 @@
 
 #ifdef __cplusplus
 #include "pros/adi.hpp"
+#include "pros/colors.hpp"
+#include "pros/device.hpp"
 #include "pros/distance.hpp"
 #include "pros/gps.hpp"
 #include "pros/imu.hpp"
 #include "pros/link.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"
+#include "pros/motor_group.hpp"
 #include "pros/motors.hpp"
 #include "pros/optical.hpp"
 #include "pros/rotation.hpp"