Implemented get_digital_new_release

include/pros/misc.h

@@ -481,6 +481,45 @@ int32_t controller_get_digital(controller_id_e_t id, controller_digital_e_t butt
  */
 int32_t controller_get_digital_new_press(controller_id_e_t id, controller_digital_e_t button);
 
+/**
+ * Returns a falling-edge case for a controller button press.
+ *
+ * This function is not thread-safe.
+ * Multiple tasks polling a single button may return different results under
+ * the same circumstances, so only one task should call this function for any
+ * given button. E.g., Task A calls this function for buttons 1 and 2.
+ * Task B may call this function for button 3, but should not for buttons
+ * 1 or 2. A typical use-case for this function is to call inside opcontrol
+ * to detect new button releases, and not in any other tasks.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * EACCES - Another resource is currently trying to access the controller
+ * port.
+ *
+ * \param button
+ * 			  The button to read. Must be one of
+ *        DIGITAL_{RIGHT,DOWN,LEFT,UP,A,B,Y,X,R1,R2,L1,L2}
+ *
+ * \return 1 if the button on the controller is not pressed and had been
+ * pressed the last time this function was called, 0 otherwise.
+ *
+ * \b Example
+ * \code
+ * void opcontrol() {
+ * 	pros::Controller master(pros::E_CONTROLLER_MASTER);
+ * 	while (true) {
+ *   if (master.get_digital_new_release(pros::E_CONTROLLER_DIGITAL_A)) {
+ *     // Toggle pneumatics or other similar actions
+ *   }
+ *
+ *   delay(2);
+ *   }
+ * }
+ * \endcode
+ */
+int32_t controller_get_digital_new_release(controller_id_e_t id, controller_digital_e_t button);
+
 /**
  * Sets text to the controller LCD screen.
  *

include/pros/misc.hpp

@@ -211,6 +211,45 @@ class Controller {
 	 */
 	std::int32_t get_digital_new_press(controller_digital_e_t button);
 
+	/**
+	 * Returns a falling-edge case for a controller button press.
+	 *
+	 * This function is not thread-safe.
+	 * Multiple tasks polling a single button may return different results under
+	 * the same circumstances, so only one task should call this function for any
+	 * given button. E.g., Task A calls this function for buttons 1 and 2.
+	 * Task B may call this function for button 3, but should not for buttons
+	 * 1 or 2. A typical use-case for this function is to call inside opcontrol
+	 * to detect new button releases, and not in any other tasks.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * EACCES - Another resource is currently trying to access the controller
+	 * port.
+	 *
+	 * \param button
+	 * 			  The button to read. Must be one of
+	 *        DIGITAL_{RIGHT,DOWN,LEFT,UP,A,B,Y,X,R1,R2,L1,L2}
+	 *
+	 * \return 1 if the button on the controller is not pressed and had been
+	 * pressed the last time this function was called, 0 otherwise.
+	 *
+	 * \b Example
+	 * \code
+	 * void opcontrol() {
+	 * 	pros::Controller master(pros::E_CONTROLLER_MASTER);
+	 * 	while (true) {
+	 *   if (master.get_digital_new_release(pros::E_CONTROLLER_DIGITAL_A)) {
+	 *     // Toggle pneumatics or other similar actions
+	 *   }
+	 *
+	 *   delay(2);
+	 *   }
+	 * }
+	 * \endcode
+	 */
+	std::int32_t get_digital_new_release(controller_digital_e_t button);
+
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-function"
 	template <typename T>

src/devices/controller.c

@@ -23,8 +23,10 @@
 // From enum in misc.h
 #define NUM_BUTTONS 12
 
+// button_pressed is used for get_digital_new_press and button_released is used for get_digital_new_release
 typedef struct controller_data {
 	bool button_pressed[NUM_BUTTONS];
+	bool button_released[NUM_BUTTONS];
 } controller_data_s_t;
 
 bool get_button_pressed(int port, int button) {
@@ -36,6 +38,15 @@ void set_button_pressed(int port, int button, bool state) {
 	data->button_pressed[button] = state;
 }
 
+bool get_button_released(int port, int button) {
+	return ((controller_data_s_t*)registry_get_device_internal(port)->pad)->button_released[button];
+}
+
+void set_button_released(int port, int button, bool state) {
+	controller_data_s_t* data = (controller_data_s_t*)registry_get_device_internal(port)->pad;
+	data->button_released[button] = state;
+}
+
 int32_t controller_is_connected(controller_id_e_t id) {
 	uint8_t port;
 	CONTROLLER_PORT_MUTEX_TAKE(id, port)
@@ -98,6 +109,27 @@ int32_t controller_get_digital_new_press(controller_id_e_t id, controller_digita
 	}
 }
 
+int32_t controller_get_digital_new_release(controller_id_e_t id, controller_digital_e_t button) {
+	int32_t pressed = controller_get_digital(id, button);
+	uint8_t port;
+	CONTROLLER_PORT_MUTEX_TAKE(id, port)
+	uint8_t button_num = button - E_CONTROLLER_DIGITAL_L1;
+
+	if (pressed) {
+		set_button_released(port, button_num, false);
+	}
+	if (!pressed && !get_button_released(port, button_num)) {
+		// button is currently not pressed and was detected as being pressed during
+		// last check
+		set_button_released(port, button_num, true);
+		internal_port_mutex_give(port);
+		return true;
+	} else {
+		internal_port_mutex_give(port);
+		return false; // button is pressed or was already detected
+	}
+}
+
 int32_t controller_set_text(controller_id_e_t id, uint8_t line, uint8_t col, const char* str) {
 	uint8_t port;
 	CONTROLLER_PORT_MUTEX_TAKE(id, port)

src/devices/controller.cpp

@@ -44,6 +44,10 @@ std::int32_t Controller::get_digital_new_press(pros::controller_digital_e_t butt
 	return controller_get_digital_new_press(_id, button);
 }
 
+std::int32_t Controller::get_digital_new_release(pros::controller_digital_e_t button) {
+	return controller_get_digital_new_release(_id, button);
+}
+
 std::int32_t Controller::set_text(std::uint8_t line, std::uint8_t col, const char* str) {
 	return controller_set_text(_id, line, col, str);
 }