Merge branch 'main' into async_runtime

.github/workflows/rust.yml

@@ -49,19 +49,12 @@ jobs:
     name: Lint
     runs-on: ubuntu-latest
     steps:
-      - name: Setup | Checkout
-        uses: actions/checkout@v2
-
-      - name: Setup | Toolchain
-        uses: actions-rs/toolchain@v1
-        with:
-          profile: minimal
-          toolchain: nightly
-          components: clippy
-          override: true
-
-      - name: Clippy
-        uses: actions-rs/clippy-check@v1
-        with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          args: --all-features
+    - uses: actions/checkout@v3
+    - uses: dtolnay/rust-toolchain@nightly
+      with:
+        components: clippy
+    - uses: giraffate/clippy-action@v1
+      with:
+        reporter: 'github-pr-check'
+        github_token: ${{ secrets.GITHUB_TOKEN }}
+        clippy_flags: --all-targets --all-features

.vscode/settings.json

@@ -11,4 +11,11 @@
         "vexlink"
     ],
     "rust-analyzer.check.allTargets": false,
+    "rust-analyzer.cargo.features": [
+        "xapi"
+    ],
+    "rust-analyzer.check.targets": [
+        "${workspaceFolder}/armv7a-vexos-eabi.json",
+        "wasm32-unknown-unknown",
+    ]
 }

pros-sys/Cargo.toml

@@ -24,3 +24,6 @@ no-link = []
 
 [build-dependencies]
 cfg-if = "1.0"
+
+[dependencies]
+cfg-if = "1.0"

pros-sys/src/llemu.rs

@@ -1,16 +1,50 @@
-#[cfg(feature = "xapi")]
-compile_error!("LVGL bindings (xapi) are a todo for now");
+// #[cfg(feature = "xapi")]
+// compile_error!("LVGL bindings (xapi) are a todo for now");
+
+use cfg_if::cfg_if;
 
 pub const LCD_BTN_LEFT: core::ffi::c_int = 4;
 pub const LCD_BTN_CENTER: core::ffi::c_int = 2;
 pub const LCD_BTN_RIGHT: core::ffi::c_int = 1;
 
 pub type lcd_button_cb_fn_t = Option<unsafe extern "C" fn()>;
 
-#[cfg(feature = "xapi")]
-#[repr(C)]
-pub struct lcd_s_t {
-    //TODO
+cfg_if! {
+    if #[cfg(feature = "xapi")] {
+        // #[repr(C)]
+        // pub struct lcd_s_t {
+        //     //TODO
+        // }
+
+        #[repr(C)]
+        #[derive(Debug, Clone, Copy, PartialEq, Eq)]
+        pub struct lv_color_t {
+            pub blue: u8,
+            pub green: u8,
+            pub red: u8,
+            pub alpha: u8,
+        }
+
+        impl From<u32> for lv_color_t {
+            fn from(color: u32) -> Self {
+                Self {
+                    blue: (color & 0xFF) as u8,
+                    green: ((color >> 8) & 0xFF) as u8,
+                    red: ((color >> 16) & 0xFF) as u8,
+                    alpha: ((color >> 24) & 0xFF) as u8,
+                }
+            }
+        }
+
+        impl From<lv_color_t> for u32 {
+            fn from(color: lv_color_t) -> Self {
+                (color.blue as u32)
+                    | ((color.green as u32) << 8)
+                    | ((color.red as u32) << 16)
+                    | ((color.alpha as u32) << 24)
+            }
+        }
+    }
 }
 
 extern "C" {
@@ -149,8 +183,26 @@ extern "C" {
     \return The buttons pressed as a bit mask*/
     pub fn lcd_read_buttons() -> u8;
 
-    #[cfg(feature = "xapi")]
-    pub fn lcd_set_background_color(); //TODO
-    #[cfg(feature = "xapi")]
-    pub fn lcd_set_text_color(); //TODO
+    cfg_if! {
+        if #[cfg(feature = "xapi")] {
+            /** Changes the color of the LCD background to a provided color expressed in
+            type lv_color_t.
+
+            \param color
+                   A color of type lv_color_t
+
+            \return void
+            */
+            pub fn lcd_set_background_color(color: lv_color_t);
+            /** Changes the text color of the LCD to a provided color expressed in
+            type lv_color_t.
+
+            \param color
+                   A color of type lv_color_t
+
+            \return void
+            */
+            pub fn lcd_set_text_color(color: lv_color_t);
+        }
+    }
 }

pros/Cargo.toml

@@ -14,7 +14,7 @@ readme = "../README.md"
 [dependencies]
 lazy_static = { version = "1.4.0", features = ["spin_no_std"] }
 spin = "0.9.8"
-pros-sys = { version = "0.3.0", path = "../pros-sys" }
+pros-sys = { version = "0.3.0", path = "../pros-sys", features = ["xapi"] }
 snafu = { version = "0.7.5", default-features = false, features = [
     "rust_1_61",
 ] }
@@ -28,6 +28,3 @@ waker-fn = "1.1.1"
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
 dlmalloc = { version = "0.2.4", features = ["global"] }
-
-[features]
-lvgl = ["pros-sys/xapi"]

pros/src/lcd/mod.rs

@@ -1,5 +1,7 @@
+//! Print to and handle button presses on the V5 touchscreen.
 use snafu::Snafu;
 
+use crate::lvgl::colors::LcdColor;
 use crate::sync::Mutex;
 
 #[macro_use]
@@ -8,6 +10,22 @@ pub mod buttons;
 
 pub(crate) mod writer;
 
+/// Sets the background color of the LCD.
+pub fn set_background_color(color: LcdColor) {
+    unsafe {
+        pros_sys::lcd_initialize();
+        pros_sys::lcd_set_background_color(*color);
+    }
+}
+
+/// Sets the text color of the LCD.
+pub fn set_text_color(color: LcdColor) {
+    unsafe {
+        pros_sys::lcd_initialize();
+        pros_sys::lcd_set_background_color(*color);
+    }
+}
+
 lazy_static::lazy_static! {
     pub(crate) static ref WRITER: Mutex<writer::ConsoleLcd> = {
         Mutex::new(writer::ConsoleLcd::new())

pros/src/lib.rs

@@ -13,25 +13,17 @@ pub mod sensors;
 pub mod sync;
 #[macro_use]
 pub mod task;
-
 #[doc(hidden)]
 pub use pros_sys as __pros_sys;
-
 #[cfg(target_os = "vexos")]
 mod vexos_env;
 #[cfg(target_arch = "wasm32")]
 mod wasm_env;
-
-#[cfg(not(feature = "lvgl"))]
 #[macro_use]
 pub mod lcd;
-
-#[cfg(feature = "lvgl")]
-#[macro_use]
-pub mod lvgl;
-
 pub mod adi;
 pub mod link;
+pub mod lvgl;
 
 pub use async_trait::async_trait;
 

pros/src/lvgl/colors.rs

@@ -0,0 +1,71 @@
+//! LVGL colors and presets.
+
+use core::ops::{Deref, DerefMut};
+use pros_sys::lv_color_t;
+
+/// A color that can be used on the LCD.
+/// The color space is dependent on the LCD driver.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub struct LcdColor(pub lv_color_t);
+
+impl LcdColor {
+    /// Create an RGB color without any transparency.
+    pub const fn new_rgb(red: u8, green: u8, blue: u8) -> Self {
+        Self(lv_color_t {
+            red,
+            green,
+            blue,
+            alpha: 0xFF,
+        })
+    }
+    /// Create an RGBA color with a certain opacity.
+    pub const fn new_rgba(red: u8, green: u8, blue: u8, alpha: u8) -> Self {
+        Self(lv_color_t {
+            red,
+            green,
+            blue,
+            alpha,
+        })
+    }
+}
+
+impl From<lv_color_t> for LcdColor {
+    fn from(other: lv_color_t) -> Self {
+        Self(other)
+    }
+}
+
+impl Deref for LcdColor {
+    type Target = lv_color_t;
+
+    fn deref(&self) -> &Self::Target {
+        &self.0
+    }
+}
+
+impl DerefMut for LcdColor {
+    fn deref_mut(&mut self) -> &mut Self::Target {
+        &mut self.0
+    }
+}
+
+impl LcdColor {
+    pub const WHITE: Self = Self::new_rgb(0xFF, 0xFF, 0xFF);
+    pub const SILVER: Self = Self::new_rgb(0xC0, 0xC0, 0xC0);
+    pub const GRAY: Self = Self::new_rgb(0x80, 0x80, 0x80);
+    pub const BLACK: Self = Self::new_rgb(0x00, 0x00, 0x00);
+    pub const RED: Self = Self::new_rgb(0xFF, 0x00, 0x00);
+    pub const MAROON: Self = Self::new_rgb(0x80, 0x00, 0x00);
+    pub const YELLOW: Self = Self::new_rgb(0xFF, 0xFF, 0x00);
+    pub const OLIVE: Self = Self::new_rgb(0x80, 0x80, 0x00);
+    pub const LIME: Self = Self::new_rgb(0x00, 0xFF, 0x00);
+    pub const GREEN: Self = Self::new_rgb(0x00, 0x80, 0x00);
+    pub const CYAN: Self = Self::new_rgb(0x00, 0xFF, 0xFF);
+    pub const AQUA: Self = Self::CYAN;
+    pub const TEAL: Self = Self::new_rgb(0x00, 0x80, 0x80);
+    pub const BLUE: Self = Self::new_rgb(0x00, 0x00, 0xFF);
+    pub const NAVY: Self = Self::new_rgb(0x00, 0x00, 0x80);
+    pub const MAGENTA: Self = Self::new_rgb(0xFF, 0x00, 0xFF);
+    pub const PURPLE: Self = Self::new_rgb(0x80, 0x00, 0x80);
+    pub const ORANGE: Self = Self::new_rgb(0xFF, 0xA5, 0x00);
+}

pros/src/lvgl/mod.rs

@@ -1 +1 @@
-
+pub mod colors;

pros/src/sensors/vision.rs

@@ -3,7 +3,10 @@ use alloc::vec::Vec;
 use pros_sys::{PROS_ERR, VISION_OBJECT_ERR_SIG};
 use snafu::Snafu;
 
-use crate::error::{bail_errno, bail_on, map_errno, PortError};
+use crate::{
+    error::{bail_errno, bail_on, map_errno, PortError},
+    lvgl::colors::LcdColor,
+};
 
 /// Represents a vision sensor plugged into the vex.
 pub struct VisionSensor {
@@ -168,6 +171,27 @@ impl From<u32> for Rgb {
     }
 }
 
+impl From<Rgb> for LcdColor {
+    fn from(other: Rgb) -> Self {
+        Self(pros_sys::lv_color_t {
+            red: other.r,
+            green: other.g,
+            blue: other.b,
+            alpha: 0xFF,
+        })
+    }
+}
+
+impl From<LcdColor> for Rgb {
+    fn from(other: LcdColor) -> Self {
+        Self {
+            r: other.red,
+            g: other.green,
+            b: other.blue,
+        }
+    }
+}
+
 #[repr(u32)]
 pub enum VisionZeroPoint {
     TopLeft,