refactor(breaking): Vision Sensor

.github/workflows/rust.yml

@@ -14,7 +14,7 @@ jobs:
         uses: actions-rs/toolchain@v1
         with:
           profile: minimal
-          toolchain: nightly
+          toolchain: nightly-2024-02-07
           override: true
 
       - name: Check
@@ -33,7 +33,7 @@ jobs:
         uses: actions-rs/toolchain@v1
         with:
           profile: minimal
-          toolchain: nightly
+          toolchain: nightly-2024-02-07
           override: true
 
       - name: Setup | Install Rustfmt
@@ -57,4 +57,4 @@ jobs:
       with:
         reporter: 'github-pr-check'
         github_token: ${{ secrets.GITHUB_TOKEN }}
-        clippy_flags: --all-targets --all-features
+        clippy_flags: --all-targets --all-features

CHANGELOG.md

@@ -26,9 +26,67 @@ Before releasing:
 ### Fixed
 
 ### Changed
+- Refactored the vision sensor API. (**Breaking Change**) (#77)
 
 ### Removed
 
+## [0.8.0]
+
+### Added
+- Added feedforward motor controllers (#80)
+- Lightly document all APIs with missing documentation. (#70)
+- Added `Debug`, `Copy`, and `Clone` derives for common structs (#70)
+- Screen drawing API. (#81)
+- Added screen field to `Peripherals` and `DynamicPeripherals::take_screen` method. (#81)
+- Added `AdiSolenoid`, a wrapper over `AdiDigitalOut` for actuating SMC pneumatic solenoids. (#61)
+- Added `AdiSwitch`, another `AdiDigitalOut` wrapper that abstracts bumper switches and limit switches. (#61)
+- Added `AdiLineTracker` for abstracting the EDR line tracker sensor.
+
+### Fixed
+
+- Fix error handling and error type variats in ADI bindings
+- Fix `AsynRobot` only running opcontrol
+- Properly handle `EADDRINUSE` return for smart port errors (**Breaking Change**) (#97)
+
+### Changed
+
+- Re-exported printing macros from `pros::io`. (#82)
+- Applied several lints to improve code quality. (#70)
+- Updated to PROS version 4. (**Breaking Change**) (#81)
+- Moved `vision::Rgb` into its own `color.rs` file. (**Breaking Change**) (#81)
+- The VEXOS target has been updated to improve file size and floating point operation speed. (#81)
+- `Peripherals::new()` is no longer const (**Breaking Change) (#81)
+- Updated panic handler to print to the brain display as well as over serial (#81)
+- Refactors digital and analog ADI input/output. (**Breaking Change**) (#61)
+	- Adds LogicLevel rather than bools for controlling digital devices.
+	- Adds 0-5V voltage getters and setters for analog ADI.
+	- Changed analog getters and setters to use `u16` data.
+- Changed `AdiPotentiometer` to return degrees rather than tenth degrees (**Breaking Change**) (#61).
+	- Renamed `AdiPotentiometer::value` to `AdiPotentiometer::angle`.
+- Refactors `AdiMotor` to match the smart motor APIs, having output/raw output getters/setters.
+- Renamed `AdiUltrasonic::value` to `AdiUltrasonic::distance` (**Breaking Change**) (#61).
+- Renamed `AdiEncoder::value` to `AdiEncoder::position` (**Breaking Change**) (#61).
+- Repurposed `AdiAnalogOut` as `AdiPwmOut` to correct match port output. (**Breaking Change**) (#90).
+- Moved most device-related constants into their associated struct `impl` (**Breaking Change**) (#98).
+- Renamed IMU_RESET_TIMEOUT to `InertialSensor::CALIBRATION_TIMEOUT` (**Breaking Change**) (#98).
+- Repurposed the `pros` crate as a metapackage without any code of its own. (**Breaking Change**) (#86)
+- Split the pros-rs into several small subcrates. (**Breaking Change**) (#86)
+  - `pros-async` with the async executor and robot trait.
+  - `pros-devices` for device bindings.
+  - `pros-sync` for the sync robot trait.
+  - `pros-core` with basic abstractions over `pros-sys` needed to compile a program to the brain.
+  - `pros-math` with commonly used controllers and other mathematical models.
+  - `pros-panic` for the panic handler implementation.
+
+### Removed
+
+- LVGL bindings (pros-sys) and colors (pros). (**Breaking Change**) (#81)
+- LLEMU/lcd bindings. (**Breaking Change**) (#81)
+- Re-exported printing macros from `pros::io`. (#82)
+- Applied several lints to improve code quality. (#70)
+- Removed the confusingly named `write`, `ewrite`, `writeln`, and `ewriteln` macros. (**Breaking Change**) (#82)
+- Removed AdiDigitalIn::new_press, instead swapping it for AdiSwitch::was_pressed. (**Breaking Change**) (#61)
+
 ## [0.7.0]
 
 ### Added
@@ -46,6 +104,7 @@ Before releasing:
 - All ADI device bindings (#55)
 - `LocalKey` now has `Cell`/`RefCell`-specific methods for setting and taking values. (#42)
 - `Peripherals` and `DynamicPeripherals` structs to ensure that you have only registered one device on a given smart or ADI port. (#53)
+- Support for ADI Expander modules with `AdiExpander`. (#63)
 
 ### Fixed
 
@@ -54,6 +113,7 @@ Before releasing:
 - Fixed errors in doctests and examples throughout the crate. (#37)
 - Fixed Missing ERRNO and ADI config variants in pros-sys (#55)
 - Fixed incorrect error handling with `InertialSensor::status`. (#65)
+- `Controller::status` now handles errors by returning `Result<ControllerStatus, ControllerError>`. (**Breaking Change**) (#74)
 
 ### Changed
 
@@ -129,8 +189,9 @@ Before releasing:
 
 ### Removed
 
-[unreleased]: https://github.com/pros-rs/pros-rs/compare/v0.7.0...HEAD
+[unreleased]: https://github.com/pros-rs/pros-rs/compare/v0.8.0...HEAD
 [0.4.0]: https://github.com/pros-rs/pros-rs/releases/tag/v0.4.0
 [0.5.0]: https://github.com/pros-rs/pros-rs/compare/v0.4.0...v0.5.0
 [0.6.0]: https://github.com/pros-rs/pros-rs/compare/v0.5.0...v0.6.0
 [0.7.0]: https://github.com/pros-rs/pros-rs/compare/v0.6.0...v0.7.0
+[0.8.0]: https://github.com/pros-rs/pros-rs/compare/v0.7.0...v0.8.0

Cargo.toml

@@ -1,3 +1,11 @@
 [workspace]
 members = ["packages/*"]
 resolver = "2"
+
+[workspace.lints.rust]
+rust_2018_idioms = "warn"
+missing_docs = "warn"
+unsafe_op_in_unsafe_fn = "warn"
+
+[workspace.lints.clippy]
+missing_const_for_fn = "warn"

TODO.md

@@ -17,7 +17,7 @@ This is the todo list for the eventual 1.0.0 release of pros-rs
   * [ ] (Custom) Gear Ratios
 * [X] Make Robot Functions Take Self
 * [X] PID controllers
-* [ ] Feedforward loops
+* [X] Feedforward loops
 * [ ] ADI (3 wire ports)
 * [ ] Ext. ADI
 * [X] Sensors
@@ -34,9 +34,9 @@ This is the todo list for the eventual 1.0.0 release of pros-rs
 * [X] Async runtime
   * [X] Returning top level futures
   * [X] Reactor
-* [ ] More asynchronous APIs 
+* [ ] More asynchronous APIs
 * [ ] MPSC
-* [X] Task Locals 
+* [X] Task Locals
 
 ## API
 

armv7a-vexos-eabi.json

@@ -1,11 +1,12 @@
 {
+    "cpu": "cortex-a9",
     "arch": "arm",
     "data-layout": "e-m:e-p:32:32-Fi8-i64:64-v128:64:128-a:0:32-n32-S64",
     "disable-redzone": true,
     "emit-debug-gdb-scripts": false,
     "env": "newlib",
     "executables": true,
-    "features": "+v7,+thumb2,+soft-float,-neon,+strict-align",
+    "features": "+thumb2,+neon,+vfp3",
     "linker": "arm-none-eabi-gcc",
     "linker-flavor": "gcc",
     "llvm-target": "armv7a-none-eabi",
@@ -16,11 +17,12 @@
             "-nostartfiles",
             "-nostdlib",
             "-Wl,-Tv5.ld,-Tv5-common.ld,--gc-sections",
-            "-Wl,--start-group,-lpros,-lc,-lm,-lgcc,-lstdc++,--end-group"
+            "-Wl,--start-group,-lgcc,-lpros,-lc,--end-group"
         ]
     },
     "relocation-model": "static",
     "target-family": "unix",
     "target-pointer-width": "32",
-    "os": "vexos"
+    "os": "vexos",
+    "vendor": "vex"
 }

packages/pros-async/Cargo.toml

@@ -0,0 +1,29 @@
+[package]
+name = "pros-async"
+version = "0.1.0"
+edition = "2021"
+license = "MIT"
+description = "A simple async executor for pros-rs"
+keywords = ["PROS", "Robotics", "bindings", "async", "vex", "v5"]
+categories = [
+    "no-std",
+    "science::robotics",
+    "Asynchronous"
+]
+repository = "https://github.com/gavin-niederman/pros-rs"
+authors = [
+    "pros-rs",
+    "Gavin Niederman <[email protected]>",
+    "doinkythederp <[email protected]>",
+]
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+async-task = { version = "4.5.0", default-features = false }
+pros-core = { version = "0.1.0", path = "../pros-core" }
+waker-fn = "1.1.1"
+pros-sys = { version = "0.7.0", path = "../pros-sys" }
+
+[lints]
+workspace = true

packages/pros-async/README.md

@@ -0,0 +1,6 @@
+# pros-async
+
+Tiny async runtime and robot traits for `pros-rs`.
+The async executor supports spawning tasks and blocking on futures.
+It has a reactor to improve the performance of some futures.
+FreeRTOS tasks can still be used, but it is recommended to use only async tasks for performance.

packages/pros/src/async_runtime/executor.rs → packages/pros-async/src/executor.rs

@@ -9,10 +9,10 @@ use core::{
 };
 
 use async_task::{Runnable, Task};
+use pros_core::{os_task_local, task::delay};
 use waker_fn::waker_fn;
 
 use super::reactor::Reactor;
-use crate::{os_task_local, task::delay};
 
 os_task_local! {
     pub(crate) static EXECUTOR: Executor = Executor::new();
@@ -27,7 +27,7 @@ impl !Send for Executor {}
 impl !Sync for Executor {}
 
 impl Executor {
-    pub fn new() -> Self {
+    pub const fn new() -> Self {
         Self {
             queue: RefCell::new(VecDeque::new()),
             reactor: RefCell::new(Reactor::new()),