♻️ User Competition Functions

docs/STRUCTURE.md

@@ -14,7 +14,6 @@ Looking at the file structure of a project like this can feel intimidating. This
   - `include/rtos` headers for the scheduler (FreeRTOS)
   - `include/system` headers for low-level system functionality
     - `include/system/dev` headers for serial I/O and file management
-    - `include/system/user_functions` a horrifying mess that should be destroyed
 
 - `scripts` contains scripts used for building ZestCode and projects that use ZestCode
 

include/api.h

@@ -39,11 +39,9 @@
     #include <unistd.h>
 #endif /* __cplusplus */
 
-#include "pros/misc.h"
 #include "pros/rtos.h"
 
 #ifdef __cplusplus
-    #include "pros/misc.hpp"
     #include "pros/rtos.hpp"
 #endif
 

include/pros/competition.hpp

@@ -0,0 +1,86 @@
+#pragma once
+
+#include <functional>
+
+namespace zest::competition {
+/**
+ * @brief the competition mode (disabled, driver control, autonomous)
+ *
+ */
+enum class Mode {
+    Disabled,
+    DriverControl,
+    Autonomous,
+};
+
+/**
+ * @brief the competition system being used
+ *
+ */
+enum class System {
+    FieldControl,
+    CompetitionSwitch,
+    None,
+};
+
+/**
+ * @brief Get the competition mode (disabled, driver control, autonomous)
+ *
+ * @return Status
+ */
+Mode get_mode();
+
+/**
+ * @brief Get the system type being used (field control, competition switch, or none)
+ *
+ * @return System
+ */
+System get_system();
+
+/**
+ * @brief Whether field control or a competition switch is connected
+ *
+ * @return true
+ * @return false
+ */
+bool is_connected();
+
+/**
+ * @brief register the callable that will be called when the autonomous period starts.
+ *
+ * The callable is called whenever the competition state changes to autonomous. The task that runs
+ * it is killed as soon as the competition state changes to driver control or disabled.
+ *
+ * @param callable
+ */
+void register_autonomous(std::function<void()> callable);
+
+/**
+ * @brief register the callable that will be called when the driver control period starts.
+ *
+ * The callable is called whenever the competition state changes to autonomous. The task that runs
+ * it is killed as soon as the competition state changes to driver control or disabled.
+ *
+ * @param callable
+ */
+void register_driver_control(std::function<void()> callable);
+
+/**
+ * @brief register the callable that will be called when the disabled period starts.
+ *
+ * The callable is called whenever the competition state changes to autonomous. The task that
+ * runs it is killed as soon as the competition state changes to driver control or disabled.
+ *
+ * @param callable
+ */
+void register_disabled(std::function<void()> callable);
+
+/**
+ * @brief initialize the competition control task
+ *
+ * TODO: figure out how to hide this from the user
+ *
+ * This function is called after `int main` is called.
+ */
+void initialize();
+} // namespace zest::competition