✨ Add Support for the Distance Sensor

include/api.h

@@ -49,6 +49,7 @@
 
 #include "pros/adi.h"
 #include "pros/colors.h"
+#include "pros/distance.h"
 #include "pros/ext_adi.h"
 #include "pros/imu.h"
 #include "pros/llemu.h"
@@ -59,6 +60,7 @@
 
 #ifdef __cplusplus
 #include "pros/adi.hpp"
+#include "pros/distance.hpp"
 #include "pros/imu.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"

include/pros/apix.h

@@ -370,6 +370,7 @@ typedef enum v5_device_e {
 	E_DEVICE_NONE = 0,
 	E_DEVICE_MOTOR = 2,
 	E_DEVICE_IMU = 6,
+	E_DEVICE_DISTANCE = 7,
 	E_DEVICE_RADIO = 8,
 	E_DEVICE_VISION = 11,
 	E_DEVICE_ADI = 12,

include/pros/distance.h

@@ -0,0 +1,101 @@
+/**
+ * \file pros/distance.h
+ *
+ * Contains prototypes for functions related to the VEX Distance sensor.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/distance.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef _PROS_DISTANCE_H_
+#define _PROS_DISTANCE_H_
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+namespace pros {
+namespace c {
+#endif
+
+/**
+ * Get the currently measured distance from the sensor in mm
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The distance value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+int32_t distance_get(uint8_t port);
+
+/**
+ * Get the confidence in the distance reading
+ *
+ * This is a value that has a range of 0 to 63. 63 means high confidence,
+ * lower values imply less confidence. Confidence is only available
+ * when distance is > 200mm (the value 10 is returned in this scenario).
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The confidence value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+int32_t distance_get_confidence(uint8_t port);
+
+/**
+ * Get the current guess at relative object size
+ *
+ * This is a value that has a range of 0 to 400.
+ * A 18" x 30" grey card will return a value of approximately 75
+ * in typical room lighting.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The size value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+int32_t distance_get_object_size(uint8_t port);
+
+/**
+ * Get the object velocity in m/s
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Distance Sensor
+ *
+ * \param  port The V5 Distance Sensor port number from 1-21
+ * \return The velocity value or PROS_ERR if the operation failed, setting
+ * errno.
+ */
+double distance_get_object_velocity(uint8_t port);
+
+#ifdef __cplusplus
+}
+}
+}
+#endif
+
+#endif

include/pros/distance.hpp

@@ -0,0 +1,114 @@
+/**
+ * \file pros/distance.hpp
+ *
+ * Contains prototypes for the V5 Distance Sensor-related functions.
+ *
+ * Visit https://pros.cs.purdue.edu/v5/tutorials/topical/distance.html to learn
+ * more.
+ *
+ * This file should not be modified by users, since it gets replaced whenever
+ * a kernel upgrade occurs.
+ *
+ * \copyright (c) 2017-2018, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#ifndef _PROS_DISTANCE_HPP_
+#define _PROS_DISTANCE_HPP_
+
+#include <cstdint>
+
+#include "pros/distance.h"
+
+namespace pros {
+class Distance {
+	public:
+	/**
+	 * Creates a Distance Sensor object for the given port.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as a Distance Sensor
+	 *
+	 * \param port
+	 *        The V5 port number from 1-21
+	 */
+	explicit Distance(const std::uint8_t port);
+
+	/**
+	 * Get the currently measured distance from the sensor in mm
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The distance value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual std::int32_t get();
+
+	/**
+	 * Get the confidence in the distance reading
+	 *
+	 * This is a value that has a range of 0 to 63. 63 means high confidence,
+	 * lower values imply less confidence. Confidence is only available
+	 * when distance is > 200mm.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The confidence value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual std::int32_t get_confidence();
+
+	/**
+	 * Get the current guess at relative object size
+	 *
+	 * This is a value that has a range of 0 to 400.
+	 * A 18" x 30" grey card will return a value of approximately 75
+	 * in typical room lighting.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The size value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual std::int32_t get_object_size();
+
+	/**
+	 * Get the object velocity in m/s
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Distance Sensor
+	 *
+	 * \return The velocity value or PROS_ERR if the operation failed, setting
+	 * errno.
+	 */
+	virtual double get_object_velocity();
+
+	/**
+	 * Gets the port number of the distance sensor.
+	 *
+	 * \return The distance sensor's port number.
+	 */
+	std::uint8_t get_port();
+
+	private:
+	const std::uint8_t _port;
+};
+}  // namespace pros
+
+#endif

src/devices/vdml_distance.c

@@ -0,0 +1,53 @@
+/**
+ * \file devices/vdml_imu.c
+ *
+ * Contains functions for interacting with the VEX Inertial sensor.
+ *
+ * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include <errno.h>
+
+#include "pros/distance.h"
+#include "v5_api.h"
+#include "vdml/registry.h"
+#include "vdml/vdml.h"
+
+#define ERROR_DISTANCE_BAD_PORT(device, err_return)                 \
+	if (!(vexDeviceDistanceStatusGet(device->device_info) == 0x82 ||  \
+	      vexDeviceDistanceStatusGet(device->device_info) == 0x86)) { \
+		errno = EAGAIN;                                                 \
+		return_port(port - 1, err_return);                              \
+	}
+
+int32_t distance_get(uint8_t port) {
+	claim_port_i(port - 1, E_DEVICE_DISTANCE);
+	ERROR_DISTANCE_BAD_PORT(device, PROS_ERR);
+	int32_t rtn = vexDeviceDistanceDistanceGet(device->device_info);
+	return_port(port - 1, rtn);
+}
+
+int32_t distance_get_confidence(uint8_t port) {
+	claim_port_i(port - 1, E_DEVICE_DISTANCE);
+	ERROR_DISTANCE_BAD_PORT(device, PROS_ERR);
+	int32_t rtn = vexDeviceDistanceConfidenceGet(device->device_info);
+	return_port(port - 1, rtn);
+}
+
+int32_t distance_get_object_size(uint8_t port) {
+	claim_port_i(port - 1, E_DEVICE_DISTANCE);
+	ERROR_DISTANCE_BAD_PORT(device, PROS_ERR);
+	int32_t rtn = vexDeviceDistanceObjectSizeGet(device->device_info);
+	return_port(port - 1, rtn);
+}
+
+double distance_get_object_velocity(uint8_t port) {
+	claim_port_i(port - 1, E_DEVICE_DISTANCE);
+	ERROR_DISTANCE_BAD_PORT(device, PROS_ERR);
+	double rtn = vexDeviceDistanceObjectVelocityGet(device->device_info);
+	return_port(port - 1, rtn);
+}

src/devices/vdml_distance.cpp

@@ -0,0 +1,38 @@
+/**
+ * \file devices/vdml_distance.cpp
+ *
+ * Contains functions for interacting with the V5 ADI.
+ *
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+#include "pros/distance.hpp"
+
+namespace pros {
+
+Distance::Distance(const std::uint8_t port) : _port(port) {}
+
+std::int32_t Distance::get() {
+	return pros::c::distance_get(_port);
+}
+
+std::int32_t Distance::get_confidence() {
+	return pros::c::distance_get_confidence(_port);
+}
+
+std::int32_t Distance::get_object_size() {
+	return pros::c::distance_get_object_size(_port);
+}
+
+double Distance::get_object_velocity() {
+	return pros::c::distance_get_object_velocity(_port);
+}
+
+std::uint8_t Distance::get_port() {
+	return _port;
+}
+}  // namespace pros