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/**
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* \file pros/link.hpp
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* \ingroup cpp-link
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*
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* Contains prototypes for functions related to robot to robot communications.
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*
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* This file should not be modified by users, since it gets replaced whenever
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* a kernel upgrade occurs.
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*
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* Copyright (c) 2017-2021, Purdue University ACM SIGBots.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*
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* \defgroup cpp-link VEX Link C++ API
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*/
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#ifndef _PROS_LINK_HPP_
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#define _PROS_LINK_HPP_
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#include <cstdint>
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#include <string>
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#include "pros/link.h"
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#include "pros/device.hpp"
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namespace pros {
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/**
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* \ingroup cpp-link
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*/
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class Link : public Device {
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/**
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* \addtogroup cpp-link
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* ///@{
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*/
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private:
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public:
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/**
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* Initializes a link on a radio port, with an indicated type. There might be a
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* 1 to 2 second delay from when this function is called to when the link is initializes.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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*
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* \param port
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* The port of the radio for the intended link.
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* \param link_id
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* Unique link ID in the form of a string, needs to be different from other links in
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* the area.
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* \param type
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* Indicates whether the radio link on the brain is a transmitter or receiver,
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* with the transmitter having double the transmitting bandwidth as the receiving
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* end (1040 bytes/s vs 520 bytes/s).
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* \param ov
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* Indicates if the radio on the given port needs vexlink to override the controller radio. Defualts to True.
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*
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* \return PROS_ERR if initialization fails, 1 if the initialization succeeds.
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*
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* \b Example:
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* \code
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* \endcode
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*/
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explicit Link(const std::uint8_t port, const std::string link_id, link_type_e_t type, bool ov = true);
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/**
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* Checks if a radio link on a port is active or not.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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*
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* \return If a radio is connected to a port and it's connected to a link.
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*
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* \b Example:
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* \code
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* if (link.connected()) {
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* // do something
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* }
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* \endcode
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*/
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bool connected();
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/**
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* Returns the bytes of data number of without protocol available to be read
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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*
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* \return PROS_ERR if port is not a link/radio, else the bytes available to be
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* read by the user.
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*
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* \b Example:
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* \code
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* void opcontrol() {
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* printf("Bytes available to read: %d", link.receivable_size());
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* }
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* \endcode
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*/
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std::uint32_t raw_receivable_size();
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/**
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* Returns the bytes of data available in transmission buffer.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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*
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* \return PROS_ERR if port is not a link/radio,
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* else the bytes available to be transmitted by the user.
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*
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* \b Example:
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* \code
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* void opcontrol() {
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* printf("Bytes available to transmit: %d", link.transmittable_size());
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* }
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*/
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std::uint32_t raw_transmittable_size();
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/**
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* Send raw serial data through vexlink.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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* EBUSY - The transmitter buffer is still busy with a previous transmission, and there is no
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* room in the FIFO buffer (queue) to transmit the data.
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* EINVAL - The data given is NULL
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*
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* \param data
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* Buffer with data to send
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* \param data_size
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* Buffer with data to send
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*
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* \return PROS_ERR if port is not a link, and the successfully transmitted
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* data size if it succeeded.
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*
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* \b Example:
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* \code
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* void opcontrol() {
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* std::uint8_t data[4] = {0x01, 0x02, 0x03, 0x04};
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* link.transmit_raw(data, 4);
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* }
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*
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* \endcode
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*/
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std::uint32_t transmit_raw(void* data, std::uint16_t data_size);
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/**
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* Receive raw serial data through vexlink.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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* EINVAL - The destination given is NULL, or the size given is larger than the FIFO buffer
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* or destination buffer.
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*
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* \param dest
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* Destination buffer to read data to
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* \param data_size
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* Bytes of data to be read to the destination buffer
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*
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* \return PROS_ERR if port is not a link, and the successfully received
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* data size if it succeeded.
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*
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* \b Example:
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* \code
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* void opcontrol() {
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* std::uint8_t data[4];
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* link.receive_raw(data, 4);
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* }
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* \endcode
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*/
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std::uint32_t receive_raw(void* dest, std::uint16_t data_size);
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/**
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* Send packeted message through vexlink, with a checksum and start byte.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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* EBUSY - The transmitter buffer is still busy with a previous transmission, and there is no
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* room in the FIFO buffer (queue) to transmit the data.
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* EINVAL - The data given is NULL
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*
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* \param data
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* Buffer with data to send
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* \param data_size
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* Bytes of data to be read to the destination buffer
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*
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* \return PROS_ERR if port is not a link, and the successfully transmitted
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* data size if it succeeded.
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*
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* \b Example:
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* \code
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* void opcontrol() {
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* std::uint8_t data[4] = {0x01, 0x02, 0x03, 0x04};
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* link.transmit(data, 4);
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* }
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* \endcode
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*/
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std::uint32_t transmit(void* data, std::uint16_t data_size);
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/**
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* Receive packeted message through vexlink, with a checksum and start byte.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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* EINVAL - The destination given is NULL, or the size given is larger than the FIFO buffer
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* or destination buffer.
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* EBADMSG - Protocol error related to start byte, data size, or checksum.
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* \param dest
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* Destination buffer to read data to
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* \param data_size
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* Bytes of data to be read to the destination buffer
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*
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* \return PROS_ERR if port is not a link, and the successfully received
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* data size if it succeeded.
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*
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* \b Example:
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* \code
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* void opcontrol() {
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* std::uint8_t data[4];
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* link.receive(data, 4);
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* }
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* \endcode
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*/
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std::uint32_t receive(void* dest, std::uint16_t data_size);
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/**
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* Clear the receive buffer of the link, and discarding the data.
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*
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* \note This function uses the following values of errno when an error state is
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* reached:
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* ENXIO - The given value is not within the range of V5 ports (1-21).
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* ENODEV - The port cannot be configured as a radio.
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* ENXIO - The sensor is still calibrating, or no link is connected via the radio.
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*
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* \return PROS_ERR if port is not a link, 1 if the operation succeeded.
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*
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* \b Example:
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* \code
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* void opcontrol() {
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* pros::Link link(1, "my_link", pros::E_LINK_TX);
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* link.clear_receive_buf();
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* }
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* \endcode
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*/
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std::uint32_t clear_receive_buf();
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///@}
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};
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} // namespace pros
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#endif
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