vexide-startup 0.5.0

//! Minimal example  of setting up a vexide program without the `#[vexide::main]` attribute macro or
//! async runtime.
//!
//! There are a few reasons why you might want this over using a normal Rust binary - notably, going
//! through `vexide_startup` provides support for differential uploading, implementations for
//! `vex_sdk`, graphical panics with backtraces, and a more efficient/smaller allocator.

use std::time::Duration;

use vexide_core::program::{CodeSignature, ProgramOptions, ProgramOwner, ProgramType};
use vexide_devices::{
    math::Direction,
    peripherals::Peripherals,
    smart::motor::{Gearset, Motor},
};

/// The code signature encodes some metadata about this program at startup to VEXos.
///
/// `vexide-startup` allows you to customize your program's code signature by placing data into the
/// `.code_signature` section of your binary.
// SAFETY: The code signature needs to be in this section so it may be found by VEXos.
#[cfg_attr(target_os = "vexos", unsafe(link_section = ".code_signature"))]
#[used] // This is needed to prevent the linker from removing this object in release builds
#[unsafe(no_mangle)]
static __VEXIDE_CODE_SIGNATURE: CodeSignature = CodeSignature::new(
    ProgramType::User,
    ProgramOwner::Partner,
    ProgramOptions::empty(),
);

fn main() {
    // Setup the heap, zero bss, apply patches, etc...
    //
    // SAFETY: Called once at program startup.
    unsafe {
        vexide_startup::startup();
    }

    println!("Hey");

    // Try to spin a motor.
    let peripherals = Peripherals::take().unwrap();
    let mut m = Motor::new(peripherals.port_1, Gearset::Green, Direction::Forward);
    _ = m.set_voltage(12.0);

    // Wait 5 seconds then exit.
    std::thread::sleep(Duration::from_secs(5));
}