ds/proto/udp/outbound/
types.rs

1pub mod tags;
2
3bitflags! {
4    /// bitflag struct for the Control value of the packet
5    pub struct Control: u8 {
6        const ESTOP = 0b1000_0000;
7        const FMS_CONNECTED = 0b0000_1000;
8        const ENABLED = 0b0000_0100;
9
10        // Mode flags
11        const TELEOP = 0b00;
12        const TEST = 0b01;
13        const AUTO = 0b10;
14    }
15}
16
17bitflags! {
18    /// bitflags for reboot and code restart requests
19    pub struct Request: u8 {
20        const REBOOT_ROBORIO = 0b0000_1000;
21        const RESTART_CODE = 0b0000_0100;
22    }
23}
24
25/// Struct abstracting the byte value for alliance colour and position
26#[derive(Copy, Clone, Debug)]
27pub struct Alliance(pub u8);
28
29impl Alliance {
30    /// Creates a new `Alliance` for the given position, on the red alliance
31    pub fn new_red(position: u8) -> Alliance {
32        //        assert!((1u8..3).contains(&position));
33
34        Alliance(position - 1)
35    }
36
37    /// Creates a new `Alliance` for the given position, on the blue alliance
38    pub fn new_blue(position: u8) -> Alliance {
39        //        assert!((1u8..3).contains(&position));
40
41        Alliance(position + 2)
42    }
43
44    /// Returns true if `self` is on the red alliance, false otherwise
45    ///
46    /// !is_red() implies is_blue()
47    pub fn is_red(self) -> bool {
48        self.0 < 3
49    }
50
51    /// Returns true if `self` is on the blue alliance, false otherwise
52    pub fn is_blue(self) -> bool {
53        !self.is_red()
54    }
55
56    /// Returns the alliance station position for `self`
57    pub fn position(self) -> u8 {
58        (self.0 % 3) + 1
59    }
60}
ds/proto/udp/outbound/types.rs

ds/proto/udp/outbound/
types.rs
