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//! Read from the buttons and joysticks on the controller and write to the controller's display.
//!
//! Controllers are identified by their id, which is either 0 (master) or 1 (partner).
//! State of a controller can be checked by calling [`Controller::state`] which will return a struct with all of the buttons' and joysticks' state.
use alloc::{ffi::CString, vec::Vec};
use pros_core::{bail_on, map_errno};
use pros_sys::{controller_id_e_t, PROS_ERR};
use snafu::Snafu;
/// Holds whether or not the buttons on the controller are pressed or not
#[derive(Default, Debug, Clone, Copy, Eq, PartialEq)]
pub struct Buttons {
/// The 'A' button on the right button pad of the controller.
pub a: bool,
/// The 'B' button on the right button pad of the controller.
pub b: bool,
/// The 'X' button on the right button pad of the controller.
pub x: bool,
/// The 'Y' button on the right button pad of the controller.
pub y: bool,
/// The up arrow on the left arrow pad of the controller.
pub up: bool,
/// The down arrow on the left arrow pad of the controller.
pub down: bool,
/// The left arrow on the left arrow pad of the controller.
pub left: bool,
/// The right arrow on the left arrow pad of the controller.
pub right: bool,
/// The first trigger on the left side of the controller.
pub left_trigger_1: bool,
/// The second trigger on the left side of the controller.
pub left_trigger_2: bool,
/// The first trigger on the right side of the controller.
pub right_trigger_1: bool,
/// The second trigger on the right side of the controller.
pub right_trigger_2: bool,
}
/// Stores how far the joystick is away from the center (at *(0, 0)*) from -1 to 1.
/// On the x axis left is negative, and right is positive.
/// On the y axis down is negative, and up is positive.
#[derive(Default, Debug, Clone, Copy, PartialEq)]
pub struct Joystick {
/// Left and right x value of the joystick
pub x: f32,
/// Up and down y value of the joystick
pub y: f32,
}
/// Stores both joysticks on the controller.
#[derive(Debug, Clone, Copy, PartialEq)]
pub struct Joysticks {
/// Left joystick
pub left: Joystick,
/// Right joystick
pub right: Joystick,
}
/// Stores the current state of the controller; the joysticks and buttons.
#[derive(Debug, Clone, Copy, PartialEq)]
pub struct ControllerState {
/// Analog joysticks state
pub joysticks: Joysticks,
/// Digital buttons state
pub buttons: Buttons,
}
/// Represents one line on the controller console.
#[derive(Debug, Clone, Copy)]
pub struct ControllerLine {
controller: Controller,
line: u8,
}
impl ControllerLine {
/// The maximum length that can fit in one line on the controllers display.
pub const MAX_TEXT_LEN: usize = 14;
/// The maximum line number that can be used on the controller display.
pub const MAX_LINE_NUM: u8 = 2;
/// Attempts to print text to the controller display.
/// Returns an error if the text is too long to fit on the display or if an internal PROS error occured.
pub fn try_print(&self, text: impl Into<Vec<u8>>) -> Result<(), ControllerError> {
let text = text.into();
let text_len = text.len();
assert!(
text_len > ControllerLine::MAX_TEXT_LEN,
"Printed text is too long to fit on controller display ({text_len} > {})",
Self::MAX_TEXT_LEN
);
let c_text = CString::new(text).expect("parameter `text` should not contain null bytes");
bail_on!(PROS_ERR, unsafe {
pros_sys::controller_set_text(self.controller.id(), self.line, 0, c_text.as_ptr())
});
Ok(())
}
/// Prints text to the controller display.
/// # Panics
/// Unlike [`ControllerLine::try_print`],
/// this function will panic if the text is too long to fit on the display
/// or if an internal PROS error occured.
pub fn print(&self, text: impl Into<Vec<u8>>) {
self.try_print(text).unwrap();
}
}
/// A digital channel (button) on the VEX controller.
#[repr(u32)]
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum ControllerButton {
/// The 'A' button on the right button pad of the controller.
A = pros_sys::E_CONTROLLER_DIGITAL_A,
/// The 'B' button on the right button pad of the controller.
B = pros_sys::E_CONTROLLER_DIGITAL_B,
/// The 'X' button on the right button pad of the controller.
X = pros_sys::E_CONTROLLER_DIGITAL_X,
/// The 'Y' button on the right button pad of the controller.
Y = pros_sys::E_CONTROLLER_DIGITAL_Y,
/// The up arrow on the left arrow pad of the controller.
Up = pros_sys::E_CONTROLLER_DIGITAL_UP,
/// The down arrow on the left arrow pad of the controller.
Down = pros_sys::E_CONTROLLER_DIGITAL_DOWN,
/// The left arrow on the left arrow pad of the controller.
Left = pros_sys::E_CONTROLLER_DIGITAL_LEFT,
/// The right arrow on the left arrow pad of the controller.
Right = pros_sys::E_CONTROLLER_DIGITAL_RIGHT,
/// The first trigger on the left side of the controller.
LeftTrigger1 = pros_sys::E_CONTROLLER_DIGITAL_L1,
/// The second trigger on the left side of the controller.
LeftTrigger2 = pros_sys::E_CONTROLLER_DIGITAL_L2,
/// The first trigger on the right side of the controller.
RightTrigger1 = pros_sys::E_CONTROLLER_DIGITAL_R1,
/// The second trigger on the right side of the controller.
RightTrigger2 = pros_sys::E_CONTROLLER_DIGITAL_R2,
}
/// An analog channel (joystick axis) on the VEX controller.
#[repr(u32)]
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
pub enum JoystickAxis {
/// Left (-1.0) and right (1.0) x axis of the left joystick
LeftX = pros_sys::E_CONTROLLER_ANALOG_LEFT_X,
/// Down (-1.0) and up (1.0) y axis of the left joystick
LeftY = pros_sys::E_CONTROLLER_ANALOG_LEFT_Y,
/// Left (-1.0) and right (1.0) x axis of the right joystick
RightX = pros_sys::E_CONTROLLER_ANALOG_RIGHT_X,
/// Down (-1.0) and up (1.0) y axis of the right joystick
RightY = pros_sys::E_CONTROLLER_ANALOG_RIGHT_Y,
}
/// The basic type for a controller.
/// Used to get the state of its joysticks and controllers.
#[repr(u32)]
#[derive(Debug, Clone, Copy, Default)]
pub enum Controller {
/// The master controller. Controllers default to this value.
#[default]
Master = pros_sys::E_CONTROLLER_MASTER,
/// The partner controller.
Partner = pros_sys::E_CONTROLLER_PARTNER,
}
impl Controller {
const fn id(&self) -> controller_id_e_t {
*self as controller_id_e_t
}
/// Returns a line on the controller display that can be used to print to the controller.
pub fn line(&self, line_num: u8) -> ControllerLine {
assert!(
line_num > ControllerLine::MAX_LINE_NUM,
"Line number is too large for controller display ({line_num} > {})",
ControllerLine::MAX_LINE_NUM
);
ControllerLine {
controller: *self,
line: line_num,
}
}
/// Gets the current state of the controller in its entirety.
pub fn state(&self) -> Result<ControllerState, ControllerError> {
Ok(ControllerState {
joysticks: unsafe {
Joysticks {
left: Joystick {
x: bail_on!(
PROS_ERR,
pros_sys::controller_get_analog(
self.id(),
pros_sys::E_CONTROLLER_ANALOG_LEFT_X,
)
) as f32
/ 127.0,
y: bail_on!(
PROS_ERR,
pros_sys::controller_get_analog(
self.id(),
pros_sys::E_CONTROLLER_ANALOG_LEFT_Y,
)
) as f32
/ 127.0,
},
right: Joystick {
x: bail_on!(
PROS_ERR,
pros_sys::controller_get_analog(
self.id(),
pros_sys::E_CONTROLLER_ANALOG_RIGHT_X,
)
) as f32
/ 127.0,
y: bail_on!(
PROS_ERR,
pros_sys::controller_get_analog(
self.id(),
pros_sys::E_CONTROLLER_ANALOG_RIGHT_Y,
)
) as f32
/ 127.0,
},
}
},
buttons: unsafe {
Buttons {
a: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_A,
)
) == 1,
b: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_B,
)
) == 1,
x: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_X,
)
) == 1,
y: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_Y,
)
) == 1,
up: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_UP,
)
) == 1,
down: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_DOWN,
)
) == 1,
left: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_LEFT,
)
) == 1,
right: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_RIGHT,
)
) == 1,
left_trigger_1: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_L1,
)
) == 1,
left_trigger_2: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_L2,
)
) == 1,
right_trigger_1: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_R1,
)
) == 1,
right_trigger_2: bail_on!(
PROS_ERR,
pros_sys::controller_get_digital(
self.id(),
pros_sys::E_CONTROLLER_DIGITAL_R2,
)
) == 1,
}
},
})
}
/// Gets the state of a specific button on the controller.
pub fn button(&self, button: ControllerButton) -> Result<bool, ControllerError> {
Ok(bail_on!(PROS_ERR, unsafe {
pros_sys::controller_get_digital(self.id(), button as pros_sys::controller_digital_e_t)
}) == 1)
}
/// Gets the state of a specific joystick axis on the controller.
pub fn joystick_axis(&self, axis: JoystickAxis) -> Result<f32, ControllerError> {
Ok(bail_on!(PROS_ERR, unsafe {
pros_sys::controller_get_analog(self.id(), axis as pros_sys::controller_analog_e_t)
}) as f32
/ 127.0)
}
}
#[derive(Debug, Snafu)]
/// Errors that can occur when interacting with the controller.
pub enum ControllerError {
/// The controller ID given was invalid, expected E_CONTROLLER_MASTER or E_CONTROLLER_PARTNER.
InvalidControllerId,
/// Another resource is already using the controller.
ConcurrentAccess,
}
map_errno! {
ControllerError {
EACCES => Self::ConcurrentAccess,
EINVAL => Self::InvalidControllerId,
}
}