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// Copyright 2021 UBC Bionics, Ltd.
//
// Licensed under the MIT license
// <LICENSE.md or https://opensource.org/licenses/MIT>.
// This file may not be copied, modified, or
// distributed except according to those terms.

#![warn(missing_docs)]
#![warn(missing_doc_code_examples)]

//! An interface for the Pololu Micro Maestro
//! 6-Channel Servo Controller Board.
//!
//! `raestro` provides an easy-to-use interface to
//! communicate with the 6-Channel Maestro.
//!
//! # Prelude
//! Before continuing, please take note of the
//! following points:
//! * This library is developed specifically for
//!   the Raspberry Pi. Builds on different
//!   architectures will not be guaranteed to
//!   work.
//! * Please take caution in wiring the Pololu
//!   Micro Maestro to the Raspberry Pi. Incorrect
//!   wiring may lead to permanent hardware
//!   damage.
//!
//! # Getting Started
//! Below are the hardware and software setup
//! processes that must be followed before
//! successfully interacting with the Maestro, as
//! well as trouble-shooting tips.
//!
//! ### Hardware Setup
//! 1. Connect the power + ground lines from the
//! Raspberry Pi to the Maestro. 2. Connect the
//! Raspberry Pi's TX and RX pins to the Maestro's
//! RX and TX pins, respectively. Please note the
//! order in which the pins need to be connected
//! (Raspberry Pi's TX connected to Maestro's RX;
//! Raspberry Pi's RX connected to Maestro's TX).
//! 3. Connect the power lines for the servos
//! (holding the board such that the pins are
//! facing you and are on the right side of the
//! board, these are the 2 pins on the top right).
//! The left one of the pair is the power; the
//! right one is ground. 4. Connect up to 6 servos
//! on one of the pin-triples available (the
//! backside of the board has more info on each
//! pin-type).
//!
//! ### Software Setup
//! The Rust crate [rppal](https://crates.io/crates/rppal) provides user-level APIs for protocols such as `PWM`, `I2C`, and `UART`. In order to configure `UART` for the Raspberry Pi, do the following:
//! 1. Remove `console=serial0,11520` from
//! `/boot/cmdline.txt` 2. Disable the Bluetooth
//! by:
//!     * Adding `dtoverlay=pi3-disable-bt` to
//!       `/boot/config.txt`
//!         * For the Raspberry Pi 4 models, add
//!           `dtoverlay=disable-bt` instead
//!         * Once this is done, reboot the
//!           Raspberry Pi (by powering it off and
//!           then on again)
//!     * Running the command `sudo systemctl
//!       disable hciuart`
//!
//! ### Trouble-shooting
//! If permission denied errors are being
//! observed, please inspect your user's
//! permissions. More specifically, your user must
//! be added to group `dialout`. If `cargo build` or `cargo test` do not work because of the `rppal` dependency, check the `rppal` documentations on how to set up `UART`. The link is [here](https://docs.rs/rppal/0.11.3/rppal/uart/index.html).
//!
//! # Example Usage
//! Below are included some simple examples on how
//! to instantiate and start a ['maestro']
//! instance, as well as how to send some commands
//! to the Micro Maestro 6-Channel Servo Board.
//!
//! ```
//! use std::{
//!     thread,
//!     time::Duration,
//! };
//! use raestro::prelude::*;
//!
//! let mut m: Maestro = Maestro::new();
//! m.start(BaudRates::BR_115200).unwrap();
//!
//! let channel: Channels = Channels::C_0;
//!
//! let target_min = 3968u16;
//! let target_max = 8000u16;
//!
//! let sleep_time = Duration::from_millis(1000u64);
//!
//! // just swivel back and forth 10 times
//! for _ in 0u8..10u8 {
//!     m.set_target(channel, target_min).unwrap();
//!     thread::sleep(sleep_time);
//!
//!     m.set_target(channel, target_max).unwrap();
//!     thread::sleep(sleep_time);
//! }
//! ```

pub mod constants;
mod errors;
mod maestro;
pub mod prelude;
mod utils;
#[cfg(test)]
mod tests {
    // external uses

    // internal mods

    // internal uses
    use crate::{
        constants::*,
        maestro::*,
    };

    #[test]
    fn init_and_close() -> () {
        let mut maestro: Maestro = Maestro::new();
        maestro.start(BaudRates::BR_115200).unwrap();
        maestro.close();
    }
}

// internal uses
pub use errors::*;
pub use maestro::*;