vex_rt/adi/
ultrasonic.rs

1use crate::{
2    bindings,
3    error::{get_errno, Error},
4    rtos::DataSource,
5};
6
7/// Represents a V5 ADI port pair configured as an ultrasonic sensor.
8pub struct AdiUltrasonic {
9    port: bindings::ext_adi_ultrasonic_t,
10}
11
12impl AdiUltrasonic {
13    /// Initializes an ultrasonic sensor on two ADI ports.
14    ///
15    /// # Safety
16    /// This function is unsafe because it allows the user to create multiple
17    /// mutable references to the same ADI ultrasonic sensor. You likely want to
18    /// implement [`Robot::new()`](crate::robot::Robot::new()) instead.
19    pub unsafe fn new(
20        out_port: u8,
21        in_port: u8,
22        smart_port: u8,
23    ) -> Result<Self, AdiUltrasonicError> {
24        match bindings::ext_adi_ultrasonic_init(smart_port, out_port, in_port) {
25            bindings::PROS_ERR_ => Err(AdiUltrasonicError::from_errno()),
26            port => Ok(Self { port }),
27        }
28    }
29
30    /// Gets the current value of the ultrasonic sensor.
31    pub fn get(&self) -> Result<u32, AdiUltrasonicError> {
32        match unsafe { bindings::ext_adi_ultrasonic_get(self.port) } {
33            bindings::PROS_ERR_ => Err(AdiUltrasonicError::from_errno()),
34            r if r < 0 => Err(AdiUltrasonicError::NoReading),
35            r => Ok(r as u32),
36        }
37    }
38}
39
40impl DataSource for AdiUltrasonic {
41    type Data = u32;
42
43    type Error = AdiUltrasonicError;
44
45    fn read(&self) -> Result<Self::Data, Self::Error> {
46        self.get()
47    }
48}
49
50impl Drop for AdiUltrasonic {
51    fn drop(&mut self) {
52        if unsafe { bindings::ext_adi_ultrasonic_shutdown(self.port) } == bindings::PROS_ERR_ {
53            panic!(
54                "failed to shutdown ADI ultrasonic: {:?}",
55                AdiUltrasonicError::from_errno()
56            )
57        }
58    }
59}
60
61/// Represents possible errors for ADI ultrasonic operations.
62#[derive(Debug)]
63pub enum AdiUltrasonicError {
64    /// Ports are out of range (1-8).
65    PortsOutOfRange,
66    /// Ports cannot be configured as an ADI encoder.
67    PortsNotAdiUltrasonic,
68    /// Ports are from non matching extenders
69    PortNonMatchingExtenders,
70    /// Sensor did not hear an echo.
71    NoReading,
72    /// Unknown error.
73    Unknown(i32),
74}
75
76impl AdiUltrasonicError {
77    fn from_errno() -> Self {
78        match get_errno() {
79            libc::ENXIO => Self::PortsOutOfRange,
80            libc::EADDRINUSE => Self::PortsNotAdiUltrasonic,
81            x => Self::Unknown(x),
82        }
83    }
84}
85
86impl From<AdiUltrasonicError> for Error {
87    fn from(err: AdiUltrasonicError) -> Self {
88        match err {
89            AdiUltrasonicError::PortsOutOfRange => Error::Custom("ports out of range".into()),
90            AdiUltrasonicError::PortsNotAdiUltrasonic => {
91                Error::Custom("ports not an adi ultrasonic".into())
92            }
93            AdiUltrasonicError::PortNonMatchingExtenders => {
94                Error::Custom("ports from non-matching extenders".into())
95            }
96            AdiUltrasonicError::NoReading => Error::Custom("sensor did not hear an echo".into()),
97            AdiUltrasonicError::Unknown(n) => Error::System(n),
98        }
99    }
100}
vex_rt/adi/ultrasonic.rs

vex_rt/adi/
ultrasonic.rs
