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| [workspace] | ||
| members = ["packages/*"] | ||
| resolver = "2" | ||
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| [workspace.lints.rust] | ||
| rust_2018_idioms = "warn" | ||
| missing_docs = "warn" | ||
| unsafe_op_in_unsafe_fn = "warn" | ||
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| [workspace.lints.clippy] | ||
| missing_const_for_fn = "warn" |
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| [package] | ||
| name = "pros-async" | ||
| version = "0.1.0" | ||
| edition = "2021" | ||
| license = "MIT" | ||
| description = "A simple async executor for pros-rs" | ||
| keywords = ["PROS", "Robotics", "bindings", "async", "vex", "v5"] | ||
| categories = [ | ||
| "no-std", | ||
| "science::robotics", | ||
| "Asynchronous" | ||
| ] | ||
| repository = "https://github.com/gavin-niederman/pros-rs" | ||
| authors = [ | ||
| "pros-rs", | ||
| "Gavin Niederman <[email protected]>", | ||
| "doinkythederp <[email protected]>", | ||
| ] | ||
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| # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html | ||
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| [dependencies] | ||
| async-task = { version = "4.5.0", default-features = false } | ||
| pros-core = { version = "0.1.0", path = "../pros-core" } | ||
| waker-fn = "1.1.1" | ||
| pros-sys = { version = "0.7.0", path = "../pros-sys" } | ||
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| [lints] | ||
| workspace = true |
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| # pros-async | ||
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| Tiny async runtime and robot traits for `pros-rs`. | ||
| The async executor supports spawning tasks and blocking on futures. | ||
| It has a reactor to improve the performance of some futures. | ||
| FreeRTOS tasks can still be used, but it is recommended to use only async tasks for performance. |
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| Original file line number | Diff line number | Diff line change |
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| //! Tiny async runtime and robot traits for `pros-rs`. | ||
| //! The async executor supports spawning tasks and blocking on futures. | ||
| //! It has a reactor to improve the performance of some futures. | ||
| //! It is recommended to use the `AsyncRobot` trait to run robot code. | ||
| //! FreeRTOS tasks can still be used, but it is recommended to use only async tasks for performance. | ||
| #![no_std] | ||
| #![feature(negative_impls)] | ||
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| extern crate alloc; | ||
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| use core::{future::Future, task::Poll}; | ||
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| use async_task::Task; | ||
| use executor::EXECUTOR; | ||
| use pros_core::error::Result; | ||
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| mod executor; | ||
| mod reactor; | ||
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| /// Runs a future in the background without having to await it | ||
| /// To get the the return value you can await a task. | ||
| pub fn spawn<T>(future: impl Future<Output = T> + 'static) -> Task<T> { | ||
| executor::EXECUTOR.with(|e| e.spawn(future)) | ||
| } | ||
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| /// Blocks the current task untill a return value can be extracted from the provided future. | ||
| /// Does not poll all futures to completion. | ||
| pub fn block_on<F: Future + 'static>(future: F) -> F::Output { | ||
| executor::EXECUTOR.with(|e| e.block_on(spawn(future))) | ||
| } | ||
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| /// A future that will complete after the given duration. | ||
| /// Sleep futures that are closer to completion are prioritized to improve accuracy. | ||
| #[derive(Debug)] | ||
| pub struct SleepFuture { | ||
| target_millis: u32, | ||
| } | ||
| impl Future for SleepFuture { | ||
| type Output = (); | ||
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| fn poll( | ||
| self: core::pin::Pin<&mut Self>, | ||
| cx: &mut core::task::Context<'_>, | ||
| ) -> core::task::Poll<Self::Output> { | ||
| if self.target_millis < unsafe { pros_sys::millis() } { | ||
| Poll::Ready(()) | ||
| } else { | ||
| EXECUTOR.with(|e| { | ||
| e.reactor | ||
| .borrow_mut() | ||
| .sleepers | ||
| .push(cx.waker().clone(), self.target_millis) | ||
| }); | ||
| Poll::Pending | ||
| } | ||
| } | ||
| } | ||
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| /// Returns a future that will complete after the given duration. | ||
| pub fn sleep(duration: core::time::Duration) -> SleepFuture { | ||
| SleepFuture { | ||
| target_millis: unsafe { pros_sys::millis() + duration.as_millis() as u32 }, | ||
| } | ||
| } | ||
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| /// A trait for robot code that spins up the pros-rs async executor. | ||
| /// This is the preferred trait to run robot code. | ||
| pub trait AsyncRobot { | ||
| /// Runs during the operator control period. | ||
| /// This function may be called more than once. | ||
| /// For that reason, do not use `Peripherals::take`in this function. | ||
| fn opcontrol(&mut self) -> impl Future<Output = Result> { | ||
| async { Ok(()) } | ||
| } | ||
| /// Runs during the autonomous period. | ||
| fn auto(&mut self) -> impl Future<Output = Result> { | ||
| async { Ok(()) } | ||
| } | ||
| /// Runs continuously during the disabled period. | ||
| fn disabled(&mut self) -> impl Future<Output = Result> { | ||
| async { Ok(()) } | ||
| } | ||
| /// Runs once when the competition system is initialized. | ||
| fn comp_init(&mut self) -> impl Future<Output = Result> { | ||
| async { Ok(()) } | ||
| } | ||
| } | ||
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| #[doc(hidden)] | ||
| #[macro_export] | ||
| macro_rules! __gen_async_exports { | ||
| ($rbt:ty) => { | ||
| pub static mut ROBOT: Option<$rbt> = None; | ||
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| #[doc(hidden)] | ||
| #[no_mangle] | ||
| extern "C" fn opcontrol() { | ||
| $crate::block_on(<$rbt as $crate::AsyncRobot>::opcontrol(unsafe { | ||
| ROBOT | ||
| .as_mut() | ||
| .expect("Expected initialize to run before opcontrol") | ||
| })) | ||
| .unwrap(); | ||
| } | ||
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| #[doc(hidden)] | ||
| #[no_mangle] | ||
| extern "C" fn autonomous() { | ||
| $crate::block_on(<$rbt as $crate::AsyncRobot>::auto(unsafe { | ||
| ROBOT | ||
| .as_mut() | ||
| .expect("Expected initialize to run before auto") | ||
| })) | ||
| .unwrap(); | ||
| } | ||
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| #[doc(hidden)] | ||
| #[no_mangle] | ||
| extern "C" fn disabled() { | ||
| $crate::block_on(<$rbt as $crate::AsyncRobot>::disabled(unsafe { | ||
| ROBOT | ||
| .as_mut() | ||
| .expect("Expected initialize to run before disabled") | ||
| })) | ||
| .unwrap(); | ||
| } | ||
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| #[doc(hidden)] | ||
| #[no_mangle] | ||
| extern "C" fn competition_initialize() { | ||
| $crate::block_on(<$rbt as $crate::AsyncRobot>::comp_init(unsafe { | ||
| ROBOT | ||
| .as_mut() | ||
| .expect("Expected initialize to run before comp_init") | ||
| })) | ||
| .unwrap(); | ||
| } | ||
| }; | ||
| } | ||
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| /// Allows your async robot code to be executed by the pros kernel. | ||
| /// If your robot struct implements Default then you can just supply this macro with its type. | ||
| /// If not, you can supply an expression that returns your robot type to initialize your robot struct. | ||
| /// The code that runs to create your robot struct will run in the initialize function in PROS. | ||
| /// | ||
| /// Example of using the macro with a struct that implements Default: | ||
| /// ```rust | ||
| /// use pros::prelude::*; | ||
| /// #[derive(Default)] | ||
| /// struct ExampleRobot; | ||
| /// #[async_trait] | ||
| /// impl AsyncRobot for ExampleRobot { | ||
| /// asnyc fn opcontrol(&mut self) -> pros::Result { | ||
| /// println!("Hello, world!"); | ||
| /// Ok(()) | ||
| /// } | ||
| /// } | ||
| /// async_robot!(ExampleRobot); | ||
| /// ``` | ||
| /// | ||
| /// Example of using the macro with a struct that does not implement Default: | ||
| /// ```rust | ||
| /// use pros::prelude::*; | ||
| /// struct ExampleRobot { | ||
| /// x: i32, | ||
| /// } | ||
| /// #[async_trait] | ||
| /// impl AsyncRobot for ExampleRobot { | ||
| /// async fn opcontrol(&mut self) -> pros::Result { | ||
| /// println!("Hello, world! {}", self.x); | ||
| /// Ok(()) | ||
| /// } | ||
| /// } | ||
| /// impl ExampleRobot { | ||
| /// pub fn new() -> Self { | ||
| /// Self { x: 5 } | ||
| /// } | ||
| /// } | ||
| /// async_robot!(ExampleRobot, ExampleRobot::new()); | ||
| #[macro_export] | ||
| macro_rules! async_robot { | ||
| ($rbt:ty) => { | ||
| $crate::__gen_async_exports!($rbt); | ||
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| #[no_mangle] | ||
| extern "C" fn initialize() { | ||
| unsafe { | ||
| ROBOT = Some(Default::default()); | ||
| } | ||
| } | ||
| }; | ||
| ($rbt:ty, $init:expr) => { | ||
| $crate::__gen_async_exports!($rbt); | ||
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| #[no_mangle] | ||
| extern "C" fn initialize() { | ||
| unsafe { | ||
| ROBOT = Some($init); | ||
| } | ||
| } | ||
| }; | ||
| } |
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