Merge pull request #12 from pros-rs/state

feat: add functions for checking robot state

pros-sys/src/misc.rs

@@ -2,11 +2,14 @@ use core::ffi::*;
 
 pub const NUM_V5_PORTS: usize = 21;
 // v5 comp
-pub const COMPETITION_DISABLED: i32 = 0b001;
-pub const COMPETITION_AUTONOMOUS: i32 = 0b010;
-pub const COMPETITION_CONNECTED: i32 = 0b100;
+pub const COMPETITION_AUTONOMOUS: u8 = 1 << 0;
+pub const COMPETITION_DISABLED: u8 = 1 << 1;
+pub const COMPETITION_CONNECTED: u8 = 1 << 2;
 extern "C" {
     pub fn competition_get_status() -> u8;
+    pub fn competition_is_autonomous() -> bool;
+    pub fn competition_is_connected() -> bool;
+    pub fn competition_is_disabled() -> bool;
 }
 // controller
 pub const E_CONTROLLER_MASTER: c_uint = 0;

pros/src/battery.rs

@@ -0,0 +1,19 @@
+/// Get the robot's battery capacity.
+pub fn get_capacity() -> f64 {
+    unsafe { pros_sys::misc::battery_get_capacity() }
+}
+
+/// Get the electric current of the robot's battery.
+pub fn get_current() -> i32 {
+    unsafe { pros_sys::misc::battery_get_current() }
+}
+
+/// Get the current temperature of the robot's battery.
+pub fn get_temperature() -> f64 {
+    unsafe { pros_sys::misc::battery_get_temperature() }
+}
+
+/// Get the robot's battery voltage.
+pub fn get_voltage() -> i32 {
+    unsafe { pros_sys::misc::battery_get_voltage() }
+}

pros/src/competition.rs

@@ -0,0 +1,36 @@
+/// The current status of the robot, allowing checks to be made
+/// for autonomous, disabled, and connected states.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub struct CompetitionStatus(pub u8);
+
+impl CompetitionStatus {
+    pub const fn autonomous(&self) -> bool {
+        self.0 & pros_sys::misc::COMPETITION_AUTONOMOUS != 0
+    }
+    pub const fn disabled(&self) -> bool {
+        self.0 & pros_sys::misc::COMPETITION_DISABLED != 0
+    }
+    pub const fn connected(&self) -> bool {
+        self.0 & pros_sys::misc::COMPETITION_CONNECTED != 0
+    }
+}
+
+/// Get the current status of the robot.
+pub fn get_status() -> CompetitionStatus {
+    CompetitionStatus(unsafe { pros_sys::misc::competition_get_status() })
+}
+
+/// Check if the robot is in autonomous mode.
+pub fn is_autonomous() -> bool {
+    unsafe { pros_sys::misc::competition_is_autonomous() }
+}
+
+/// Check if the robot is disabled.
+pub fn is_disabled() -> bool {
+    unsafe { pros_sys::misc::competition_is_disabled() }
+}
+
+/// Check if the robot is connected to a VEX field or competition switch.
+pub fn is_connected() -> bool {
+    unsafe { pros_sys::misc::competition_is_connected() }
+}

pros/src/lib.rs

@@ -22,8 +22,11 @@ mod wasm_env;
 #[macro_use]
 pub mod lcd;
 pub mod adi;
+pub mod battery;
+pub mod competition;
 pub mod link;
 pub mod lvgl;
+pub mod usd;
 
 pub use async_trait::async_trait;
 

pros/src/usd.rs

@@ -0,0 +1,4 @@
+/// Checks if an SD card is installed.
+pub fn usd_installed() -> bool {
+    unsafe { pros_sys::misc::usd_is_installed() == 1 }
+}