Merge remote-tracking branch 'origin/main' into pr/ion098/8

.github/workflows/auto-format.yml

@@ -0,0 +1,38 @@
+# automatically format code using clang-format when a pull request is merged or manually triggered
+name: format-code
+
+on:
+  pull_request:
+    types: [closed]  # on merge pull request
+  workflow_dispatch: # allows manual triggering
+
+permissions:
+  contents: write
+
+jobs:
+  format:
+    if: github.event.pull_request.merged == true || github.event_name == 'workflow_dispatch'
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v2
+
+    - name: Format code # Outputs the correctly formatted code
+      uses: DoozyX/[email protected] 
+      with:
+        source: './src/hardware ./include/hardware'
+        extensions: 'hpp,cpp'
+        clangFormatVersion: 18
+        inplace: true # Same as `clang-format -i`
+
+    # Commits the correctly formatted files to the repository
+    - name: Commit changes 
+      uses: EndBug/add-and-commit@v9
+      with:
+        author_name: GitHub Action
+        author_email: [email protected]
+        message: Automated code formatting
+        push: true
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/depot.yml

@@ -0,0 +1,26 @@
+name: Populate Depot json
+
+on: 
+  # runs when this repository's releases are modified
+  release: 
+  # allows for manual dispatching of the workflow
+  workflow_dispatch: 
+
+jobs:
+  populate:
+    runs-on: ubuntu-latest
+    permissions: 
+      # permits reading of releases and writing to the depot branch
+      contents: write
+    steps:
+        # where to find gh action and what version to use
+      - uses: LemLib/[email protected]
+        with:
+          # gives the github action the permissions specified above
+          token: ${{ github.token }}
+          # target repo for depots
+          repo: LemLib/hardware
+          # where to read releases from (can be omitted if repo is also the repo from which to read releases from, but it doesn't sem to be working at the moment)
+          source-repo: LemLib/hardware
+          # makes the json output human readable
+          readable-json: true

.github/workflows/pr-comment.yml

@@ -0,0 +1,90 @@
+name: Add Template to Pull Request 
+on:
+  workflow_run:
+    workflows: ['PROS Build Template']
+    types: [completed]
+jobs:
+  pr_comment:
+    # if Build Template was successful and ran on a branch that is currently the head in a pull request
+    if: github.event.workflow_run.conclusion == 'success'
+    runs-on: ubuntu-latest
+
+    permissions: 
+      pull-requests: write
+
+    steps:
+      - uses: actions/github-script@v6
+        with:
+          # This snippet is public-domain, taken from
+          # https://github.com/oprypin/nightly.link/blob/master/.github/workflows/pr-comment.yml
+          script: |
+            async function upsertComment(owner, repo, issue_number, purpose,old_body, body) {
+              const {data: comments} = await github.rest.issues.listComments(
+                {owner, repo, issue_number});
+                
+              const marker = `\r\n<!-- DO NOT REMOVE!! -->\r\n<!-- bot: ${purpose} -->\r\n`;
+
+              const old_marker = new RegExp(marker.replace("\r\n", "\r?\n")).exec(old_body)?.[0] ?? marker;
+              
+              body = old_body.split(old_marker)[0] + marker + body;
+              await github.request('PATCH /repos/{owner}/{repo}/pulls/{pull_number}', {
+                owner: owner,
+                repo: repo,
+                pull_number: issue_number,
+                body: body,
+                headers: {
+                  'X-GitHub-Api-Version': '2022-11-28'
+                }
+              }) 
+            }
+            
+            const {owner, repo} = context.repo;
+            const run_id = ${{github.event.workflow_run.id}};
+            
+            const pull_head_sha = '${{github.event.workflow_run.head_sha}}';
+            
+            /** @type {{old_body: string}} */
+            const {issue_number, old_body} = await (async () => {
+              const pulls = await github.rest.pulls.list({owner, repo});
+              for await (const {data} of github.paginate.iterator(pulls)) {
+                for (const pull of data) {
+                  if (pull.head.sha === pull_head_sha) {
+                    return {issue_number: pull.number, old_body: pull.body};
+                  }
+                }
+              }
+              return {};  
+            })();            
+            if (issue_number) {
+              core.info(`Using pull request ${issue_number}`);
+            } else {
+              return core.error(`No matching pull request found`);
+            }
+            
+            let old_sha = /\<\!-- commit-sha: (?<sha>[a-z0-9]+) --\>/i.exec(old_body)?.groups?.sha
+            if (old_sha != undefined && pull_head_sha == old_sha) return core.error("Comment is already up-to-date!")
+            
+            const artifacts = await github.paginate(
+              github.rest.actions.listWorkflowRunArtifacts, {owner, repo, run_id});
+            if (!artifacts.length) {
+              return core.error(`No artifacts found, perhaps Build Template was skipped`);
+            }
+            const template = artifacts[0];
+            
+            let body = `<!-- commit-sha: ${pull_head_sha} -->\n`;
+            body +=`## Download the template for this pull request: \n\n`;
+            body += `> [!NOTE]  
+            > This is auto generated from [\`${{ github.workflow }}\`](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})\n`;  
+            body += `- via manual download: [${template.name}.zip](https://nightly.link/${owner}/${repo}/actions/artifacts/${template.id}.zip)\n`;
+            body += `- via PROS Integrated Terminal: \n \`\`\`
+            curl -o ${template.name}.zip https://nightly.link/${owner}/${repo}/actions/artifacts/${template.id}.zip;
+            pros c fetch ${template.name}.zip;
+            pros c apply ${template.name};
+            rm ${template.name}.zip;
+            \`\`\``;
+            
+            core.info(`Review thread message body: \n${body}`);
+            
+            await upsertComment(owner, repo, issue_number,
+              "nightly-link", old_body, body);
+          

.github/workflows/pros-build.yml

@@ -0,0 +1,26 @@
+name: PROS Build Template
+
+on:
+  push:
+    branches: "**"
+  pull_request:
+    branches: "**"
+
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Run LemLib/pros-build
+        id: test
+        uses: LemLib/[email protected]
+
+      - name: Upload Artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ steps.test.outputs.name }}
+          path: ${{ github.workspace }}/template/*

.github/workflows/test-clang-format.yml

@@ -0,0 +1,20 @@
+name: test-clang-format
+
+on:
+  push:
+    branches:
+      - '*'
+  pull_request:
+
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - uses: DoozyX/[email protected]
+      with:
+        source: './src/hardware ./include/hardware'
+        extensions: 'hpp,cpp'
+        clangFormatVersion: 18

Makefile

@@ -28,15 +28,15 @@ IS_LIBRARY:=1
 # Be sure that your header files are in the include directory inside of a folder with the
 # same name as what you set LIBNAME to below.
 LIBNAME:=hardware
-VERSION:=0.1.0
+VERSION:=0.3.1
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
 
 # files that get distributed to every user (beyond your source archive) - add
 # whatever files you want here. This line is configured to add all header files
 # that are in the directory include/LIBNAME
-TEMPLATE_FILES=$(INCDIR)/$(LIBNAME)/encoder/*.hpp $(INCDIR)/$(LIBNAME)/IMU/*.hpp $(INCDIR)/$(LIBNAME)/motors/*.hpp
+TEMPLATE_FILES=$(INCDIR)/$(LIBNAME)/Encoder/*.hpp $(INCDIR)/$(LIBNAME)/IMU/*.hpp $(INCDIR)/$(LIBNAME)/Motor/*.hpp
 
 .DEFAULT_GOAL=quick
 

README.md

@@ -6,39 +6,67 @@ This PROS template aims to simplify interactions with devices, and implement a c
 
 ## Features
 
- - [X] **[Unitized](https://github.com/LemLib/units)**
- - [X] **Uncompromising error handling**
+ - [X] [Unitized](https://github.com/LemLib/units)
+ - [X] Advanced Error Handling
  - [ ] Device disconnect/reconnect callbacks
+ - [ ] Compile-time Port Checks
 
- - [X] **Motor Class**
-    - [X] Changing encoder units don't affect reported angle
-    - [X] Current limit
-    - [X] Differentiate 11W and 5.5W motors
-    - [X] -1.0 to +1.0 power levels, adjusts automatically to motor type
-    - [X] Type Safe enums
-    - [ ] Micro-disconnect detection
+ - [X] **Motor**
+   - [X] Changing encoder units don't affect reported angle
+   - [X] Current limit
+   - [X] Differentiate 11W and 5.5W motors
+   - [X] -1.0 to +1.0 power levels, adjusts automatically to motor type
+   - [X] Type Safe enums
+   - [ ] Micro-disconnect detection
 
  - [ ] **Motor Groups**
-    - [X] Motor disconnects/reconnects don't affect measured angle
-    - [X] Removing motors doesn't affect the measured angle
-    - [X] Automatic per-motor gear ratio calculations
-    - [ ] Micro-disconnect detection
+   - [X] Motor disconnects/reconnects don't affect measured angle
+   - [X] Removing motors doesn't affect the measured angle
+   - [X] Automatic per-motor gear ratio calculations
+   - [ ] Micro-disconnect detection
+
+ - [ ] **Abstract Distance Sensor**
+   - [ ] Generic interface for any distance sensor
+   - [ ] Support for all VEX distance sensors
+     - [ ] V5 Distance Sensor
+     - [ ] V5 Optical Sensor
+     - [ ] ADI Ultrasonic Sensor
+
+ - [ ] **Abstract Color Sensor**
+   - [ ] Generic interface for any color sensor
+   - [ ] Support for all VEX color sensors
+     - [ ] V5 Optical Sensor
 
  - [X] **Abstract Encoders**
-    - [X] Generic interface for any encoder
-    - [X] Support for all VEX encoders
-        - [X] All custom encoders
-        - [X] Motors / Motor Groups
-        - [X] V5 Rotation Sensor
-        - [X] Optical Shaft encoder
+   - [X] Generic interface for any encoder
+     - [X] Support for all VEX encoders
+       - [X] Motors / Motor Groups
+       - [X] V5 Rotation Sensor
+       - [X] Optical Shaft encoder
+       - [ ] ADI Potentiometer V1
+       - [ ] ADI Potentiometer V2
 
  - [X] **Abstract Gyro**
-    - [X] Generic interface for any gyro
-    - [X] Support for VEX gyros, as well as any custom gyros for use in VEX AI or VEX U
-        - [X] All custom gyros
-        - [X] V5 Inertial Sensor
+   - [X] Generic interface for any gyro
+   - [X] Gyro Scaling
+   - [ ] Support for all VEX gyros
+     - [X] V5 Inertial Sensor
+     - [ ] V5 GPS Sensor
+     - [ ] ADI analog gyro
+
+ - [ ] **Abstract Accelerometer**
+   - [ ] Generic interface for any accelerometer
+   - [ ] Support for all VEX accelerometers
+     - [ ] V5 Inertial Sensor
+     - [ ] V5 GPS Sensor
+     - [ ] ADI Accelerometer
 
+ - [ ] **Abstract IMU**
+   - [ ] Generic interface for any IMU
+   - [ ] Support for all VEX IMUs
+     - [ ] V5 Inertial Sensor
+     - [ ] V5 GPS Sensor
 
 ## Who Should Use This?
 
-Anyone who uses PROS. This API is simpler, safer, and more powerful than that of PROS. Library developers should use this in order to support custom sensors which may be used by VURC and VAIRC teams.
+Anyone who uses PROS. This API is simpler, safer, and more powerful than that of PROS. Library developers should use this in order to support custom sensors which may be used by VURC and VAIRC teams.