Initial commit

Author: grebneerg

.gitignore

@@ -0,0 +1,3 @@
+
+/target
+**/*.rs.bk

Cargo.lock

@@ -0,0 +1,6 @@
+[package]
+name = "libds"
+version = "0.1.0"
+authors = ["Jack Greenberg <[email protected]>"]
+
+[dependencies]

Cargo.toml

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+#[derive(Clone)]
+enum JoystickType {
+    Unknown = -1,
+}
+
+#[derive(Clone)]
+struct Joystick {
+    stick_type: JoystickType,
+    buttons: Vec<bool>,
+    axes: Vec<i8>,
+    povs: Vec<i16>,
+}
+
+impl Joystick {
+    fn new(num_buttons: u8, num_axes: u8, num_povs: u8) -> Self {
+        Joystick {
+            stick_type: JoystickType::Unknown,
+            buttons: vec![false; num_buttons as usize],
+            axes: vec![0; num_axes as usize],
+            povs: vec![-1; num_povs as usize],
+        }
+    }
+
+    fn num_buttons(&self) -> u8 {
+        self.buttons.len() as u8
+    }
+
+    fn num_axes(&self) -> u8 {
+        self.axes.len() as u8
+    }
+
+    fn num_povs(&self) -> u8 {
+        self.povs.len() as u8
+    }
+
+    fn set_button(&mut self, index: u8, pressed: bool) -> Result<(), ()> {
+        if self.buttons.len() as u8 >= index {
+            Err(())
+        } else {
+            self.buttons[index as usize] = pressed;
+            Ok(())
+        }
+    }
+
+    fn set_axis(&mut self, index: u8, value: i8) -> Result<(), ()> {
+        if self.axes.len() as u8 >= index {
+            Err(())
+        } else {
+            self.axes[index as usize] = value;
+            Ok(())
+        }
+    }
+
+    fn set_pov(&mut self, index: u8, value: i16) -> Result<(), ()> {
+        if self.povs.len() as u8 >= index {
+            Err(())
+        } else {
+            self.povs[index as usize] = value;
+            Ok(())
+        }
+    }
+
+    fn to_tag(&self) -> Vec<u8> {
+        let mut tag: Vec<u8> = vec![0; 4];
+
+        tag.push(self.axes.len() as u8);
+        for axis in &self.axes {
+            tag.push(*axis as u8); // this might work
+        }
+
+        tag.push(self.buttons.len() as u8);
+        let mut index = 7;
+        let mut byte: u8 = 0;
+        for button in &self.buttons {
+            if *button {
+                byte |= 1 << index;
+            }
+            index -= 1;
+            if index < 0 {
+                tag.push(byte);
+                byte = 0;
+                index = 7;
+            }
+        }
+        if index != 7 {
+            tag.push(byte);
+        }
+
+        tag.push(self.povs.len() as u8);
+        for pov in &self.povs {
+            tag.push(((pov >> 8) & 0xff as i16) as u8);
+            tag.push((pov & 0xff) as u8);
+        }
+
+        tag
+    }
+}
+
+enum RobotMode {
+    Teleop = 0,
+    Test = 1,
+    Auto = 2,
+}
+
+enum Alliance {
+    Red(u8),
+    Blue(u8),
+}
+
+impl Alliance {
+    // TODO check bounds on both methods
+
+    fn to_position_u8(&self) -> u8 {
+        match self {
+            Alliance::Red(pos) => pos - 1,
+            Alliance::Blue(pos) => pos + 2,
+        }
+    }
+
+    fn from_position_u8(pos: u8) -> Self {
+        if pos < 3 {
+            Alliance::Red(pos + 1)
+        } else {
+            Alliance::Blue(pos % 3 + 1)
+        }
+    }
+}
+
+enum MatchType {
+    None = 0,
+    Practice = 1,
+    Qualification = 2,
+    Elimination = 3,
+}
+
+struct DriverStation {
+    joysticks: Vec<Option<Joystick>>,
+    estop: bool,
+    enabled: bool,
+    mode: RobotMode,
+    alliance: Alliance,
+    game_data: String,
+    competition: String,
+}
+
+impl DriverStation {
+    fn new() -> Self {
+        DriverStation {
+            joysticks: vec![None; 6],
+            estop: false,
+            enabled: false,
+            mode: RobotMode::Teleop,
+            alliance: Alliance::Red(1),
+            game_data: String::from("rrr"),
+            competition: String::from("unknown"),
+        }
+    }
+}