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🐛ADI mutex fix #633

Merged
merged 10 commits into from
May 4, 2024
Merged

🐛ADI mutex fix #633

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aeaa88c
Fixed duplicate zero indexing in ext_adi_led_set_pixel as well as val…
R11G Feb 23, 2024
2f96fed
testing
R11G Mar 8, 2024
3215446
Fixed zero indexing
R11G Mar 8, 2024
83393ec
Merge branch 'pros-4/bugfix/adi-port-indexing' of github.com:purduesi…
R11G Mar 8, 2024
b5e0d43
fix merge
R11G Mar 8, 2024
f9e2dbe
removes an extra -1
noam987 Mar 8, 2024
d046758
Add missing -1
noam987 Mar 8, 2024
f01dafd
Last -1
R11G Mar 8, 2024
fb59833
Merge remote-tracking branch 'origin/develop-pros-4' into pros-4/bugf…
noam987 May 4, 2024
65f66e4
Fix return without releasing mutex
noam987 May 4, 2024
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108 changes: 53 additions & 55 deletions src/devices/vdml_ext_adi.c
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Original file line number Diff line number Diff line change
Expand Up @@ -50,14 +50,15 @@ typedef union adi_data {
} gyro_data;
} adi_data_s_t;


// These 2 functions aren't in v5_api.h but should be... so we're going to directly expose them with an extern "C".
#ifdef __cplusplus
extern "C" {
#endif
// private addressable LED API
int32_t vexDeviceAdiAddrLedSet( V5_DeviceT device, uint32_t port, uint32_t *pData, uint32_t nOffset, uint32_t nLength, uint32_t options );
int32_t vexAdiAddrLedSet( uint32_t index, uint32_t port, uint32_t *pData, uint32_t nOffset, uint32_t nLength, uint32_t options );
// private addressable LED API
int32_t vexDeviceAdiAddrLedSet(V5_DeviceT device, uint32_t port, uint32_t* pData, uint32_t nOffset, uint32_t nLength,
uint32_t options);
int32_t vexAdiAddrLedSet(uint32_t index, uint32_t port, uint32_t* pData, uint32_t nOffset, uint32_t nLength,
uint32_t options);
#ifdef __cplusplus
}
#endif
Expand All @@ -74,26 +75,26 @@ extern "C" {
return PROS_ERR; \
}

#define validate_type(device, adi_port, smart_port, type) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != type) { \
errno = EADDRINUSE; \
printf("Error: validate_type\n"); \
return_port(smart_port, PROS_ERR); \
#define validate_type(device, adi_port, smart_port, type) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != type) { \
errno = EADDRINUSE; \
printf("Error: validate_type\n"); \
return_port(smart_port, PROS_ERR); \
}

#define validate_type_f(device, adi_port, smart_port, type) \
#define validate_type_f(device, adi_port, smart_port, type) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != type) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR_F); \
if (config != type) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR_F); \
}

#define validate_motor(device, adi_port, smart_port) \
#define validate_motor(device, adi_port, smart_port) \
adi_port_config_e_t config = (adi_port_config_e_t)vexDeviceAdiPortConfigGet(device->device_info, adi_port); \
if (config != E_ADI_LEGACY_PWM && config != E_ADI_LEGACY_SERVO) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR); \
if (config != E_ADI_LEGACY_PWM && config != E_ADI_LEGACY_SERVO) { \
errno = EADDRINUSE; \
return_port(smart_port, PROS_ERR); \
}

/*
Expand Down Expand Up @@ -289,7 +290,7 @@ int32_t ext_adi_encoder_get(ext_adi_encoder_t enc) {
uint8_t smart_port, adi_port;
get_ports(enc, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ENCODER);

int32_t rtn;
Expand All @@ -298,29 +299,29 @@ int32_t ext_adi_encoder_get(ext_adi_encoder_t enc) {
rtn = -vexDeviceAdiValueGet(device->device_info, adi_port);
else
rtn = vexDeviceAdiValueGet(device->device_info, adi_port);
return_port(smart_port, rtn);
return_port(smart_port - 1, rtn);
}

int32_t ext_adi_encoder_reset(ext_adi_encoder_t enc) {
uint8_t smart_port, adi_port;
get_ports(enc, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ENCODER);

vexDeviceAdiValueSet(device->device_info, adi_port, 0);
return_port(smart_port, 1);
return_port(smart_port - 1, 1);
}

int32_t ext_adi_encoder_shutdown(ext_adi_encoder_t enc) {
uint8_t smart_port, adi_port;
get_ports(enc, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ENCODER);

vexDeviceAdiPortConfigSet(device->device_info, adi_port, E_ADI_TYPE_UNDEFINED);
return_port(smart_port, 1);
return_port(smart_port - 1, 1);
}

ext_adi_ultrasonic_t ext_adi_ultrasonic_init(uint8_t smart_port, uint8_t adi_port_ping, uint8_t adi_port_echo) {
Expand All @@ -331,7 +332,6 @@ ext_adi_ultrasonic_t ext_adi_ultrasonic_init(uint8_t smart_port, uint8_t adi_por
errno = EINVAL;
return PROS_ERR;
}

claim_port_i(smart_port - 1, E_DEVICE_ADI);
vexDeviceAdiPortConfigSet(device->device_info, port, E_ADI_LEGACY_ULTRASONIC);
return_port(smart_port - 1, merge_adi_ports(smart_port, port + 1));
Expand All @@ -341,22 +341,22 @@ int32_t ext_adi_ultrasonic_get(ext_adi_ultrasonic_t ult) {
uint8_t smart_port, adi_port;
get_ports(ult, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ULTRASONIC);

int32_t rtn = vexDeviceAdiValueGet(device->device_info, adi_port);
return_port(smart_port, rtn);
return_port(smart_port - 1, rtn);
}

int32_t ext_adi_ultrasonic_shutdown(ext_adi_ultrasonic_t ult) {
uint8_t smart_port, adi_port;
get_ports(ult, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_ULTRASONIC);

vexDeviceAdiPortConfigSet(device->device_info, adi_port, E_ADI_TYPE_UNDEFINED);
return_port(smart_port, 1);
return_port(smart_port - 1, 1);
}

ext_adi_gyro_t ext_adi_gyro_init(uint8_t smart_port, uint8_t adi_port, double multiplier) {
Expand Down Expand Up @@ -388,48 +388,46 @@ double ext_adi_gyro_get(ext_adi_gyro_t gyro) {
uint8_t smart_port, adi_port;
get_ports(gyro, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_f(smart_port, E_DEVICE_ADI);
claim_port_f(smart_port - 1, E_DEVICE_ADI);
validate_type_f(device, adi_port, smart_port - 1, E_ADI_LEGACY_GYRO);

double rtv = (double)vexDeviceAdiValueGet(device->device_info, adi_port);
adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
rtv -= adi_data->gyro_data.tare_value;
rtv *= adi_data->gyro_data.multiplier;
return_port(smart_port, rtv);
return_port(smart_port - 1, rtv);
}

int32_t ext_adi_gyro_reset(ext_adi_gyro_t gyro) {
uint8_t smart_port, adi_port;
get_ports(gyro, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_GYRO);

adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
adi_data->gyro_data.tare_value = vexDeviceAdiValueGet(device->device_info, adi_port);
return_port(smart_port, 1);
return_port(smart_port - 1, 1);
}

int32_t ext_adi_gyro_shutdown(ext_adi_gyro_t gyro) {
uint8_t smart_port, adi_port;
get_ports(gyro, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_LEGACY_GYRO);

vexDeviceAdiPortConfigSet(device->device_info, adi_port, E_ADI_TYPE_UNDEFINED);
return_port(smart_port, 1);
return_port(smart_port - 1, 1);
}

ext_adi_potentiometer_t ext_adi_potentiometer_init(uint8_t smart_port, uint8_t adi_port,
adi_potentiometer_type_e_t potentiometer_type) {
transform_adi_port(adi_port);
claim_port_i(smart_port - 1, E_DEVICE_ADI);

adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
adi_data->potentiometer_data.potentiometer_type = potentiometer_type;
vexDeviceAdiPortConfigSet(device->device_info, adi_port, E_ADI_ANALOG_IN);

return_port(smart_port - 1, merge_adi_ports(smart_port, adi_port + 1));
}

Expand All @@ -438,7 +436,7 @@ double ext_adi_potentiometer_get_angle(ext_adi_potentiometer_t potentiometer) {
uint8_t smart_port, adi_port;
get_ports(potentiometer, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_f(smart_port, E_DEVICE_ADI);
claim_port_f(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_ANALOG_IN);

adi_data_s_t* const adi_data = &((adi_data_s_t*)(device->pad))[adi_port];
Expand All @@ -454,53 +452,53 @@ double ext_adi_potentiometer_get_angle(ext_adi_potentiometer_t potentiometer) {
errno = ENXIO;
rtn = PROS_ERR_F;
}
return_port(smart_port, rtn);
return_port(smart_port - 1, rtn);
}

ext_adi_led_t ext_adi_led_init(uint8_t smart_port, uint8_t adi_port) {
transform_adi_port(adi_port);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
vexDeviceAdiPortConfigSet(device->device_info, adi_port, (V5_AdiPortConfiguration)E_ADI_DIGITAL_OUT);
vexDeviceAdiPortConfigSet(device->device_info, adi_port, (V5_AdiPortConfiguration)E_ADI_DIGITAL_OUT);
return_port(smart_port - 1, merge_adi_ports(smart_port, adi_port + 1));
}

int32_t ext_adi_led_set(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length) {
uint8_t smart_port, adi_port;
get_ports(led, smart_port, adi_port);
transform_adi_port(adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port, E_ADI_DIGITAL_OUT);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
validate_type(device, adi_port, smart_port - 1, E_ADI_DIGITAL_OUT);
if (buffer_length > MAX_LED) {
buffer_length = MAX_LED;
}
else if (buffer == NULL || buffer_length < 1)
{
} else if (buffer == NULL || buffer_length < 1) {
errno = EINVAL;
return PROS_ERR;
return_port(smart_port - 1, PROS_ERR);
}
uint32_t rtv = (uint32_t)vexDeviceAdiAddrLedSet(device->device_info, adi_port, buffer, 0, buffer_length, 0);
return_port(smart_port, rtv);
return_port(smart_port - 1, rtv);
}

int32_t ext_adi_led_set_pixel(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color, uint32_t pixel_position) {
int32_t ext_adi_led_set_pixel(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color,
uint32_t pixel_position) {
uint8_t smart_port, adi_port;
get_ports(led, smart_port, adi_port);
claim_port_i(smart_port, E_DEVICE_ADI);
claim_port_i(smart_port - 1, E_DEVICE_ADI);
transform_adi_port(adi_port);
validate_type(device, adi_port, smart_port, E_ADI_DIGITAL_OUT);
if(buffer == NULL || pixel_position < 0 || buffer_length >= MAX_LED || buffer_length < 1 || pixel_position > buffer_length - 1) {
validate_type(device, adi_port, smart_port - 1, E_ADI_DIGITAL_OUT);
if (buffer == NULL || pixel_position < 0 || buffer_length >= MAX_LED || buffer_length < 1 ||
pixel_position > buffer_length - 1) {
errno = EINVAL;
return_port(smart_port, PROS_ERR);
return_port(smart_port - 1, PROS_ERR);
}
buffer[pixel_position] = color;
uint32_t rtv = (uint32_t)vexDeviceAdiAddrLedSet(device->device_info, adi_port, buffer, 0, buffer_length, 0);
return_port(smart_port - 1, rtv);
return_port(smart_port - 1, rtv);
}

int32_t ext_adi_led_set_all(ext_adi_led_t led, uint32_t* buffer, uint32_t buffer_length, uint32_t color) {
for(int i = 0; i < buffer_length; i++){
for (int i = 0; i < buffer_length; i++) {
buffer[i] = color;
}
}
return ext_adi_led_set(led, buffer, buffer_length);
}

Expand Down