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.gitignore

@@ -14,3 +14,4 @@ temp.errors
 .clangd/
 .cache/
 .DS_Store
+/amalgamate-src/*

Makefile

@@ -12,6 +12,7 @@ BINDIR=$(ROOT)/bin
 SRCDIR=$(ROOT)/src
 INCDIR=$(ROOT)/include
 EXTRA_INCDIR=$(FWDIR)/libv5rts/sdk/vexv5/patched_include
+AMALGAMATE_SRCDIR=$(ROOT)/amalgamate-src
 
 # Directories to be excluded from all builds
 EXCLUDE_SRCDIRS+=$(SRCDIR)/tests
@@ -46,26 +47,38 @@ TEMPLATE_FILES+= $(ROOT)/template-gitignore
 
 PATCHED_SDK=$(FWDIR)/libv5rts/sdk/vexv5/libv5rts.patched.a
 
+ifndef NO_AMALGAMATE
+SRCDIR=$(AMALGAMATE_SRCDIR)
+endif
+
 EXTRA_LIB_DEPS=$(INCDIR)/api.h $(PATCHED_SDK)
 
 ################################################################################
 ################################################################################
 ########## Nothing below this line should be edited by typical users ###########
 -include ./common.mk
 
-.PHONY: $(INCDIR)/api.h patch_sdk_headers clean
-$(INCDIR)/api.h: version.py
+.PHONY: $(INCDIR)/pros/version.h patch_sdk_headers amalgamate clean
+$(INCDIR)/pros/version.h: version.py
 	$(VV)python version.py
 
+amalgamate: amalgamate.py
+ifndef NO_AMALGAMATE
+	@echo "Amalgamating src files"
+	$(VV)python amalgamate.py
+	$(VV)cp src/main.cpp amalgamate-src/main.cpp
+endif
+
 patch_sdk_headers: patch_headers.py
 	@echo "Patching SDK headers"
 	$(VV)python patch_headers.py
 
 # Override clean, necessary to remove patched sdk on clean
-clean:
+clean::
 	@echo "Cleaning patched SDK"
 	@rm -f $(PATCHED_SDK)
 	@rm -rf $(EXTRA_INCDIR)
+	@rm -rf $(AMALGAMATE_SRCDIR)
 
 $(PATCHED_SDK): $(FWDIR)/libv5rts/sdk/vexv5/libv5rts.a
 	$(call test_output_2,Stripping unwanted symbols from libv5rts.a ,$(STRIP) $^ @libv5rts-strip-options.txt -o $@, $(DONE_STRING))
@@ -75,7 +88,7 @@ CREATE_TEMPLATE_ARGS+=--user "src/main.{cpp,c,cc}" --user "include/main.{hpp,h,h
 CREATE_TEMPLATE_ARGS+=--target v5
 CREATE_TEMPLATE_ARGS+=--output bin/monolith.bin --cold_output bin/cold.package.bin --hot_output bin/hot.package.bin --cold_addr 58720256 --hot_addr 125829120
 
-template: patch_sdk_headers clean-template library
+template: patch_sdk_headers amalgamate clean-template library
 	$(VV)mkdir -p $(TEMPLATE_DIR)
 	@echo "Moving template files to $(TEMPLATE_DIR)"
 	$Dif [ $(shell uname -s) == "Darwin" ]; then \
@@ -91,7 +104,7 @@ template: patch_sdk_headers clean-template library
 	$Dpros c create-template $(TEMPLATE_DIR) kernel $(shell cat $(ROOT)/version) $(CREATE_TEMPLATE_ARGS)
 
 LIBV5RTS_EXTRACTION_DIR=$(BINDIR)/libv5rts
-$(LIBAR): patch_sdk_headers $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
+$(LIBAR): patch_sdk_headers amalgamate $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
 	$(VV)mkdir -p $(LIBV5RTS_EXTRACTION_DIR)
 	$(call test_output_2,Extracting libv5rts ,cd $(LIBV5RTS_EXTRACTION_DIR) && $(AR) x ../../$(PATCHED_SDK),$(DONE_STRING))
 	$(eval LIBV5RTS_OBJECTS := $(shell $(AR) t $(PATCHED_SDK)))

amalgamate.py

@@ -0,0 +1,49 @@
+from os import listdir, makedirs, walk
+from os.path import isfile, join, exists, dirname, realpath, splitext
+
+def print_and_exit(message):
+    print(message)
+    print("Failed to amalgamate files")
+    exit(1)
+
+# get the current directory
+try:
+    current_dir = dirname(realpath(__file__))
+except:
+    print_and_exit("Could not get working directory!")
+
+src_dir = current_dir + "/src"
+amalgamate_src_dir = current_dir + "/amalgamate-src"
+
+if not exists(amalgamate_src_dir):
+    try:
+        makedirs(amalgamate_src_dir)
+    except:
+        print_and_exit("Could not create directory for amalgamation!")
+
+c_src_files = [join(dp, f) for dp, dn, filenames in walk(f"{current_dir}/src") for f in filenames if
+                  splitext(f)[1].lower() == '.c']
+cpp_src_files = [join(dp, f) for dp, dn, filenames in walk(f"{current_dir}/src") for f in filenames if
+                  splitext(f)[1].lower() == '.cpp']
+
+with open(amalgamate_src_dir + "/amalgamate.c", "w") as dest:
+    for c_file in c_src_files:
+        if "/test/" in c_file:
+            continue
+        with open(c_file) as f: 
+            contents = f.read()
+            dest.write(f"#line 1 \"{c_file}\"\n")
+            dest.write(contents + "\n")
+
+with open(amalgamate_src_dir + "/amalgamate.cpp", "w") as dest:
+    for cpp_file in cpp_src_files:
+        if "/test/" in cpp_file or "main.cpp" in cpp_file:
+            continue
+        with open(cpp_file) as f: 
+            contents = f.read()
+            dest.write(f"#line 1 \"{cpp_file}\"\n")
+            dest.write(contents + "\n")
+
+with open(amalgamate_src_dir + "/main.cpp", "w") as dest:
+    with open(src_dir + "/main.cpp", "r") as src:
+        dest.write(src.read())

common.mk

@@ -188,7 +188,7 @@ quick: $(DEFAULT_BIN)
 
 all: clean $(DEFAULT_BIN)
 
-clean:
+clean::
 	@echo Cleaning project
 	-$Drm -rf $(BINDIR)
 	-$Drm -rf $(DEPDIR)
@@ -262,7 +262,7 @@ $(foreach asmext,$(ASMEXTS),$(eval $(call asm_rule,$(asmext))))
 
 define c_rule
 $(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
-$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename $1).d
+$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename %).d
 	$(VV)mkdir -p $$(dir $$@)
 	$(MAKEDEPFOLDER)
 	$$(call test_output_2,Compiled $$< ,$(CC) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CFLAGS) $(EXTRA_CFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))

include/api.h

@@ -39,13 +39,6 @@
 #include <unistd.h>
 #endif /* __cplusplus */
 
-#define PROS_VERSION_MAJOR 4
-#define PROS_VERSION_MINOR 1
-
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "4.1.0"
-
-
 #include "pros/adi.h"
 #include "pros/colors.h"
 #include "pros/device.h"

include/pros/apix.h

@@ -71,7 +71,7 @@ typedef void* sem_t;
  * task_abort_delay(task);
  * \endcode
  */
-bool task_abort_delay(task_t task);
+int32_t task_abort_delay(task_t task);
 
 /**
  * Notify a task when a target task is being deleted.
@@ -152,7 +152,7 @@ mutex_t mutex_recursive_create(void);
  *
  * \endcode
  */
-bool mutex_recursive_take(mutex_t mutex, uint32_t timeout);
+uint8_t mutex_recursive_take(mutex_t mutex, uint32_t timeout);
 
 /**
  * Gives a recursive mutex.
@@ -179,7 +179,7 @@ bool mutex_recursive_take(mutex_t mutex, uint32_t timeout);
  *
  * \endcode
  */
-bool mutex_recursive_give(mutex_t mutex);
+uint8_t mutex_recursive_give(mutex_t mutex);
 
 /**
  * Returns a handle to the current owner of a mutex.
@@ -360,7 +360,7 @@ sem_t sem_binary_create(void);
  * }
  * \endcode
  */
-bool sem_wait(sem_t sem, uint32_t timeout);
+uint8_t sem_wait(sem_t sem, uint32_t timeout);
 
 /**
  * Increments a semaphore's value.
@@ -390,7 +390,7 @@ bool sem_wait(sem_t sem, uint32_t timeout);
  *
  * \endcode
  */
-bool sem_post(sem_t sem);
+uint8_t sem_post(sem_t sem);
 
 /**
  * Returns the current value of the semaphore.
@@ -524,7 +524,7 @@ bool queue_append(queue_t queue, const void* item, uint32_t timeout);
  * }
  * \endcode
  */
-bool queue_peek(queue_t queue, void* const buffer, uint32_t timeout);
+int32_t queue_peek(queue_t queue, void* const buffer, uint32_t timeout);
 
 /**
  * Receive an item from the queue.
@@ -555,7 +555,7 @@ bool queue_peek(queue_t queue, void* const buffer, uint32_t timeout);
  * }
  * \endcode
  */
-bool queue_recv(queue_t queue, void* const buffer, uint32_t timeout);
+int32_t queue_recv(queue_t queue, void* const buffer, uint32_t timeout);
 
 /**
  * Return the number of messages stored in a queue.

include/pros/optical.h

@@ -460,6 +460,39 @@ int32_t optical_enable_gesture(uint8_t port);
  */
 int32_t optical_disable_gesture(uint8_t port);
 
+/**
+ * Get integration time (update rate) of the optical sensor in milliseconds, with
+ * minimum time being 
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Optical Sensor
+ *
+ * \param port
+ *        The V5 Optical Sensor port number from 1-21
+ * \return Integration time in milliseconds if the operation is successful 
+ * or PROS_ERR if the operation failed, setting errno.
+ */
+double optical_get_integration_time(uint8_t port);
+
+/**
+ * Set integration time (update rate) of the optical sensor in milliseconds.
+ *
+ * This function uses the following values of errno when an error state is
+ * reached:
+ * ENXIO - The given value is not within the range of V5 ports (1-21).
+ * ENODEV - The port cannot be configured as an Optical Sensor
+ *
+ * \param port
+ *        The V5 Optical Sensor port number from 1-21
+ * \param time
+ *        The desired integration time in milliseconds
+ * \return 1 if the operation is successful or PROS_ERR if the operation failed,
+ * setting errno.
+ */
+int32_t optical_set_integration_time(uint8_t port, double time);
+
 ///@}
 
 ///@}

include/pros/optical.hpp

@@ -398,6 +398,36 @@ class Optical : public Device {
 	 */
 	virtual std::int32_t disable_gesture();
 
+	/**
+	 * Set integration time (update rate) of the optical sensor in milliseconds, with
+	 * minimum time being 3 ms and maximum time being 712 ms. Default is 100 ms, with the 
+	 * optical sensor communciating with the V5 brain every 20 ms. 
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Optical Sensor
+ 	 *
+	 * \return 1 if the operation is successful or PROS_ERR_F if the operation failed,
+	 * setting errno.
+	 */
+	double get_integration_time();
+
+	/**
+	 * Get integration time (update rate) of the optical sensor in milliseconds.
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENXIO - The given value is not within the range of V5 ports (1-21).
+	 * ENODEV - The port cannot be configured as an Optical Sensor
+	 *
+	 * \param time
+	 *        The desired integration time in milliseconds
+	 * \return Integration time in milliseconds if the operation is successful 
+	 *  or PROS_ERR if the operation failed, setting errno.
+	 */
+	std::int32_t set_integration_time(double time);
+
 	/**
 	 * This is the overload for the << operator for printing to streams
 	 *

include/pros/rtos.h

@@ -116,6 +116,8 @@ typedef void (*task_fn_t)(void*);
 /**
  * The state of a task.
  */
+#ifndef PROS_TASK_ENUMS_DEFINED
+#define PROS_TASK_ENUMS_DEFINED
 typedef enum {
 	E_TASK_STATE_RUNNING = 0, /**< The task is actively executing. */
 	E_TASK_STATE_READY, /**< The task exists and is available to run, but is not currently running. */
@@ -135,6 +137,7 @@ typedef enum {
 	E_NOTIFY_ACTION_OWRITE, /**< The task’s notification value will be unconditionally set to the new value.*/
 	E_NOTIFY_ACTION_NO_OWRITE /**< The task’s notification value will be set to the new value if the task does not already have a pending notification.*/
 } notify_action_e_t;
+#endif // PROS_TASK_ENUMS_DEFINED
 
 /// @} Name: Enumerations
 
@@ -660,7 +663,7 @@ task_t task_get_current();
  * }
  * \endcode
  */
-uint32_t task_notify(task_t task);
+int32_t task_notify(task_t task);
 
 /**
  * 
@@ -743,7 +746,7 @@ void task_join(task_t task);
  * }
  * \endcode
  */
-uint32_t task_notify_ext(task_t task, uint32_t value, notify_action_e_t action, uint32_t* prev_value);
+int32_t task_notify_ext(task_t task, uint32_t value, notify_action_e_t action, uint32_t* prev_value);
 
 /**
  * Waits for a notification to be nonzero.
@@ -820,7 +823,7 @@ uint32_t task_notify_take(bool clear_on_exit, uint32_t timeout);
  * }
  * \endcode
  */
-bool task_notify_clear(task_t task);
+int32_t task_notify_clear(task_t task);
 
 /**
  * Creates a mutex.

include/pros/version.h

@@ -0,0 +1,23 @@
+/**
+* \file version.h
+*
+* PROS Version Information
+*
+* Contains PROS kernel version information
+*
+*
+* \copyright Copyright (c) 2017-2023, Purdue University ACM SIGBots.
+* All rights reserved.
+*
+* This Source Code Form is subject to the terms of the Mozilla Public
+* License, v. 2.0. If a copy of the MPL was not distributed with this
+* file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+#pragma once
+
+#define PROS_VERSION_MAJOR 4
+#define PROS_VERSION_MINOR 1
+
+#define PROS_VERSION_PATCH 0
+#define PROS_VERSION_STRING "4.1.0"

include/rtos/task.h

@@ -67,6 +67,9 @@ typedef void * task_t;
  */
 typedef int32_t (*TaskHookFunction_t)( void * );
 
+
+#ifndef PROS_TASK_ENUMS_DEFINED
+#define PROS_TASK_ENUMS_DEFINED
 /* Task states returned by task_get_state. */
 typedef enum
 {
@@ -87,6 +90,7 @@ typedef enum
 	E_NOTIFY_ACTION_OWRITE,		/* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */
 	E_NOTIFY_ACTION_NO_OWRITE	/* Set the task's notification value if the previous value has been read by the task. */
 } notify_action_e_t;
+#endif // PROS_TASK_ENUMS_DEFINED
 
 /*
  * Used internally only.

include/system/hot.h

@@ -14,4 +14,13 @@ struct hot_table {
 	} functions;
 };
 
+// exidx is the table that tells the unwinder how to unwind a stack frame
+// for a PC. Under hot/cold, there's two tables and the unwinder was kind
+// enough to let us implement a function to give it a table for a PC so
+// support for hot/cold is as easy as it gets
+struct __EIT_entry {
+	_uw fnoffset;
+	_uw content;
+};
+
 extern struct hot_table* const HOT_TABLE;