Merge pull request #18 from LemLib/refactor/const

♻️ Refactored abstract classes

include/hardware/Device.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <cstdint>
+
+namespace lemlib {
+/**
+ * @brief abstract Device class
+ *
+ * used to have a generic interface for devices
+ */
+class Device {
+    public:
+        virtual int32_t isConnected() const = 0;
+};
+} // namespace lemlib

include/hardware/Encoder/ADIEncoder.hpp

@@ -82,7 +82,7 @@ class ADIEncoder : public Encoder {
          * @return INT_MAX if there is an error, setting errno
          */
         [[deprecated("This function is not implemented due to hardware limitations")]]
-        int isConnected() override;
+        int32_t isConnected() const override;
         /**
          * @brief Get the relative angle measured by the encoder
          *
@@ -109,7 +109,7 @@ class ADIEncoder : public Encoder {
          * }
          * @endcode
          */
-        Angle getAngle() override;
+        Angle getAngle() const override;
         /**
          * @brief Set the relative angle of the encoder
          *
@@ -138,7 +138,7 @@ class ADIEncoder : public Encoder {
          * }
          * @endcode
          */
-        int setAngle(Angle angle) override;
+        int32_t setAngle(Angle angle) override;
     private:
         mutable pros::Mutex m_mutex;
         pros::adi::Encoder m_encoder;

include/hardware/Encoder/Encoder.hpp

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "hardware/Device.hpp"
 #include "units/Angle.hpp"
 
 namespace lemlib {
@@ -9,31 +10,8 @@ namespace lemlib {
  * An encoder is a device that measures the angle of a rotating object. This class is abstract, and must be implemented
  * by a subclass.
  */
-class Encoder {
+class Encoder : public Device {
     public:
-        /**
-         * @brief whether the encoder is connected
-         *
-         * @return 0 if its not connected
-         * @return 1 if it is connected
-         * @return INT_MAX if there is an error, setting errno
-         *
-         * @b Example:
-         * @code {.cpp}
-         * void initialize() {
-         *     Encoder* encoder;
-         *     const int result = encoder->isConnected();
-         *     if (result == 1) {
-         *         std::cout << "Encoder is connected!" << std::endl;
-         *     } else if (result == 0) {
-         *         std::cout << "Encoder is not connected!" << std::endl;
-         *     } else {
-         *         std::cout << "Error checking if encoder is connected!" << std::endl;
-         *     }
-         * }
-         * @endcode
-         */
-        virtual int isConnected() = 0;
         /**
          * @brief Get the relative angle measured by the encoder
          *
@@ -56,7 +34,7 @@ class Encoder {
          * }
          * @endcode
          */
-        virtual Angle getAngle() = 0;
+        virtual Angle getAngle() const = 0;
         /**
          * @brief Set the relative angle of the encoder
          *
@@ -80,7 +58,7 @@ class Encoder {
          * }
          * @endcode
          */
-        virtual int setAngle(Angle angle) = 0;
+        virtual int32_t setAngle(Angle angle) = 0;
         virtual ~Encoder() = default;
 };
 } // namespace lemlib

include/hardware/Encoder/V5RotationSensor.hpp

@@ -68,7 +68,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int isConnected() override;
+        int32_t isConnected() const override;
         /**
          * @brief Get the relative angle measured by the V5 Rotation Sensor
          *
@@ -96,7 +96,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        Angle getAngle() override;
+        Angle getAngle() const override;
         /**
          * @brief Set the relative angle of the V5 Rotation Sensor
          *
@@ -125,7 +125,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int setAngle(Angle angle) override;
+        int32_t setAngle(Angle angle) override;
         /**
          * @brief returns whether the V5 Rotation Sensor is reversed or not
          *
@@ -145,7 +145,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int isReversed() const;
+        int32_t isReversed() const;
         /**
          * @brief Set whether the V5 Rotation Sensor is reversed or not
          *
@@ -166,7 +166,7 @@ class V5RotationSensor : public Encoder {
          * }
          * @endcode
          */
-        int setReversed(bool reversed);
+        int32_t setReversed(bool reversed);
     private:
         mutable pros::Mutex m_mutex;
         Angle m_offset = 0_stRot;

include/hardware/IMU/IMU.hpp

@@ -1,10 +1,26 @@
 #pragma once
 
+#include "hardware/Device.hpp"
 #include "units/Angle.hpp"
+#include "pros/rtos.hpp"
 
 namespace lemlib {
-class IMU {
+class IMU : public Device {
     public:
+        /**
+         * @brief Construct a new IMU object
+         *
+         * @param scalar the scalar to apply to the gyro readings. Defaults to 1.
+         */
+        IMU(Number scalar = 1.0);
+        /**
+         * @brief IMU copy constructor
+         *
+         * since pros::Mutex does not have a copy constructor, we need an explicit copy constructor
+         *
+         * @param other the imu to copy
+         */
+        IMU(const IMU& other);
         /**
          * @brief calibrate the IMU
          *
@@ -14,31 +30,23 @@ class IMU {
          * @return 0 success
          * @return INT_MAX error occurred, setting errno
          */
-        virtual int calibrate() = 0;
+        virtual int32_t calibrate() = 0;
         /**
          * @brief check if the IMU is calibrated
          *
          * @return true the IMU is calibrated
          * @return false the IMU is not calibrated
          * @return INT_MAX error occurred, setting errno
          */
-        virtual int isCalibrated() = 0;
+        virtual int32_t isCalibrated() const = 0;
         /**
          * @brief check if the IMU is calibrating
          *
          * @return true the IMU is calibrating
          * @return false the IMU is not calibrating
          * @return INT_MAX error occurred, setting errno
          */
-        virtual int isCalibrating() = 0;
-        /**
-         * @brief whether the IMU is connected
-         *
-         * @return true the IMU is connected
-         * @return false the IMU is not connected
-         * @return INT_MAX error occurred, setting errno
-         */
-        virtual int isConnected() = 0;
+        virtual int32_t isCalibrating() const = 0;
         /**
          * @brief Get the rotation of the IMU
          *
@@ -47,7 +55,7 @@ class IMU {
          * @return Angle the rotation of the IMU
          * @return INFINITY error occurred, setting errno
          */
-        virtual Angle getRotation() = 0;
+        virtual Angle getRotation() const = 0;
         /**
          * @brief Set the rotation of the IMU
          *
@@ -57,7 +65,7 @@ class IMU {
          * @return int 0 success
          * @return INT_MAX error occurred, setting errno
          */
-        virtual int setRotation(Angle rotation) = 0;
+        virtual int32_t setRotation(Angle rotation) = 0;
         /**
          * @brief Set the gyro scalar for the IMU
          *
@@ -68,7 +76,7 @@ class IMU {
          * @return int 0 success
          * @return INT_MAX error occurred, setting errno
          */
-        virtual int setGyroScalar(Number scalar);
+        virtual int32_t setGyroScalar(Number scalar);
         /**
          * @brief Get the gyro scalar for the IMU
          *
@@ -78,9 +86,10 @@ class IMU {
          * @return Number gyro scalar
          * @return INFINITY error occurred, setting errno
          */
-        virtual Number getGyroScalar();
+        virtual Number getGyroScalar() const;
         virtual ~IMU() = default;
     protected:
-        Number m_gyroScalar = 1.0;
+        mutable pros::Mutex m_mutex;
+        Number m_gyroScalar;
 };
 } // namespace lemlib