Modify PROS 4 GPS API #650
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| double gps_get_heading_raw(uint8_t port) { | ||
| claim_port_f(port - 1, E_DEVICE_GPS); | ||
| double rtv = vexDeviceGpsHeadingGet(device->device_info); | ||
| return_port(port - 1, rtv); | ||
| } | ||
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| gps_gyro_s_t gps_get_gyro_rate(uint8_t port) { |
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I know this is completely my fault but can we see if typecasting V5_DeviceGPSRaw to the return type works, I know what I did here was super scuffed and I'd appreciate if we just casted it instead of doing the extraneous copy.
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Can I have more context on this? vexDeviceGpsHeadingGet() already returns a double value, I don't see a need for typecasting.
| @@ -81,7 +81,7 @@ double gps_get_error(uint8_t port) { | |||
| return_port(port - 1, rtv); | |||
| } | |||
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| gps_status_s_t gps_get_status(uint8_t port) { | |||
| gps_status_s_t gps_get_position_and_orientation(uint8_t port) { | |||
| gps_status_s_t rtv = GPS_STATUS_ERR_INIT; | |||
| if (!claim_port_try(port - 1, E_DEVICE_GPS)) { | |||
| return rtv; | |||
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Another alternative is typecasting the input parameter (data) from gps_status_s_t or whatever it is to the VEX API struct.
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Outside of the scope of this PR but the IMU API may have the same issue.
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This function currently converts the VEX API struct (V5_DeviceGpsAttitude) into gps_status_s_t, and returns the gps_status_s_t. If we want to cast gps_status_s_t into V5_DeviceGpsAttitude, should the return type be just V5_DeviceGpsAttitude then?
Summary:
This update modifies the GPS sensor API for PROS 4.
Modified list of functions:
Removed functions:
Motivation:
The purpose of some functions are unclear (e.g. get_rotation), and the name of some functions are not straightforward enough (e.g. get_status)
References (optional):
Test Plan: