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Feb 28, 2025
src/devices/vdml.cpp
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| using namespace zest::vdml; | ||
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| // initialize the device mutex array | ||
| std::array<std::mutex, 32> device_mutexes; |
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This can be constinit
Suggested change
| std::array<std::mutex, 32> device_mutexes; | |
| constinit std::array<std::mutex, 32> device_mutexes; |
src/devices/vdml.cpp
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| std::mutex& smart_port_mutex(int8_t port) { | ||
| port = abs(port); // prevent negative port | ||
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| return device_mutexes[port]; |
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Suggested change
| return device_mutexes[port]; | |
| return device_mutexes.at(port); |
In the future this should have error logging in the event of an out-of-range port.
src/devices/vdml.cpp
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| void initialize_vdml() { | ||
| // initialize the device (port) mutexes | ||
| for (int i = 0; i < MAX_DEVICE_PORTS; i++) |
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This loop isn't needed with constinit (and the create_mutex function can be discarded as well)
| return device_mutexes[port]; | ||
| } | ||
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| bool is_valid_port(uint8_t port) { |
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Given that this function is so simple, it should be moved to the header and made an inline function.
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| namespace zest { | ||
| namespace vdml { | ||
| enum class DeviceType { |
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This enum should have a comment explaining that these values are based on VEXos (since they seem rather arbitrary right now)
This was referenced Mar 4, 2025
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Overview
Refactor the Current C VDML implementation, in favor of a much cleaner C++ implementation.
Motivation
Needed to create the hardware API for ZestCode, as the VDML ensures safe access of ports on a device between threads.
References (optional)
Closes #22
Blocked on #20
Implementation Details (optional)
Currently unknown
Test Plan:
@SizzinSeal should be able to hardware test the new VDML with the current device implementation from PROS.