Welcome to ZestCode’s documentation!

Attention

ZestCode is under heavy development, and we’d greatly appreciate any contributors! Consider joining our Discord Server if you are interested.

ZestCode is a truly open-source framework for the VEX V5. It’s a PROS fork, and exists to address some PROS issues, particularly in reliability, tooling, and community input.

WIP Why ZestCode?

designed to be easy to contribute to
can be built from source
public development discussions and decision making
superior contributor documentation
superior build system
more understandable compiler errors/warnings
faster build times
smarter package management
deterministic builds

FAQ

Acknowledgements

The authors of ZestCode would like to thank the developers of PROS for their years of service, and for paving the way for alternatives like ZestCode to even exist in the first place. We’d also like to thank the developers of vexide, ZestCode wouldn’t exist if not for their feats.

API Reference

struct gid_metadata

Public Members

uint32_t *const bitmap

const size_t max

const size_t reserved

const size_t bitmap_size

size_t _cur_val

mutex_t _lock

struct linked_list_s_t

Public Members

ll_node_s_t *head

struct ll_node_s

Public Members

generic_fn_t func

void *data

union ll_node_s::[anonymous] payload

struct ll_node_s *next

struct set

Public Members

uint32_t *arr

size_t used

size_t size

static_sem_s_t mtx_buf

mutex_t mtx

file cobs.h

#include <stdint.h>

Consistent Overhead Byte Stuffing header

See common/cobs.c for discussion

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/.

Copyright: Copyright (c) 2017-2024, Purdue University ACM SIGBots. All rights reserved.

Defines

COBS_ENCODE_MEASURE_MAX(src_len)

Functions

int cobs_encode (uint8_t *restrict dest, const uint8_t *restrict src, const size_t src_len, const uint32_t prefix)

Encodes src in the Consistent Overhead Byte Stuffing algorithm, and writes the result to dest. dest must be sufficiently long. use cobs_encode_measure() to compute the size of the buff or use COBS_ENCODE_MEASURE_MAX(src_len) macro to get the max buffer size needed (e.g. for static allocation)

Parameters

dest – [out] The location to write the stuffed data to
src – [in] The location of the incoming data
src_len – The length of the source data
prefix – The four character stream identifier

Returns

The number of bytes written

size_t cobs_encode_measure (const uint8_t *restrict src, const size_t src_len, const uint32_t prefix)

Same as cobs_encode() but doesn’t write to an output buffer. Used to determine how much space is needed for src.

Parameters

src – [in] The location of the incoming data
src_len – The length of the source data
prefix – The four character stream identifier

Returns

The size of src when encoded

file gid.h

#include <stdint.h>

#include “api.h”

Globally unique Identifer facility header

See common/gid.c for discussion

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/.

Copyright: Copyright (c) 2017-2024, Purdue University ACM SIGBots. All rights reserved.

Defines

UINT32_WIDTH

gid_size_to_words(size): convert the maximum number of gids into a number of words needed to store the bitmap

Functions

void gid_init(struct gid_metadata *const metadata)

Initializes a gid_metadata structure by “freeing” all IDs in the bitmap

Parameters: metadata – [in] The gid_metadata structure to initialize

uint32_t gid_alloc(struct gid_metadata *const metadata)

Allocates a gid from the gid structure and returns it.

Parameters: metadata – [in] The gid_metadata to record to the gid structure
Returns: The gid, or 0 if there are no more gids left.

void gid_free(struct gid_metadata *const metadata, uint32_t id)

Frees the gid specified from the structure.

Parameters

metadata – [in] The gid_metadata to free from the gid structure
id – The gid value indicating the metadata’s position in the gid structure

bool gid_check(struct gid_metadata *metadata, uint32_t id)

Checks if the gid specified is allocated.

Parameters

metadata – [in] The gid_metadata to check
id – The gid value indicating the metadata’s position in the gid structure

Returns

True if the given metadata/id combo is present in the gid structure, false otherwise.

file linkedlist.h

Typedefs

typedef void (*generic_fn_t)(void)

typedef struct ll_node_s ll_node_s_t

typedef void (*linked_list_foreach_fn_t)(ll_node_s_t*, void*)

Functions

ll_node_s_t *linked_list_init_func_node(generic_fn_t func)

Initialize a linked list node storing an arbitrary function pointer

Parameters: func – Function pointer to store in the node
Returns: A linked list node that stores a function pointer

ll_node_s_t *linked_list_init_data_node(void *data)

Initialize a linked list node storing a pointer to arbitrary data

Parameters: data – [in] Pointer to data
Returns: A linked list node that stores some data

linked_list_s_t *linked_list_init()

Initialize a linked list

Returns: An initialized linked list

void linked_list_prepend_func(linked_list_s_t *list, generic_fn_t func)

Prepend a node containing a function pointer to a linked list

If the provided linked list is NULL, it will be initialized first.

Parameters

list – [inout] Linked list to which the node will be prepended
func – Function pointer with which to initialize the node

void linked_list_prepend_data(linked_list_s_t *list, void *data)

Prepend a node containing some data to a linked list

If the provided linked list is NULL, it will be initialized first.

Parameters

list – [inout] Linked list to which the node will be prepended
data – [in] Data with which to initialize the node

void linked_list_append_func(linked_list_s_t *list, generic_fn_t func)

Append a node containing a function pointer to a linked list

If the provided linked list is NULL, it will be initialized first.

Parameters

list – [inout] Linked list to which the node will be appended
func – Function pointer with which to initialize the node

void linked_list_remove_func(linked_list_s_t *list, generic_fn_t func)

Removes the node containing the given function pointer from the linked list

Parameters

list – [inout] Linked list from which the node will be removed
func – Function pointer to be removed

void linked_list_append_data(linked_list_s_t *list, void *data)

Append a node containing some data to a linked list

If the provided linked list is NULL, it will be initialized first.

Parameters

list – [inout] Linked list to which the node will be appended
data – Data with which to initialize the node

void linked_list_remove_data(linked_list_s_t *list, void *data)

Remove the node containing the given data from the linked list

Parameters

list – [inout] Linked list from which the node will be removed
data – Data to be removed

void linked_list_foreach(linked_list_s_t *list, linked_list_foreach_fn_t, void *extra_data)

Perform a function on every node in a linked list

If the provided linked list is NULL, the function will terminate.

Parameters

list – Linked list upon which to perform the function
cb – Pointer to a callback function that will be provided the current node as well as some extra data
extra_data – Extra data to pass to the callback function

void linked_list_free(linked_list_s_t *list)

Frees a linked_list_s_t, making it no longer a valid list. This does not free any internal data, only the linekd_list structure.

Parameters: list – List to free

file set.h

#include <stdbool.h>

#include <stddef.h>

#include <stdint.h>

#include “kapi.h”

Kernel-allocated thread-safe simple sets header

See common/set.c for discussion

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/.

Functions

void set_initialize(struct set *const set)

Initializes a a set.

Parameters: set – A pointer to a set structure

bool set_add(struct set *const set, uint32_t item)

Adds item to the set if it didn’t already exist

Parameters

set – A pointer to the set structure
item – Item to add to the set

Returns

Ttrue if the item was added to the set or was already present

bool set_rm(struct set *const set, uint32_t item)

Removes an item from the set

Parameters

set – A pointer to the set structure
item – The item to remove

Returns

True if the item was removed (or was already not present)

bool set_contains(struct set *set, uint32_t item)

Checks if the set contains an item

Parameters

set – A pointer to the set structure
item – The item to check

Returns

True if the item is in the set

bool list_contains(uint32_t const *const list, const size_t size, const uint32_t item)

Checks if the list contains an item

Parameters

list – A pointer to a list of words
size – The number of items in the list
item – The item to check

Returns

True if the item is in the list

file string.h

Extra string functions header

See common/string.c for discussion

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/.

Functions

char *kstrdup(const char *s)

strdup but uses the kernel heap

Parameters: s – Pointer to the string to duplicate
Returns: The duplicate string

char *kstrndup(const char *s, size_t n)

strndup but uses the kernel heap

Parameters

s – Pointer to the string to duplicate
n – The number of characters to duplicate

Returns

The duplicate string

dir /home/docs/checkouts/readthedocs.org/user_builds/zestcode/checkouts/latest/include/common

dir /home/docs/checkouts/readthedocs.org/user_builds/zestcode/checkouts/latest/include