reimplement battery API

Author: SizzinSeal

include/common/result.hpp

@@ -41,6 +41,20 @@ class ResultError {
     std::optional<RuntimeData> runtime_data;
 };
 
+/**
+ * @brief Unknown Error
+ *
+ */
+class UnknownError : public ResultError {
+  public:
+    template<typename T>
+        requires std::convertible_to<T, std::string>
+    UnknownError(T&& message)
+        : message(std::forward<T>(message)) {}
+
+    std::string message;
+};
+
 /**
  * @brief Trait to define a "sentinel" value for types indicating an error state.
  * @tparam T Type to provide a sentinel value for.

include/pros/devices/battery.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+#include "common/result.hpp"
+
+namespace zest {
+
+class Battery {
+  public:
+    static Result<double, UnknownError> get_capacity();
+    static Result<double, UnknownError> get_current();
+    static Result<double, UnknownError> get_temperature();
+    static Result<double, UnknownError> get_voltage();
+};
+
+} // namespace zest

include/pros/devices/devices.hpp

@@ -0,0 +1,30 @@
+#pragma once
+
+#include "common/result.hpp"
+
+namespace zest {
+
+enum class DeviceType {
+    Battery,
+};
+
+/**
+ * @brief V5 Port Mismatch Error
+ *
+ */
+class V5PortMismatchError : public ResultError {
+  public:
+    /**
+     * @brief Construct a new V5 Port Mismatch Error object
+     *
+     * @param expected the device expected to be on the port
+     * @param actual the device that is actually on the port
+     */
+    V5PortMismatchError(DeviceType expected, DeviceType actual)
+        : expected(expected),
+          actual(actual) {}
+
+    DeviceType expected;
+    DeviceType actual;
+};
+} // namespace zest

src/devices/battery.c

@@ -1,36 +1,46 @@
-/**
- * \file devices/battery.cpp
- *
- * Contains functions for interacting with the V5 Battery.
- *
- * \copyright Copyright (c) 2017-2024, 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/.
- */
+#include "pros/devices/battery.hpp"
 
-#include "pros/misc.h"
+#include "src/devices/vdml.hpp"
+#include "v5_api_patched.h"
 
-namespace pros {
-namespace battery {
-using namespace pros::c;
+#include <mutex>
 
-double get_capacity(void) {
-    return battery_get_capacity();
+constexpr uint8_t PORT = 25;
+
+namespace zest {
+Result<double, UnknownError> Battery::get_capacity() {
+    std::lock_guard lock(port_mutex_array.at(PORT));
+    if (auto res = vexBatteryCapacityGet(); res == std::numeric_limits<typeof(res)>::max()) {
+        return UnknownError("An unknown error has occurred");
+    } else {
+        return res;
+    }
 }
 
-int32_t get_current(void) {
-    return battery_get_current();
+Result<double, UnknownError> Battery::get_current() {
+    std::lock_guard lock(port_mutex_array.at(PORT));
+    if (auto res = vexBatteryCurrentGet(); res == std::numeric_limits<typeof(res)>::max()) {
+        return UnknownError("An unknown error has occurred");
+    } else {
+        return res;
+    }
 }
 
-double get_temperature(void) {
-    return battery_get_temperature();
+Result<double, UnknownError> Battery::get_temperature() {
+    std::lock_guard lock(port_mutex_array.at(PORT));
+    if (auto res = vexBatteryTemperatureGet(); res == std::numeric_limits<typeof(res)>::max()) {
+        return UnknownError("An unknown error has occurred");
+    } else {
+        return res;
+    }
 }
 
-int32_t get_voltage(void) {
-    return battery_get_voltage();
+Result<double, UnknownError> Battery::get_voltage() {
+    std::lock_guard lock(port_mutex_array.at(PORT));
+    if (auto res = vexBatteryVoltageGet(); res == std::numeric_limits<typeof(res)>::max()) {
+        return UnknownError("An unknown error has occurred");
+    } else {
+        return res;
+    }
 }
-} // namespace battery
-} // namespace pros
+} // namespace zest