From ca82982a7660e2db7bbfa97c423530e644a78064 Mon Sep 17 00:00:00 2001
From: PgSocks <pgsocks@pm.me>
Date: Wed, 1 Feb 2023 15:09:39 -0600
Subject: [PATCH] Start on high level interface

---
 include/roboeasy.h   | 82 ++++++++++++++++++++++++++++++++++++++++++++
 include/robomaster.h |  9 -----
 2 files changed, 82 insertions(+), 9 deletions(-)
 create mode 100644 include/roboeasy.h

diff --git a/include/roboeasy.h b/include/roboeasy.h
new file mode 100644
index 0000000..3c9741e
--- /dev/null
+++ b/include/roboeasy.h
@@ -0,0 +1,82 @@
+#pragma once
+
+// Handle for the high level robot interface
+struct Robot;
+typedef struct Robot* Robot;
+
+/*
+ * Return a handle to the high level robot interface, or NULL on error.
+ */
+Robot robot_new();
+
+/*
+ * Queue initialization tasks before further commands can be sent to the robot.
+ * The robot is not guaranteed to be ready until a ready message is popped from
+ * the work function.
+ *
+ * robot: The robot to initialize
+ * returns: 0 on success, non-zero on failure
+ */
+int robot_init(Robot robot);
+
+/*
+ * Request the robot to stop. This does not stop the robot immediately. The
+ * robot has stopped once the work function returns that there is no more work
+ * to do.
+ *
+ * robot: The robot to stop
+ * returns: 0 on success, non-zero on failure
+ */
+int robot_stop(Robot robot);
+
+/*
+ * Set the velocity of the robot chassis. A packet will be sent to the robot on
+ * the next ready tick of the work function.
+ *
+ * robot: The robot to set the velocity of
+ * x: strafe velocity
+ * y: forward and backward velocity
+ * r: rotation velocity
+ * returns: 0 on success, non-zero on failure
+ */
+int robot_drive(Robot, float x, float y, float r);
+
+/*
+ * TODO: This is too simplistic for what the lights are capable of.
+ * Set the color of all LEDs on the robot. A packet will be sent to the robot
+ * on the next ready tick of the work function.
+ * 
+ * robot: The robot to set LED colors of
+ * r: red
+ * g: green
+ * b: blue
+ * returns: 0 on success, non-zero on failure
+ */
+int robot_led(Robot, unsigned char r, unsigned char g, unsigned char b);
+
+/*
+ * If the robot is in ready mode, this makes the robot send a heartbeat in
+ * the next tick of the work function. The work function will not do anything
+ * else until a heartbeat response is received.
+ *
+ * A heartbeat must be sent periodically or else the robot will become
+ * unresponsive. This function is thread-safe and can be called in a
+ * busy-waiting loop, signal handler, or background thread.
+ *
+ * robot: The robot to send a heartbeat to
+ * returns: 0 on success, non-zero on failure
+ */
+int robot_heartbeat(Robot robot);
+
+/*
+ * This does all of the work in small pieces so it returns as quickly as
+ * possible. Most of the other functions in this API simply set a flag
+ * to signal this function to work. A non-zero value is returned until
+ * no more work is left, which would only happen shortly after the stop
+ * function is called and any remaining tasks have been worked through.
+ *
+ * robot: The robot to do periodic work on
+ * returns: non-zero until stop function is called
+ */
+int robot_work(Robot robot);
+
diff --git a/include/robomaster.h b/include/robomaster.h
index 06af8e5..7bf2b61 100644
--- a/include/robomaster.h
+++ b/include/robomaster.h
@@ -21,12 +21,3 @@ static inline void byte2host(uint8_t b, uint8_t* host, uint8_t* index) {
     *index = b >> 5;
 }
 
-/*
- * Drive the wheels of the robot. Values should be [-1, 1]
- *
- * x: positive is forward, negative is backwards
- * y: positive is right, negative is left
- * r: positive is clockwise, negative is counterclockwise
- */
-void drive(Client client, float x, float y, float r);
-