VEX Link C++ API module

Contents

///

Files

file link.hpp

Classes

class pros::Link

Functions

Link(const std::uint8_t port, const std::string link_id, link_type_e_t type, bool ov = true) explicit
Initializes a link on a radio port, with an indicated type.
bool connected()
Checks if a radio link on a port is active or not.
std::uint32_t raw_receivable_size()
Returns the bytes of data number of without protocol available to be read.
std::uint32_t transmit_raw(void* data, std::uint16_t data_size)
Returns the bytes of data available in transmission buffer.
std::uint32_t receive_raw(void* dest, std::uint16_t data_size)
Receive raw serial data through vexlink.
std::uint32_t transmit(void* data, std::uint16_t data_size)
Send packeted message through vexlink, with a checksum and start byte.
std::uint32_t receive(void* dest, std::uint16_t data_size)
Receive packeted message through vexlink, with a checksum and start byte.
std::uint32_t clear_receive_buf()
Clear the receive buffer of the link, and discarding the data.

Function documentation

Link(const std::uint8_t port, const std::string link_id, link_type_e_t type, bool ov = true) explicit
#include <pros/link.hpp>

Initializes a link on a radio port, with an indicated type.

Parameters
port The port of the radio for the intended link.
link_id Unique link ID in the form of a string, needs to be different from other links in the area.
type Indicates whether the radio link on the brain is a transmitter or receiver, with the transmitter having double the transmitting bandwidth as the receiving end (1040 bytes/s vs 520 bytes/s).
ov Indicates if the radio on the given port needs vexlink to override the controller radio. Defualts to True.
Returns PROS_ERR if initialization fails, 1 if the initialization succeeds.

There might be a 1 to 2 second delay from when this function is called to when the link is initializes.

Example: pros::Link link(1, "my_link", pros::E_LINK_TX);

bool connected()
#include <pros/link.hpp>

Checks if a radio link on a port is active or not.

Returns If a radio is connected to a port and it's connected to a link.

Example:

pros::Link link(1, "my_link", pros::E_LINK_TX);
if (link.connected()) {
    // do something
}

std::uint32_t raw_receivable_size()
#include <pros/link.hpp>

Returns the bytes of data number of without protocol available to be read.

Returns PROS_ERR if port is not a link/radio, else the bytes available to be read by the user.

Example:

void opcontrol() {
    pros::Link link(1, "my_link", pros::E_LINK_TX);
    printf("Bytes available to read: %d", link.receivable_size());
}

std::uint32_t transmit_raw(void* data, std::uint16_t data_size)
#include <pros/link.hpp>

Returns the bytes of data available in transmission buffer.

Returns PROS_ERR if port is not a link/radio, else the bytes available to be transmitted by the user.

Example:

   void opcontrol() {
    pros::Link link(1, "my_link", pros::E_LINK_TX);
    printf("Bytes available to transmit: %d", link.transmittable_size());
   }
  /
std::uint32_t raw_transmittable_size();

/**
  * Send raw serial data through vexlink.
  *
  * \note This function uses the following values of errno when an error state is
  * reached:
  * ENXIO - The given value is not within the range of V5 ports (1-21).
  * ENODEV - The port cannot be configured as a radio.
  * ENXIO - The sensor is still calibrating, or no link is connected via the radio.
  * EBUSY - The transmitter buffer is still busy with a previous transmission, and there is no
  * room in the FIFO buffer (queue) to transmit the data.
  * EINVAL - The data given is NULL
  *
  * \param data
  *      Buffer with data to send
  * \param data_size
  *      Buffer with data to send
  *
  * \return PROS_ERR if port is not a link, and the successfully transmitted 
  * data size if it succeeded.
  * 
  * \b Example:
  * \code
  * void opcontrol() {
  *     pros::Link link(1, "my_link", pros::E_LINK_TX);
  *     std::uint8_t data[4] = {0x01, 0x02, 0x03, 0x04};
  *  link.transmit_raw(data, 4);
  * }
  * 
  *

std::uint32_t receive_raw(void* dest, std::uint16_t data_size)
#include <pros/link.hpp>

Receive raw serial data through vexlink.

Parameters
dest Destination buffer to read data to
data_size Bytes of data to be read to the destination buffer
Returns PROS_ERR if port is not a link, and the successfully received data size if it succeeded.

Example:

void opcontrol() {
    pros::Link link(1, "my_link", pros::E_LINK_TX);
    std::uint8_t data[4];
 link.receive_raw(data, 4);
}

std::uint32_t transmit(void* data, std::uint16_t data_size)
#include <pros/link.hpp>

Send packeted message through vexlink, with a checksum and start byte.

Parameters
data Buffer with data to send
data_size Bytes of data to be read to the destination buffer
Returns PROS_ERR if port is not a link, and the successfully transmitted data size if it succeeded.

Example:

void opcontrol() {
    pros::Link link(1, "my_link", pros::E_LINK_TX);
    std::uint8_t data[4] = {0x01, 0x02, 0x03, 0x04};
 link.transmit(data, 4);
}

std::uint32_t receive(void* dest, std::uint16_t data_size)
#include <pros/link.hpp>

Receive packeted message through vexlink, with a checksum and start byte.

Parameters
dest Destination buffer to read data to
data_size Bytes of data to be read to the destination buffer
Returns PROS_ERR if port is not a link, and the successfully received data size if it succeeded.

Example:

void opcontrol() {
    pros::Link link(1, "my_link", pros::E_LINK_TX);
    std::uint8_t data[4];
 link.receive(data, 4);
}

std::uint32_t clear_receive_buf()
#include <pros/link.hpp>

Clear the receive buffer of the link, and discarding the data.

Returns PROS_ERR if port is not a link, 1 if the operation succeeded.

Example:

void opcontrol() {
    pros::Link link(1, "my_link", pros::E_LINK_TX);
 link.clear_receive_buf();
}