Crates.io | vex-sdk |
lib.rs | vex-sdk |
version | 0.17.0 |
source | src |
created_at | 2024-03-26 17:00:50.21916 |
updated_at | 2024-05-28 04:44:55.063492 |
description | Raw bindings to vexos user jump table functions. |
homepage | |
repository | https://github.com/vexide/vex-sdk/ |
max_upload_size | |
id | 1186724 |
size | 67,681 |
Raw bindings to VEXos user jump table functions.
This repository serves as a partial open-source reimplementation of VEX's V5 runtime SDK (libv5rt.a), but doesn't necessarily aim to be API or ABI compatible. The intent of this crate is to be used as building blocks for higher-level rust tooling to run on the V5 brain without linking to C libraries in any way.
[!WARNING] This is fully unofficial and in no way affiliated, endorsed, supported, or created by VEX Robotics.
[!CAUTION] Since
vex_sdk
simply provides bindings over firmware address offsets, no stability guarantees can be made around these APIs. Use this crate at your own risk - these could change any any point in time with a firmware update (although they probably wont in a major way, since this would break existing user programs).
This project aims to cover 100% of the publicly available symbols present in the v5_api
SDK, as well as any private symbols that have been released to the public (such as vexTaskAdd
).
Functions present in libv5rt
that are currently are NOT in vex_sdk
:
v5_api.h
and v5_types.h
. This includes the "user functions", which are basically convenience methods for passing in port indexes directly (e.g. vexImuReset
vs. vexDeviceImuReset
).vexSystemVersion
, vexStdlibVersion
, vexSdkVersion
, vexStdlibVersionLinked
, and vexStdlibVersionVerify
since these aren't actual functions on the jumptable, just data at addresses. Support might be added in the future, though.vexDeviceAiCamX
family of functions is currently missing bindings, but support is planned.Many symbols in libv5rt are left private (as in, not included in public headers). This is usually done either for stability reasons (VEX not wanting to commit to a stable API yet), or to not expose some lowlevel/debugging functions. In general, this repo tries to avoid exposing anything in the private API. The exceptions to this are functions that have been publicly released by VEX or partner developers for various reasons or demonstrations. This includes the following functions:
vexTaskAdd
vexTaskGetCallbackAndId
vexTaskSleep
vexDeviceAdiAddrledSet
vexTasksRun
(known as vexBackgroundProcessing
in the partner SDK)vexDisplayClipRegionSetWithIndex
Usage of these APIs in particular is highly discouraged, as they could break at any point in time from a firmware update. Use them with caution (or better yet, not at all...)