pybricks/common: drop separate motor header

laurensvalk · laurensvalk · commit 0aa99697eac7 · 2020-08-05T16:22:41.000+02:00
Stay closer to the actual common module in the Pybricks API.
diff --git a/pybricks/common/common.h b/pybricks/common/common.h
@@ -8,9 +8,6 @@
 
 #if PYBRICKS_PY_COMMON
 
-#include <pbio/control.h>
-#include <pbio/servo.h>
-
 #include "util_pb/pb_device.h"
 
 #include "py/obj.h"
@@ -29,6 +26,45 @@ const mp_obj_module_t pb_module_buttons;
 // pybricks._common.Battery()
 const mp_obj_module_t pb_module_battery;
 
+
+#if PYBRICKS_PY_COMMON_MOTORS
+
+#include <pbio/control.h>
+#include <pbio/servo.h>
+
+// pybricks._common.Control()
+const mp_obj_type_t pb_type_Control;
+mp_obj_t common_Control_obj_make_new(pbio_control_t *control);
+
+// pybricks._common.Logger()
+mp_obj_t logger_obj_make_new(pbio_log_t *log);
+
+// pybricks._common.Motor()
+typedef struct _common_Motor_obj_t {
+    mp_obj_base_t base;
+    pbio_servo_t *srv;
+    mp_obj_t logger;
+    mp_obj_t control;
+} common_Motor_obj_t;
+
+const mp_obj_type_t pb_type_Motor;
+
+// pybricks._common.DCMotor()
+typedef struct _common_DCMotor_obj_t {
+    mp_obj_base_t base;
+    pbio_dcmotor_t *dcmotor;
+} common_DCMotor_obj_t;
+
+const mp_obj_type_t pb_type_DCMotor;
+
+// Nonstatic objects shared between Motor and DCMotor
+void common_DCMotor_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind);
+const mp_obj_fun_builtin_var_t common_DCMotor_duty_obj;
+const mp_obj_fun_builtin_fixed_t common_DCMotor_stop_obj;
+const mp_obj_fun_builtin_fixed_t common_DCMotor_brake_obj;
+
+#endif // PYBRICKS_PY_COMMON_MOTORS
+
 #endif // PYBRICKS_PY_COMMON
 
 #endif // PYBRICKS_INCLUDED_PYBRICKS_COMMON_H
diff --git a/pybricks/common/common_motors.h b/pybricks/common/common_motors.h
diff --git a/pybricks/common/pb_type_control.c b/pybricks/common/pb_type_control.c
@@ -5,8 +5,7 @@
 
 #if PYBRICKS_PY_COMMON_MOTORS
 
-#include "common/common_motors.h"
-
+#include "common/common.h"
 #include <pbio/control.h>
 
 #include "py/obj.h"
diff --git a/pybricks/common/pb_type_dcmotor.c b/pybricks/common/pb_type_dcmotor.c
@@ -9,7 +9,7 @@
 
 #include "py/mphal.h"
 
-#include "common/common_motors.h"
+#include "common/common.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_error.h"
diff --git a/pybricks/common/pb_type_motor.c b/pybricks/common/pb_type_motor.c
@@ -13,7 +13,7 @@
 #include "py/mphal.h"
 #include "py/obj.h"
 
-#include "common/common_motors.h"
+#include "common/common.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_error.h"
diff --git a/pybricks/ev3devices/pb_module_ev3devices.c b/pybricks/ev3devices/pb_module_ev3devices.c
@@ -8,7 +8,7 @@
 #include "py/mphal.h"
 #include "py/runtime.h"
 
-#include "common/common_motors.h"
+#include "common/common.h"
 #include "ev3devices/ev3devices.h"
 
 STATIC const mp_rom_map_elem_t ev3devices_globals_table[] = {
diff --git a/pybricks/ev3devices/pb_type_ev3devices_colorsensor.c b/pybricks/ev3devices/pb_type_ev3devices_colorsensor.c
@@ -18,7 +18,6 @@
 #include <pbio/button.h>
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "ev3devices/ev3devices.h"
 
 #include "parameters/parameters.h"
diff --git a/pybricks/ev3devices/pb_type_ev3devices_gyrosensor.c b/pybricks/ev3devices/pb_type_ev3devices_gyrosensor.c
@@ -18,7 +18,6 @@
 #include <pbio/button.h>
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "ev3devices/ev3devices.h"
 
 #include "parameters/parameters.h"
diff --git a/pybricks/ev3devices/pb_type_ev3devices_infraredsensor.c b/pybricks/ev3devices/pb_type_ev3devices_infraredsensor.c
@@ -18,7 +18,6 @@
 #include <pbio/button.h>
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "ev3devices/ev3devices.h"
 
 #include "parameters/parameters.h"
diff --git a/pybricks/ev3devices/pb_type_ev3devices_touchsensor.c b/pybricks/ev3devices/pb_type_ev3devices_touchsensor.c
@@ -18,7 +18,6 @@
 #include <pbio/button.h>
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "ev3devices/ev3devices.h"
 
 #include "parameters/parameters.h"
diff --git a/pybricks/ev3devices/pb_type_ev3devices_ultrasonicsensor.c b/pybricks/ev3devices/pb_type_ev3devices_ultrasonicsensor.c
@@ -18,7 +18,6 @@
 #include <pbio/button.h>
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "ev3devices/ev3devices.h"
 
 #include "parameters/parameters.h"
diff --git a/pybricks/iodevices/pb_module_iodevices.c b/pybricks/iodevices/pb_module_iodevices.c
@@ -7,7 +7,7 @@
 
 #include "py/runtime.h"
 
-#include "common/common_motors.h"
+#include "common/common.h"
 #include "iodevices/iodevices.h"
 
 STATIC const mp_rom_map_elem_t iodevices_globals_table[] = {
diff --git a/pybricks/iodevices/pb_type_iodevices_analogsensor.c b/pybricks/iodevices/pb_type_iodevices_analogsensor.c
@@ -22,7 +22,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 // pybricks.iodevices.AnalogSensor class object
diff --git a/pybricks/iodevices/pb_type_iodevices_ev3devsensor.c b/pybricks/iodevices/pb_type_iodevices_ev3devsensor.c
@@ -23,7 +23,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include <ev3dev_stretch/sysfs.h>
diff --git a/pybricks/iodevices/pb_type_iodevices_i2cdevice.c b/pybricks/iodevices/pb_type_iodevices_i2cdevice.c
@@ -23,7 +23,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "pbsmbus.h"
diff --git a/pybricks/iodevices/pb_type_iodevices_lumpdevice.c b/pybricks/iodevices/pb_type_iodevices_lumpdevice.c
@@ -23,7 +23,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 // Class structure for LUMPDevice
diff --git a/pybricks/iodevices/pb_type_iodevices_uartdevice.c b/pybricks/iodevices/pb_type_iodevices_uartdevice.c
@@ -23,7 +23,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #define UART_MAX_LEN (32 * 1024)
diff --git a/pybricks/nxtdevices/pb_module_nxtdevices.c b/pybricks/nxtdevices/pb_module_nxtdevices.c
@@ -8,7 +8,7 @@
 #include "py/mphal.h"
 #include "py/runtime.h"
 
-#include "common/common_motors.h"
+#include "common/common.h"
 #include "nxtdevices/nxtdevices.h"
 
 STATIC const mp_rom_map_elem_t nxtdevices_globals_table[] = {
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_colorsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_colorsensor.c
@@ -21,7 +21,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "nxtdevices/nxtdevices.h"
 #include "parameters/parameters.h"
 
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_energymeter.c b/pybricks/nxtdevices/pb_type_nxtdevices_energymeter.c
@@ -21,7 +21,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "nxtdevices/nxtdevices.h"
 #include "parameters/parameters.h"
 
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_lightsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_lightsensor.c
@@ -21,7 +21,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "nxtdevices/nxtdevices.h"
 #include "parameters/parameters.h"
 
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_soundsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_soundsensor.c
@@ -21,7 +21,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "nxtdevices/nxtdevices.h"
 #include "parameters/parameters.h"
 
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_temperaturesensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_temperaturesensor.c
@@ -21,7 +21,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "nxtdevices/nxtdevices.h"
 #include "parameters/parameters.h"
 
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_touchsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_touchsensor.c
@@ -21,7 +21,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "nxtdevices/nxtdevices.h"
 #include "parameters/parameters.h"
 
diff --git a/pybricks/nxtdevices/pb_type_nxtdevices_ultrasonicsensor.c b/pybricks/nxtdevices/pb_type_nxtdevices_ultrasonicsensor.c
@@ -21,7 +21,6 @@
 #include "util_pb/pb_error.h"
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "nxtdevices/nxtdevices.h"
 #include "parameters/parameters.h"
 
diff --git a/pybricks/pupdevices/pb_module_pupdevices.c b/pybricks/pupdevices/pb_module_pupdevices.c
@@ -7,7 +7,7 @@
 
 #include "py/runtime.h"
 
-#include "common/common_motors.h"
+#include "common/common.h"
 #include "pupdevices/pupdevices.h"
 
 STATIC const mp_rom_map_elem_t pupdevices_globals_table[] = {
diff --git a/pybricks/pupdevices/pb_type_pupdevices_colordistancesensor.c b/pybricks/pupdevices/pb_type_pupdevices_colordistancesensor.c
@@ -20,7 +20,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_color_map.h"
diff --git a/pybricks/pupdevices/pb_type_pupdevices_colorsensor.c b/pybricks/pupdevices/pb_type_pupdevices_colorsensor.c
@@ -20,7 +20,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_color_map.h"
diff --git a/pybricks/pupdevices/pb_type_pupdevices_forcesensor.c b/pybricks/pupdevices/pb_type_pupdevices_forcesensor.c
@@ -20,7 +20,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_color_map.h"
diff --git a/pybricks/pupdevices/pb_type_pupdevices_infraredsensor.c b/pybricks/pupdevices/pb_type_pupdevices_infraredsensor.c
@@ -20,7 +20,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_color_map.h"
diff --git a/pybricks/pupdevices/pb_type_pupdevices_light.c b/pybricks/pupdevices/pb_type_pupdevices_light.c
@@ -20,7 +20,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_color_map.h"
diff --git a/pybricks/pupdevices/pb_type_pupdevices_tiltsensor.c b/pybricks/pupdevices/pb_type_pupdevices_tiltsensor.c
@@ -20,7 +20,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_color_map.h"
diff --git a/pybricks/pupdevices/pb_type_pupdevices_ultrasonicsensor.c b/pybricks/pupdevices/pb_type_pupdevices_ultrasonicsensor.c
@@ -20,7 +20,6 @@
 
 
 #include "common/common.h"
-#include "common/common_motors.h"
 #include "parameters/parameters.h"
 
 #include "util_pb/pb_color_map.h"
diff --git a/pybricks/robotics/pb_type_drivebase.c b/pybricks/robotics/pb_type_drivebase.c
@@ -19,7 +19,7 @@
 #include "util_mp/pb_obj_helper.h"
 #include "util_mp/pb_kwarg_helper.h"
 
-#include "common/common_motors.h"
+#include "common/common.h"
 #include "parameters/parameters.h"
 
 // pybricks.robotics.DriveBase class object
