♻ VDML Refactor

[SizzinSeal]

Overview

The VDML (AKA Vex Data Management Layer) ensures thread safety when interacting with devices from multiple threads. However, the decision to write it in C was a poor design choice. It should be written in C++ to avoid the use of macros.

Motivation

Maintaining device implementations is unnecessarily difficult currently.

Potential Implementation

// vdml.cpp
#include "vdml.hpp"

namespace vdml {

static constinit std::array<std::mutex, 21> array;

std::mutex& get_smart_port_mutex(uint8_t port) {
    return array.at(port - 1);
}

} // namespace vdml

// motor.cpp
#include "Motor.hpp"
#include "vdml.hpp"

namespace zest {

void Motor::move(double power) {
    const std::lock_guard lock(vdml::get_smart_port_mutex(m_port));
    // ...
}

} // namespace zest