allwpilib/wpilibc/src/main/native/cpp/AddressableLED.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "frc/AddressableLED.h"

#include <hal/AddressableLED.h>

#include "frc/PWM.h"
#include "frc/WPIErrors.h"

using namespace frc;

AddressableLED::AddressableLED(PWM& output)
    : m_pwmOutput{&output, NullDeleter<PWM>()} {
  Init();
}

AddressableLED::AddressableLED(PWM* output)
    : m_pwmOutput{output, NullDeleter<PWM>()} {
  if (m_pwmOutput == nullptr) {
    wpi_setWPIError(NullParameter);
  } else {
    Init();
  }
}

AddressableLED::AddressableLED(std::shared_ptr<PWM> output)
    : m_pwmOutput{std::move(output)} {
  Init();
}

AddressableLED::AddressableLED(int port)
    : m_pwmOutput{std::make_shared<PWM>(port)} {
  if (!m_pwmOutput->StatusIsFatal()) {
    Init();
  }
}

AddressableLED::~AddressableLED() { HAL_FreeAddressableLED(m_handle); }

void AddressableLED::Init() {
  int32_t status = 0;
  m_handle = HAL_InitializeAddressableLED(m_pwmOutput->m_handle, &status);
  wpi_setHALError(status);
}

void AddressableLED::SetLength(int length) {
  int32_t status = 0;
  HAL_SetAddressableLEDLength(m_handle, length, &status);
  wpi_setHALError(status);
}

static_assert(sizeof(AddressableLED::LEDData) == sizeof(HAL_AddressableLEDData),
              "LED Structs MUST be the same size");

void AddressableLED::SetData(wpi::ArrayRef<LEDData> ledData) {
  int32_t status = 0;
  HAL_WriteAddressableLEDData(m_handle, ledData.begin(), ledData.size(),
                              &status);
  wpi_setHALError(status);
}

void AddressableLED::SetData(std::initializer_list<LEDData> ledData) {
  int32_t status = 0;
  HAL_WriteAddressableLEDData(m_handle, ledData.begin(), ledData.size(),
                              &status);
  wpi_setHALError(status);
}

void AddressableLED::SetBitTiming(units::nanosecond_t lowTime0,
                                  units::nanosecond_t highTime0,
                                  units::nanosecond_t lowTime1,
                                  units::nanosecond_t highTime1) {
  int32_t status = 0;
  HAL_SetAddressableLEDBitTiming(
      m_handle, lowTime0.to<int32_t>(), highTime0.to<int32_t>(),
      lowTime1.to<int32_t>(), highTime1.to<int32_t>(), &status);
  wpi_setHALError(status);
}

void AddressableLED::SetSyncTime(units::microsecond_t syncTime) {
  int32_t status = 0;
  HAL_SetAddressableLEDSyncTime(m_handle, syncTime.to<int32_t>(), &status);
  wpi_setHALError(status);
}

void AddressableLED::Start() {
  int32_t status = 0;
  HAL_StartAddressableLEDOutput(m_handle, &status);
  wpi_setHALError(status);
}

void AddressableLED::Stop() {
  int32_t status = 0;
  HAL_StopAddressableLEDOutput(m_handle, &status);
  wpi_setHALError(status);
}