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[hal,wpilib] Add function to control "Radio" LED (#6073)

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This commit is contained in:
Ryan Blue
2023-12-22 13:57:52 -05:00
committed by GitHub
parent 0b2cfb3abc
commit 4059e0cd9f
22 changed files with 531 additions and 3 deletions
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25
wpilibc/src/main/native/cpp/RobotController.cpp
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@@ -8,6 +8,7 @@
#include <hal/CAN.h>
#include <hal/HALBase.h>
#include <hal/LEDs.h>
#include <hal/Power.h>
#include "frc/Errors.h"
@@ -230,6 +231,30 @@ units::celsius_t RobotController::GetCPUTemp() {
return units::celsius_t{retVal};
}
static_assert(RadioLEDState::kOff ==
static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kOff));
static_assert(
RadioLEDState::kGreen ==
static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kGreen));
static_assert(RadioLEDState::kRed ==
static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kRed));
static_assert(
RadioLEDState::kOrange ==
static_cast<RadioLEDState>(HAL_RadioLEDState::HAL_RadioLED_kOrange));
void RobotController::SetRadioLEDState(RadioLEDState state) {
int32_t status = 0;
HAL_SetRadioLEDState(static_cast<HAL_RadioLEDState>(state), &status);
FRC_CheckErrorStatus(status, "SetRadioLEDState");
}
RadioLEDState RobotController::GetRadioLEDState() {
int32_t status = 0;
auto retVal = static_cast<RadioLEDState>(HAL_GetRadioLEDState(&status));
FRC_CheckErrorStatus(status, "GetRadioLEDState");
return retVal;
}
CANStatus RobotController::GetCANStatus() {
int32_t status = 0;
float percentBusUtilization = 0;

17
wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
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@@ -338,6 +338,23 @@ void RoboRioSim::SetComments(std::string_view comments) {
HALSIM_SetRoboRioComments(comments.data(), comments.size());
}
std::unique_ptr<CallbackStore> RoboRioSim::RegisterRadioLEDStateCallback(
NotifyCallback callback, bool initialNotify) {
auto store = std::make_unique<CallbackStore>(
-1, callback, &HALSIM_CancelRoboRioRadioLEDStateCallback);
store->SetUid(HALSIM_RegisterRoboRioRadioLEDStateCallback(
&CallbackStoreThunk, store.get(), initialNotify));
return store;
}
RadioLEDState RoboRioSim::GetRadioLEDState() {
return static_cast<RadioLEDState>(HALSIM_GetRoboRioRadioLEDState());
}
void RoboRioSim::SetRadioLEDState(RadioLEDState state) {
HALSIM_SetRoboRioRadioLEDState(static_cast<HAL_RadioLEDState>(state));
}
void RoboRioSim::ResetData() {
HALSIM_ResetRoboRioData();
}