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wpilibc/src/main/native/cpp/hardware/led/AddressableLED.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/AddressableLED.h"
+
+#include <algorithm>
+
+#include <hal/AddressableLED.h>
+#include <hal/HALBase.h>
+#include <hal/PWM.h>
+#include <hal/Ports.h>
+#include <hal/UsageReporting.h>
+#include <wpi/StackTrace.h>
+
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+
+AddressableLED::AddressableLED(int channel) : m_channel{channel} {
+  if (!SensorUtil::CheckDigitalChannel(channel)) {
+    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
+  }
+
+  int32_t status = 0;
+  auto stack = wpi::GetStackTrace(1);
+  m_handle = HAL_InitializeAddressableLED(channel, stack.c_str(), &status);
+  FRC_CheckErrorStatus(status, "Channel {}", channel);
+
+  HAL_ReportUsage("IO", channel, "AddressableLED");
+}
+
+void AddressableLED::SetColorOrder(AddressableLED::ColorOrder order) {
+  m_colorOrder = order;
+}
+
+void AddressableLED::SetStart(int start) {
+  m_start = start;
+  int32_t status = 0;
+  HAL_SetAddressableLEDStart(m_handle, start, &status);
+  FRC_CheckErrorStatus(status, "Channel {} start {}", m_channel, start);
+}
+
+void AddressableLED::SetLength(int length) {
+  m_length = length;
+  int32_t status = 0;
+  HAL_SetAddressableLEDLength(m_handle, length, &status);
+  FRC_CheckErrorStatus(status, "Channel {} length {}", m_channel, length);
+}
+
+static_assert(sizeof(AddressableLED::LEDData) == sizeof(HAL_AddressableLEDData),
+              "LED Structs MUST be the same size");
+
+void AddressableLED::SetData(std::span<const LEDData> ledData) {
+  int32_t status = 0;
+  HAL_SetAddressableLEDData(
+      m_start, std::min(static_cast<size_t>(m_length), ledData.size()),
+      static_cast<HAL_AddressableLEDColorOrder>(m_colorOrder), ledData.data(),
+      &status);
+  FRC_CheckErrorStatus(status, "Port {}", m_channel);
+}
+
+void AddressableLED::SetData(std::initializer_list<LEDData> ledData) {
+  SetData(std::span{ledData.begin(), ledData.end()});
+}
+
+void AddressableLED::SetGlobalData(int start, ColorOrder colorOrder,
+                                   std::span<const LEDData> ledData) {
+  int32_t status = 0;
+  HAL_SetAddressableLEDData(
+      start, ledData.size(),
+      static_cast<HAL_AddressableLEDColorOrder>(colorOrder), ledData.data(),
+      &status);
+  FRC_CheckErrorStatus(status, "");
+}
+
+void AddressableLED::LEDData::SetHSV(int h, int s, int v) {
+  SetLED(Color::FromHSV(h, s, v));
+}