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wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp

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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.
+
+#pragma once
+
+#include <initializer_list>
+#include <span>
+
+#include <hal/AddressableLED.h>
+#include <hal/AddressableLEDTypes.h>
+#include <hal/Types.h>
+#include <units/time.h>
+
+#include "util/Color.h"
+#include "util/Color8Bit.h"
+
+namespace frc {
+
+/**
+ * A class for driving addressable LEDs, such as WS2812B, WS2815, and NeoPixels.
+ *
+ * Some LEDs use a different color order than the default GRB. The color order
+ * is configurable using SetColorOrder().
+ *
+ * Up to 1024 LEDs may be controlled in total across all AddressableLED
+ * instances. A single global buffer is used for all instances. The start
+ * position used for LED data for the output is set via SetStart() and the
+ * length of the strip is set via SetLength(). Both of these default to zero, so
+ * multiple instances will access the same pixel data unless SetStart() is
+ * called to adjust the starting point.
+ */
+class AddressableLED {
+ public:
+  /**
+   * Order that color data is sent over the wire.
+   */
+  enum ColorOrder {
+    kRGB = HAL_ALED_RGB,  ///< RGB order
+    kRBG = HAL_ALED_RBG,  ///< RBG order
+    kBGR = HAL_ALED_BGR,  ///< BGR order
+    kBRG = HAL_ALED_BRG,  ///< BRG order
+    kGBR = HAL_ALED_GBR,  ///< GBR order
+    kGRB = HAL_ALED_GRB   ///< GRB order. This is the default order.
+  };
+
+  class LEDData : public HAL_AddressableLEDData {
+   public:
+    LEDData() : LEDData(0, 0, 0) {}
+    LEDData(int _r, int _g, int _b) {
+      r = _r;
+      g = _g;
+      b = _b;
+    }
+
+    /**
+     * A helper method to set all values of the LED.
+     *
+     * @param r the r value [0-255]
+     * @param g the g value [0-255]
+     * @param b the b value [0-255]
+     */
+    void SetRGB(int r, int g, int b) {
+      this->r = r;
+      this->g = g;
+      this->b = b;
+    }
+
+    /**
+     * A helper method to set all values of the LED.
+     *
+     * @param h the h value [0-180]
+     * @param s the s value [0-255]
+     * @param v the v value [0-255]
+     */
+    void SetHSV(int h, int s, int v);
+
+    /*
+     * Sets a specific LED in the buffer.
+     *
+     * @param color The color of the LED
+     */
+    void SetLED(const Color& color) {
+      this->r = color.red * 255;
+      this->g = color.green * 255;
+      this->b = color.blue * 255;
+    }
+
+    /*
+     * Sets a specific LED in the buffer.
+     *
+     * @param color The color of the LED
+     */
+    void SetLED(const Color8Bit& color) {
+      this->r = color.red;
+      this->g = color.green;
+      this->b = color.blue;
+    }
+  };
+
+  /**
+   * Constructs a new driver for a specific channel.
+   *
+   * @param channel the output channel to use
+   */
+  explicit AddressableLED(int channel);
+
+  AddressableLED(AddressableLED&&) = default;
+  AddressableLED& operator=(AddressableLED&&) = default;
+
+  /**
+   * Gets the channel for this addressable LED.
+   *
+   * @return channel
+   */
+  int GetChannel() const { return m_channel; }
+
+  /**
+   * Sets the color order for this AddressableLED. The default order is GRB.
+   *
+   * This will take effect on the next call to SetData().
+   *
+   * @param order the color order
+   */
+  void SetColorOrder(ColorOrder order);
+
+  /**
+   * Sets the display start of the LED strip in the global buffer.
+   *
+   * @param start the strip start, in LEDs
+   */
+  void SetStart(int start);
+
+  /**
+   * Gets the display start of the LED strip in the global buffer.
+   *
+   * @return the strip start, in LEDs
+   */
+  int GetStart() const { return m_start; }
+
+  /**
+   * Sets the length of the LED strip.
+   *
+   * @param length the strip length, in LEDs
+   */
+  void SetLength(int length);
+
+  /**
+   * Sets the LED output data. This will write to the global buffer starting at
+   * the location set by SetStart() and up to the length set by SetLength().
+   *
+   * @param ledData the buffer to write
+   */
+  void SetData(std::span<const LEDData> ledData);
+
+  /**
+   * Sets the LED output data. This will write to the global buffer starting at
+   * the location set by SetStart() and up to the length set by SetLength().
+   *
+   * @param ledData the buffer to write
+   */
+  void SetData(std::initializer_list<LEDData> ledData);
+
+  /**
+   * Sets the LED output data at an arbitrary location in the global buffer.
+   *
+   * @param start the start location, in LEDs
+   * @param colorOrder the color order
+   * @param ledData the buffer to write
+   */
+  static void SetGlobalData(int start, ColorOrder colorOrder,
+                            std::span<const LEDData> ledData);
+
+ private:
+  hal::Handle<HAL_AddressableLEDHandle, HAL_FreeAddressableLED> m_handle;
+  int m_channel;
+  int m_start{0};
+  int m_length{0};
+  ColorOrder m_colorOrder{kGRB};
+};
+
+constexpr auto format_as(AddressableLED::ColorOrder order) {
+  return static_cast<int32_t>(order);
+}
+
+}  // namespace frc