Add AddressableLED (#2092)

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

@@ -0,0 +1,101 @@
+/*----------------------------------------------------------------------------*/
+/* 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);
+}

wpilibc/src/main/native/include/frc/AddressableLED.h

@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <memory>
+
+#include <hal/AddressableLEDTypes.h>
+#include <hal/Types.h>
+#include <units/units.h>
+#include <wpi/ArrayRef.h>
+
+#include "frc/ErrorBase.h"
+
+namespace frc {
+class PWM;
+
+/**
+ * A class for driving addressable LEDs, such as WS2812s and NeoPixels.
+ */
+class AddressableLED : public ErrorBase {
+ public:
+  class LEDData : public HAL_AddressableLEDData {
+   public:
+    LEDData() : LEDData(0, 0, 0) {}
+    LEDData(int _r, int _g, int _b) {
+      r = _r;
+      g = _g;
+      b = _b;
+      padding = 0;
+    }
+  };
+
+  /**
+   * Constructs a new driver from a PWM output.
+   *
+   * @param output the pwm output to use
+   */
+  explicit AddressableLED(PWM& output);
+
+  /**
+   * Constructs a new driver from a PWM output.
+   *
+   * @param output the pwm output to use
+   */
+  explicit AddressableLED(PWM* output);
+
+  /**
+   * Constructs a new driver from a PWM output.
+   *
+   * @param output the pwm output to use
+   */
+  explicit AddressableLED(std::shared_ptr<PWM> output);
+
+  /**
+   * Constructs a new driver for a specific port.
+   *
+   * @param port the output port to use (Must be a PWM port)
+   */
+  explicit AddressableLED(int port);
+
+  ~AddressableLED() override;
+
+  /**
+   * Sets the length of the LED strip.
+   *
+   * <p>Calling this is an expensive call, so its best to call it once, then
+   * just update data.
+   *
+   * @param length the strip length
+   */
+  void SetLength(int length);
+
+  /**
+   * Sets the led output data.
+   *
+   * <p>If the output is enabled, this will start writing the next data cycle.
+   * It is safe to call, even while output is enabled.
+   *
+   * @param ledData the buffer to write
+   */
+  void SetData(wpi::ArrayRef<LEDData> ledData);
+
+  /**
+   * Sets the led output data.
+   *
+   * <p>If the output is enabled, this will start writing the next data cycle.
+   * It is safe to call, even while output is enabled.
+   *
+   * @param ledData the buffer to write
+   */
+  void SetData(std::initializer_list<LEDData> ledData);
+
+  /**
+   * Sets the bit timing.
+   *
+   * <p>By default, the driver is set up to drive WS2812s, so nothing needs to
+   * be set for those.
+   *
+   * @param lowTime0 low time for 0 bit
+   * @param highTime0 high time for 0 bit
+   * @param lowTime1 low time for 1 bit
+   * @param highTime1 high time for 1 bit
+   */
+  void SetBitTiming(units::nanosecond_t lowTime0, units::nanosecond_t highTime0,
+                    units::nanosecond_t lowTime1,
+                    units::nanosecond_t highTime1);
+
+  /**
+   * Sets the sync time.
+   *
+   * <p>The sync time is the time to hold output so LEDs enable. Default set for
+   * WS2812.
+   *
+   * @param syncTimeMicroSeconds the sync time
+   */
+  void SetSyncTime(units::microsecond_t syncTime);
+
+  /**
+   * Starts the output.
+   *
+   * <p>The output writes continously.
+   */
+  void Start();
+
+  /**
+   * Stops the output.
+   */
+  void Stop();
+
+ private:
+  void Init();
+
+  std::shared_ptr<PWM> m_pwmOutput;
+  hal::Handle<HAL_AddressableLEDHandle> m_handle;
+};
+}  // namespace frc

wpilibc/src/main/native/include/frc/PWM.h

@@ -17,7 +17,7 @@
 #include "frc/smartdashboard/SendableHelper.h"
 
 namespace frc {
-
+class AddressableLED;
 class SendableBuilder;
 
 /**
@@ -39,6 +39,7 @@ class SendableBuilder;
  */
 class PWM : public MotorSafety, public Sendable, public SendableHelper<PWM> {
  public:
+  friend class AddressableLED;
   /**
    * Represents the amount to multiply the minimum servo-pulse pwm period by.
    */