Add AddressableLED (#2092)

2026-06-19 00:41:43 +00:00 · 2019-11-17 16:39:38 -08:00
parent 59507b12dc
commit 8ed2059074
20 changed files with 991 additions and 3 deletions
--- a/wpilibc/src/main/native/cpp/AddressableLED.cpp
+++ b/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);
+}