Merge branch 'main' into 2027

hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java

@@ -10,6 +10,13 @@ package edu.wpi.first.hal;
  * @see "hal/AddressableLED.h"
  */
 public class AddressableLEDJNI extends JNIWrapper {
+  public static final int COLOR_ORDER_RGB = 0;
+  public static final int COLOR_ORDER_RBG = 1;
+  public static final int COLOR_ORDER_BGR = 2;
+  public static final int COLOR_ORDER_BRG = 3;
+  public static final int COLOR_ORDER_GBR = 4;
+  public static final int COLOR_ORDER_GRB = 5;
+
   /**
    * Initialize Addressable LED using a PWM Digital handle.
    *
@@ -27,6 +34,16 @@ public class AddressableLEDJNI extends JNIWrapper {
    */
   public static native void free(int handle);
 
+  /**
+   * Sets the color order for the addressable LED output. The default order is GRB.
+   *
+   * <p>This will take effect on the next call to {@link #setData(int, byte[])}.
+   *
+   * @param handle the Addressable LED handle
+   * @param colorOrder the color order
+   */
+  public static native void setColorOrder(int handle, int colorOrder);
+
   /**
    * Sets the length of the LED strip.
    *

hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp

@@ -15,6 +15,19 @@ using namespace wpi::java;
 
 static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
 
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_RGB ==
+              HAL_ALED_RGB);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_RBG ==
+              HAL_ALED_RBG);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_BGR ==
+              HAL_ALED_BGR);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_BRG ==
+              HAL_ALED_BRG);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_GBR ==
+              HAL_ALED_GBR);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_GRB ==
+              HAL_ALED_GRB);
+
 extern "C" {
 /*
  * Class:     edu_wpi_first_hal_AddressableLEDJNI
@@ -46,6 +59,22 @@ Java_edu_wpi_first_hal_AddressableLEDJNI_free
   }
 }
 
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setColorOrder
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setColorOrder
+  (JNIEnv* env, jclass, jint handle, jint colorOrder)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDColorOrder(
+      static_cast<HAL_AddressableLEDHandle>(handle),
+      static_cast<HAL_AddressableLEDColorOrder>(colorOrder), &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_AddressableLEDJNI
  * Method:    setLength

hal/src/main/native/include/hal/AddressableLED.h

@@ -36,6 +36,17 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
  */
 void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle);
 
+/**
+ * Sets the color order for the addressable LED output. The default order is
+ * GRB. This will take effect on the next call to HAL_WriteAddressableLEDData().
+ * @param[in] handle the Addressable LED handle
+ * @param[in] colorOrder the color order
+ * @param[out] status the error code, or 0 for success
+ */
+void HAL_SetAddressableLEDColorOrder(HAL_AddressableLEDHandle handle,
+                                     HAL_AddressableLEDColorOrder colorOrder,
+                                     int32_t* status);
+
 /**
  * Set the Addressable LED PWM Digital port.
  *

hal/src/main/native/include/hal/AddressableLEDTypes.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <hal/Types.h>
 #include <stdint.h>
 
 /** max length of LED strip supported by FPGA. */
@@ -16,3 +17,21 @@ struct HAL_AddressableLEDData {
   uint8_t r;  ///< red value
   uint8_t padding;
 };
+
+/**
+ * Order that color data is sent over the wire.
+ */
+HAL_ENUM(HAL_AddressableLEDColorOrder) {
+  HAL_ALED_RGB,
+  HAL_ALED_RBG,
+  HAL_ALED_BGR,
+  HAL_ALED_BRG,
+  HAL_ALED_GBR,
+  HAL_ALED_GRB
+};
+
+#ifdef __cplusplus
+constexpr auto format_as(HAL_AddressableLEDColorOrder order) {
+  return static_cast<int32_t>(order);
+}
+#endif

hal/src/main/native/sim/AddressableLED.cpp

@@ -91,6 +91,10 @@ void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {
   SimAddressableLEDData[led->index].initialized = false;
 }
 
+void HAL_SetAddressableLEDColorOrder(HAL_AddressableLEDHandle handle,
+                                     HAL_AddressableLEDColorOrder colorOrder,
+                                     int32_t* status) {}
+
 void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
                                      HAL_DigitalHandle outputPort,
                                      int32_t* status) {

hal/src/main/native/systemcore/AddressableLED.cpp

@@ -30,6 +30,13 @@ HAL_AddressableLEDHandle HAL_InitializeAddressableLED(
 
 void HAL_FreeAddressableLED(HAL_AddressableLEDHandle handle) {}
 
+void HAL_SetAddressableLEDColorOrder(HAL_AddressableLEDHandle handle,
+                                     HAL_AddressableLEDColorOrder colorOrder,
+                                     int32_t* status) {
+  *status = HAL_HANDLE_ERROR;
+  return;
+}
+
 void HAL_SetAddressableLEDOutputPort(HAL_AddressableLEDHandle handle,
                                      HAL_DigitalHandle outputPort,
                                      int32_t* status) {