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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:05 -05:00
committed by Peter Johnson
parent ae6c043632
commit 9aca8e0fd6
2622 changed files with 22275 additions and 22275 deletions
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46
wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
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@@ -15,20 +15,20 @@
#include "wpi/util/MathExtras.hpp"
#include "wpi/util/timestamp.h"
using namespace frc;
using namespace wpi;
LEDPattern::LEDPattern(std::function<void(frc::LEDPattern::LEDReader,
std::function<void(int, frc::Color)>)>
LEDPattern::LEDPattern(std::function<void(wpi::LEDPattern::LEDReader,
std::function<void(int, wpi::Color)>)>
impl)
: m_impl(std::move(impl)) {}
void LEDPattern::ApplyTo(LEDPattern::LEDReader reader,
std::function<void(int, frc::Color)> writer) const {
std::function<void(int, wpi::Color)> writer) const {
m_impl(reader, writer);
}
void LEDPattern::ApplyTo(std::span<AddressableLED::LEDData> data,
std::function<void(int, frc::Color)> writer) const {
std::function<void(int, wpi::Color)> writer) const {
ApplyTo(LEDPattern::LEDReader{[=](size_t i) { return data[i]; }, data.size()},
writer);
}
@@ -54,39 +54,39 @@ LEDPattern LEDPattern::Reversed() {
LEDPattern LEDPattern::OffsetBy(int offset) {
return MapIndex([offset](size_t bufLen, size_t i) {
return frc::FloorMod(static_cast<int>(i) + offset,
return wpi::math::FloorMod(static_cast<int>(i) + offset,
static_cast<int>(bufLen));
});
}
LEDPattern LEDPattern::ScrollAtRelativeSpeed(units::hertz_t velocity) {
LEDPattern LEDPattern::ScrollAtRelativeSpeed(wpi::units::hertz_t velocity) {
// velocity is in terms of LED lengths per second (1_hz = full cycle per
// second, 0.5_hz = half cycle per second, 2_hz = two cycles per second)
// Invert and multiply by 1,000,000 to get microseconds
double periodMicros = 1e6 / velocity.value();
return MapIndex([=](size_t bufLen, size_t i) {
auto now = wpi::Now();
auto now = wpi::util::Now();
// index should move by (bufLen) / (period)
double t =
(now % static_cast<int64_t>(std::floor(periodMicros))) / periodMicros;
int offset = static_cast<int>(std::floor(t * bufLen));
return frc::FloorMod(static_cast<int>(i) + offset,
return wpi::math::FloorMod(static_cast<int>(i) + offset,
static_cast<int>(bufLen));
});
}
LEDPattern LEDPattern::ScrollAtAbsoluteSpeed(
units::meters_per_second_t velocity, units::meter_t ledSpacing) {
wpi::units::meters_per_second_t velocity, wpi::units::meter_t ledSpacing) {
// Velocity is in terms of meters per second
// Multiply by 1,000,000 to use microseconds instead of seconds
auto microsPerLed =
static_cast<int64_t>(std::floor((ledSpacing / velocity).value() * 1e6));
return MapIndex([=](size_t bufLen, size_t i) {
auto now = wpi::Now();
auto now = wpi::util::Now();
// every step in time that's a multiple of microsPerLED will increment
// the offset by 1
@@ -94,17 +94,17 @@ LEDPattern LEDPattern::ScrollAtAbsoluteSpeed(
// offset values for negative velocities
auto offset = static_cast<int64_t>(now) / microsPerLed;
return frc::FloorMod(static_cast<int>(i) + offset,
return wpi::math::FloorMod(static_cast<int>(i) + offset,
static_cast<int>(bufLen));
});
}
LEDPattern LEDPattern::Blink(units::second_t onTime, units::second_t offTime) {
auto totalMicros = units::microsecond_t{onTime + offTime}.to<uint64_t>();
auto onMicros = units::microsecond_t{onTime}.to<uint64_t>();
LEDPattern LEDPattern::Blink(wpi::units::second_t onTime, wpi::units::second_t offTime) {
auto totalMicros = wpi::units::microsecond_t{onTime + offTime}.to<uint64_t>();
auto onMicros = wpi::units::microsecond_t{onTime}.to<uint64_t>();
return LEDPattern{[=, self = *this](auto data, auto writer) {
if (wpi::Now() % totalMicros < onMicros) {
if (wpi::util::Now() % totalMicros < onMicros) {
self.ApplyTo(data, writer);
} else {
LEDPattern::Off().ApplyTo(data, writer);
@@ -112,7 +112,7 @@ LEDPattern LEDPattern::Blink(units::second_t onTime, units::second_t offTime) {
}};
}
LEDPattern LEDPattern::Blink(units::second_t onTime) {
LEDPattern LEDPattern::Blink(wpi::units::second_t onTime) {
return LEDPattern::Blink(onTime, onTime);
}
@@ -126,12 +126,12 @@ LEDPattern LEDPattern::SynchronizedBlink(std::function<bool()> signal) {
}};
}
LEDPattern LEDPattern::Breathe(units::second_t period) {
auto periodMicros = units::microsecond_t{period};
LEDPattern LEDPattern::Breathe(wpi::units::second_t period) {
auto periodMicros = wpi::units::microsecond_t{period};
return LEDPattern{[periodMicros, self = *this](auto data, auto writer) {
self.ApplyTo(data, [&writer, periodMicros](int i, Color color) {
double t = (wpi::Now() % periodMicros.to<uint64_t>()) /
double t = (wpi::util::Now() % periodMicros.to<uint64_t>()) /
periodMicros.to<double>();
double phase = t * 2 * std::numbers::pi;
@@ -299,9 +299,9 @@ LEDPattern LEDPattern::Gradient(GradientType type,
auto color = colors[colorIndex];
auto nextColor = colors[nextColorIndex];
Color gradientColor{wpi::Lerp(color.red, nextColor.red, t),
wpi::Lerp(color.green, nextColor.green, t),
wpi::Lerp(color.blue, nextColor.blue, t)};
Color gradientColor{wpi::util::Lerp(color.red, nextColor.red, t),
wpi::util::Lerp(color.green, nextColor.green, t),
wpi::util::Lerp(color.blue, nextColor.blue, t)};
writer(led, gradientColor);
}
}};