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[hal, wpilib] Update Addressable LED support (#8100)

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This commit is contained in:
Peter Johnson
2025-07-21 21:52:10 -07:00
committed by GitHub
parent 8aa312fb6f
commit f3af50fc8e
40 changed files with 857 additions and 1104 deletions
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67
hal/src/main/native/sim/mockdata/AddressableLEDData.cpp
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@@ -14,62 +14,64 @@ namespace hal::init {
void InitializeAddressableLEDData() {
static AddressableLEDData sad[kNumAddressableLEDs];
::hal::SimAddressableLEDData = sad;
static AddressableLEDDataBuffer buf;
::hal::SimAddressableLEDDataBuffer = &buf;
}
} // namespace hal::init
AddressableLEDData* hal::SimAddressableLEDData;
AddressableLEDDataBuffer* hal::SimAddressableLEDDataBuffer;
void AddressableLEDData::ResetData() {
initialized.Reset(false);
outputPort.Reset(-1);
length.Reset(1);
running.Reset(false);
data.Reset();
start.Reset(0);
length.Reset(0);
}
void AddressableLEDData::SetData(const HAL_AddressableLEDData* d, int32_t len) {
len = (std::min)(HAL_kAddressableLEDMaxLength, len);
void AddressableLEDDataBuffer::SetData(int32_t start, int32_t len,
const HAL_AddressableLEDData* d) {
if ((start + len) > HAL_kAddressableLEDMaxLength) {
len = HAL_kAddressableLEDMaxLength - start;
}
if (len <= 0) {
return;
}
{
std::scoped_lock lock(m_dataMutex);
std::memcpy(m_data, d, len * sizeof(d[0]));
std::memcpy(&m_data[start], d, len * sizeof(d[0]));
}
data(reinterpret_cast<const uint8_t*>(d), len * sizeof(d[0]));
}
int32_t AddressableLEDData::GetData(HAL_AddressableLEDData* d) {
int32_t AddressableLEDDataBuffer::GetData(int32_t start, int32_t len,
HAL_AddressableLEDData* d) {
if ((start + len) > HAL_kAddressableLEDMaxLength) {
len = HAL_kAddressableLEDMaxLength - start;
}
if (len <= 0) {
return 0;
}
std::scoped_lock lock(m_dataMutex);
int32_t len = length;
if (d) {
std::memcpy(d, m_data, len * sizeof(d[0]));
std::memcpy(d, &m_data[start], len * sizeof(d[0]));
}
return len;
}
extern "C" {
int32_t HALSIM_FindAddressableLEDForChannel(int32_t channel) {
for (int i = 0; i < kNumAddressableLEDs; ++i) {
if (SimAddressableLEDData[i].initialized &&
SimAddressableLEDData[i].outputPort == channel) {
return i;
}
}
return -1;
}
void HALSIM_ResetAddressableLEDData(int32_t index) {
SimAddressableLEDData[index].ResetData();
}
int32_t HALSIM_GetAddressableLEDData(int32_t index,
int32_t HALSIM_GetAddressableLEDData(int32_t start, int32_t length,
struct HAL_AddressableLEDData* data) {
return SimAddressableLEDData[index].GetData(data);
return SimAddressableLEDDataBuffer->GetData(start, length, data);
}
void HALSIM_SetAddressableLEDData(int32_t index,
const struct HAL_AddressableLEDData* data,
int32_t length) {
SimAddressableLEDData[index].SetData(data, length);
void HALSIM_SetAddressableLEDData(int32_t start, int32_t length,
const struct HAL_AddressableLEDData* data) {
SimAddressableLEDDataBuffer->SetData(start, length, data);
}
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
@@ -77,14 +79,14 @@ void HALSIM_SetAddressableLEDData(int32_t index,
SimAddressableLEDData, LOWERNAME)
DEFINE_CAPI(HAL_Bool, Initialized, initialized)
DEFINE_CAPI(int32_t, OutputPort, outputPort)
DEFINE_CAPI(int32_t, Start, start)
DEFINE_CAPI(int32_t, Length, length)
DEFINE_CAPI(HAL_Bool, Running, running)
#undef DEFINE_CAPI
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMCALLBACKREGISTRY_DEFINE_CAPI(TYPE, HALSIM, AddressableLED##CAPINAME, \
SimAddressableLEDData, LOWERNAME)
#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
HAL_SIMCALLBACKREGISTRY_DEFINE_CAPI_NOINDEX( \
TYPE, HALSIM, AddressableLED##CAPINAME, SimAddressableLEDDataBuffer, \
LOWERNAME)
DEFINE_CAPI(HAL_ConstBufferCallback, Data, data)
@@ -97,8 +99,7 @@ void HALSIM_RegisterAddressableLEDAllCallbacks(int32_t index,
void* param,
HAL_Bool initialNotify) {
REGISTER(initialized);
REGISTER(outputPort);
REGISTER(start);
REGISTER(length);
REGISTER(running);
}
} // extern "C"

29
hal/src/main/native/sim/mockdata/AddressableLEDDataInternal.h
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@@ -15,26 +15,29 @@
namespace hal {
class AddressableLEDData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(OutputPort)
HAL_SIMDATAVALUE_DEFINE_NAME(Start)
HAL_SIMDATAVALUE_DEFINE_NAME(Length)
HAL_SIMDATAVALUE_DEFINE_NAME(Running)
public:
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
SimDataValue<int32_t, HAL_MakeInt, GetStartName> start{0};
SimDataValue<int32_t, HAL_MakeInt, GetLengthName> length{0};
void ResetData();
};
extern AddressableLEDData* SimAddressableLEDData;
class AddressableLEDDataBuffer {
HAL_SIMDATAVALUE_DEFINE_NAME(Data)
wpi::recursive_spinlock m_dataMutex;
HAL_AddressableLEDData m_data[HAL_kAddressableLEDMaxLength];
public:
void SetData(const HAL_AddressableLEDData* d, int32_t len);
int32_t GetData(HAL_AddressableLEDData* d);
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetInitializedName> initialized{
false};
SimDataValue<int32_t, HAL_MakeInt, GetOutputPortName> outputPort{-1};
SimDataValue<int32_t, HAL_MakeInt, GetLengthName> length{1};
SimDataValue<HAL_Bool, HAL_MakeBoolean, GetRunningName> running{false};
void SetData(int32_t start, int32_t len, const HAL_AddressableLEDData* d);
int32_t GetData(int32_t start, int32_t len, HAL_AddressableLEDData* d);
SimCallbackRegistry<HAL_ConstBufferCallback, GetDataName> data;
void ResetData();
};
extern AddressableLEDData* SimAddressableLEDData;
extern AddressableLEDDataBuffer* SimAddressableLEDDataBuffer;
} // namespace hal