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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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16
simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
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@@ -19,22 +19,22 @@ using namespace halsimgui;
namespace {
class AddressableLEDModel : public glass::LEDDisplayModel {
public:
explicit AddressableLEDModel(int32_t index) : m_index{index} {}
explicit AddressableLEDModel(int32_t channel) : m_channel{channel} {}
void Update() override {}
bool Exists() override {
return HALSIM_GetAddressableLEDInitialized(m_index);
return HALSIM_GetAddressableLEDInitialized(m_channel);
}
bool IsRunning() override { return HALSIM_GetAddressableLEDRunning(m_index); }
std::span<const Data> GetData(wpi::SmallVectorImpl<Data>&) override {
size_t length = HALSIM_GetAddressableLEDData(m_index, m_data);
size_t length = HALSIM_GetAddressableLEDData(
HALSIM_GetAddressableLEDStart(m_channel),
HALSIM_GetAddressableLEDLength(m_channel), m_data);
return {reinterpret_cast<Data*>(m_data), length};
}
private:
int32_t m_index;
int32_t m_channel;
HAL_AddressableLEDData m_data[HAL_kAddressableLEDMaxLength];
};
@@ -49,7 +49,7 @@ class AddressableLEDsModel : public glass::LEDDisplaysModel {
size_t GetNumLEDDisplays() override { return m_models.size(); }
void ForEachLEDDisplay(
wpi::function_ref<void(glass::LEDDisplayModel& model, int index)> func)
wpi::function_ref<void(glass::LEDDisplayModel& model, int channel)> func)
override;
private:
@@ -83,7 +83,7 @@ bool AddressableLEDsModel::Exists() {
}
void AddressableLEDsModel::ForEachLEDDisplay(
wpi::function_ref<void(glass::LEDDisplayModel& model, int index)> func) {
wpi::function_ref<void(glass::LEDDisplayModel& model, int channel)> func) {
for (int i = 0; i < static_cast<int>(m_models.size()); ++i) {
if (m_models[i]) {
func(*m_models[i], i);

15
simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
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@@ -28,9 +28,6 @@ class PWMSimModel : public glass::PWMModel {
bool Exists() override { return HALSIM_GetPWMInitialized(m_index); }
void SetAddressableLED(int led) { m_led = led; }
int GetAddressableLED() const override { return m_led; }
glass::DoubleSource* GetSpeedData() override { return &m_speed; }
void SetSpeed(double val) override {
@@ -39,7 +36,6 @@ class PWMSimModel : public glass::PWMModel {
private:
int32_t m_index;
int m_led = -1;
PWMPulseMicrosecondSource m_speed;
};
@@ -68,21 +64,10 @@ void PWMsSimModel::Update() {
if (!model) {
model = std::make_unique<PWMSimModel>(i);
}
model->SetAddressableLED(-1);
} else {
model.reset();
}
}
static const int32_t numLED = HAL_GetNumAddressableLEDs();
for (int32_t i = 0; i < numLED; ++i) {
if (HALSIM_GetAddressableLEDInitialized(i)) {
int32_t channel = HALSIM_GetAddressableLEDOutputPort(i);
if (channel >= 0 && channel < numPWM && m_sources[channel]) {
m_sources[channel]->SetAddressableLED(i);
}
}
}
}
void PWMsSimModel::ForEachPWM(