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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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63
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSimTest.java
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@@ -21,7 +21,7 @@ class AddressableLEDSimTest {
@Test
void testInitialization() {
HAL.initialize(500, 0);
AddressableLEDSim sim = new AddressableLEDSim();
AddressableLEDSim sim = new AddressableLEDSim(0);
assertFalse(sim.getInitialized());
BooleanCallback initializedCallback = new BooleanCallback();
@@ -36,11 +36,11 @@ class AddressableLEDSimTest {
@Test
void testLength() {
AddressableLEDSim sim = new AddressableLEDSim();
AddressableLEDSim sim = new AddressableLEDSim(0);
IntCallback callback = new IntCallback();
try (CallbackStore cb = sim.registerLengthCallback(callback, false);
AddressableLED led = new AddressableLED(0)) {
assertEquals(1, sim.getLength()); // Defaults to 1 led
assertEquals(0, sim.getLength()); // Defaults to 0 leds
AddressableLEDBuffer ledData = new AddressableLEDBuffer(50);
led.setLength(ledData.getLength());
@@ -52,37 +52,14 @@ class AddressableLEDSimTest {
}
}
@Test
void testSetRunning() {
AddressableLEDSim sim = AddressableLEDSim.createForIndex(0);
BooleanCallback callback = new BooleanCallback();
try (CallbackStore cb = sim.registerRunningCallback(callback, false);
AddressableLED led = new AddressableLED(0)) {
assertFalse(sim.getRunning());
led.start();
assertTrue(sim.getRunning());
assertTrue(callback.wasTriggered());
assertTrue(callback.getSetValue());
callback.reset();
led.stop();
assertFalse(sim.getRunning());
assertTrue(callback.wasTriggered());
assertFalse(callback.getSetValue());
}
}
@Test
void testSetData() {
AddressableLEDSim sim = new AddressableLEDSim();
AddressableLEDSim sim = new AddressableLEDSim(0);
BufferCallback callback = new BufferCallback();
try (AddressableLED led = new AddressableLED(0);
CallbackStore cb = sim.registerDataCallback(callback)) {
assertFalse(sim.getRunning());
assertEquals(1, sim.getLength()); // Defaults to 1 led
CallbackStore cb = AddressableLEDSim.registerDataCallback(callback)) {
assertEquals(0, sim.getLength()); // Defaults to 0 leds
AddressableLEDBuffer ledData = new AddressableLEDBuffer(3);
led.setLength(ledData.getLength());
@@ -94,22 +71,19 @@ class AddressableLEDSimTest {
byte[] data = sim.getData();
System.out.println(Arrays.toString(data));
assertEquals(12, data.length);
assertEquals(9, data.length);
assertEquals((byte) 0, data[0]);
assertEquals((byte) 0, data[1]);
assertEquals((byte) 255, data[2]);
assertEquals((byte) 0, data[3]);
assertEquals((byte) 255, data[4]);
assertEquals((byte) 0, data[5]);
assertEquals((byte) 0, data[4]);
assertEquals((byte) 255, data[5]);
assertEquals((byte) 0, data[6]);
assertEquals((byte) 255, data[6]);
assertEquals((byte) 0, data[7]);
assertEquals((byte) 255, data[8]);
assertEquals((byte) 0, data[9]);
assertEquals((byte) 0, data[10]);
assertEquals((byte) 0, data[11]);
assertEquals((byte) 0, data[8]);
assertTrue(callback.wasTriggered());
data = callback.getSetValue();
@@ -117,17 +91,14 @@ class AddressableLEDSimTest {
assertEquals((byte) 0, data[0]);
assertEquals((byte) 0, data[1]);
assertEquals((byte) 255, data[2]);
assertEquals((byte) 0, data[3]);
assertEquals((byte) 255, data[4]);
assertEquals((byte) 0, data[5]);
assertEquals((byte) 0, data[4]);
assertEquals((byte) 255, data[5]);
assertEquals((byte) 0, data[6]);
assertEquals((byte) 255, data[6]);
assertEquals((byte) 0, data[7]);
assertEquals((byte) 255, data[8]);
assertEquals((byte) 0, data[9]);
assertEquals((byte) 0, data[10]);
assertEquals((byte) 0, data[11]);
assertEquals((byte) 0, data[8]);
}
}
}