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99 lines
3.2 KiB
C++
99 lines
3.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/AddressableLED.h"
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#include <hal/AddressableLED.h>
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#include <hal/HALBase.h>
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#include <hal/PWM.h>
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#include <hal/Ports.h>
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#include <hal/UsageReporting.h>
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#include <wpi/StackTrace.h>
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#include "frc/Errors.h"
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using namespace frc;
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AddressableLED::AddressableLED(int port) : m_port{port} {
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int32_t status = 0;
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auto stack = wpi::GetStackTrace(1);
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m_pwmHandle = HAL_InitializePWMPort(port, stack.c_str(), &status);
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FRC_CheckErrorStatus(status, "Port {}", port);
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if (m_pwmHandle == HAL_kInvalidHandle) {
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return;
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}
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m_handle = HAL_InitializeAddressableLED(m_pwmHandle, &status);
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FRC_CheckErrorStatus(status, "Port {}", port);
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if (m_handle == HAL_kInvalidHandle) {
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HAL_FreePWMPort(m_pwmHandle);
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}
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HAL_ReportUsage("IO", port, "AddressableLED");
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}
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void AddressableLED::SetColorOrder(AddressableLED::ColorOrder order) {
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int32_t status = 0;
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HAL_SetAddressableLEDColorOrder(
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m_handle, static_cast<HAL_AddressableLEDColorOrder>(order), &status);
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FRC_CheckErrorStatus(status, "Port {} Color order {}", m_port, order);
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}
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void AddressableLED::SetLength(int length) {
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int32_t status = 0;
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HAL_SetAddressableLEDLength(m_handle, length, &status);
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FRC_CheckErrorStatus(status, "Port {} length {}", m_port, length);
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}
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static_assert(sizeof(AddressableLED::LEDData) == sizeof(HAL_AddressableLEDData),
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"LED Structs MUST be the same size");
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void AddressableLED::SetData(std::span<const LEDData> ledData) {
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int32_t status = 0;
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HAL_WriteAddressableLEDData(m_handle, ledData.data(), ledData.size(),
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&status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::SetData(std::initializer_list<LEDData> ledData) {
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int32_t status = 0;
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HAL_WriteAddressableLEDData(m_handle, ledData.begin(), ledData.size(),
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&status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::SetBitTiming(units::nanosecond_t highTime0,
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units::nanosecond_t lowTime0,
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units::nanosecond_t highTime1,
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units::nanosecond_t lowTime1) {
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int32_t status = 0;
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HAL_SetAddressableLEDBitTiming(
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m_handle, highTime0.to<int32_t>(), lowTime0.to<int32_t>(),
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highTime1.to<int32_t>(), lowTime1.to<int32_t>(), &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::SetSyncTime(units::microsecond_t syncTime) {
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int32_t status = 0;
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HAL_SetAddressableLEDSyncTime(m_handle, syncTime.to<int32_t>(), &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::Start() {
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int32_t status = 0;
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HAL_StartAddressableLEDOutput(m_handle, &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::Stop() {
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int32_t status = 0;
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HAL_StopAddressableLEDOutput(m_handle, &status);
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FRC_CheckErrorStatus(status, "Port {}", m_port);
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}
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void AddressableLED::LEDData::SetHSV(int h, int s, int v) {
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SetLED(Color::FromHSV(h, s, v));
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}
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