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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
104 lines
3.2 KiB
C++
104 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 <algorithm>
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#include <cstring>
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#include "../PortsInternal.h"
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#include "AddressableLEDDataInternal.h"
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using namespace hal;
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namespace hal {
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namespace init {
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void InitializeAddressableLEDData() {
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static AddressableLEDData sad[kNumAddressableLEDs];
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::hal::SimAddressableLEDData = sad;
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}
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} // namespace init
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} // namespace hal
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AddressableLEDData* hal::SimAddressableLEDData;
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void AddressableLEDData::ResetData() {
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initialized.Reset(false);
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outputPort.Reset(-1);
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length.Reset(1);
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running.Reset(false);
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data.Reset();
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}
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void AddressableLEDData::SetData(const HAL_AddressableLEDData* d, int32_t len) {
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len = (std::min)(HAL_kAddressableLEDMaxLength, len);
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{
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std::scoped_lock lock(m_dataMutex);
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std::memcpy(m_data, d, len * sizeof(d[0]));
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}
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data(reinterpret_cast<const uint8_t*>(d), len * sizeof(d[0]));
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}
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int32_t AddressableLEDData::GetData(HAL_AddressableLEDData* d) {
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std::scoped_lock lock(m_dataMutex);
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int32_t len = length;
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if (d) std::memcpy(d, m_data, len * sizeof(d[0]));
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return len;
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}
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extern "C" {
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int32_t HALSIM_FindAddressableLEDForChannel(int32_t channel) {
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for (int i = 0; i < kNumAddressableLEDs; ++i) {
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if (SimAddressableLEDData[i].initialized &&
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SimAddressableLEDData[i].outputPort == channel)
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return i;
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}
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return -1;
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}
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void HALSIM_ResetAddressableLEDData(int32_t index) {
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SimAddressableLEDData[index].ResetData();
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}
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int32_t HALSIM_GetAddressableLEDData(int32_t index,
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struct HAL_AddressableLEDData* data) {
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return SimAddressableLEDData[index].GetData(data);
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}
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void HALSIM_SetAddressableLEDData(int32_t index,
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const struct HAL_AddressableLEDData* data,
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int32_t length) {
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SimAddressableLEDData[index].SetData(data, length);
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}
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, AddressableLED##CAPINAME, \
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SimAddressableLEDData, LOWERNAME)
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DEFINE_CAPI(HAL_Bool, Initialized, initialized)
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DEFINE_CAPI(int32_t, OutputPort, outputPort)
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DEFINE_CAPI(int32_t, Length, length)
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DEFINE_CAPI(HAL_Bool, Running, running)
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#undef DEFINE_CAPI
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#define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \
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HAL_SIMCALLBACKREGISTRY_DEFINE_CAPI(TYPE, HALSIM, AddressableLED##CAPINAME, \
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SimAddressableLEDData, LOWERNAME)
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DEFINE_CAPI(HAL_ConstBufferCallback, Data, data)
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#define REGISTER(NAME) \
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SimAddressableLEDData[index].NAME.RegisterCallback(callback, param, \
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initialNotify)
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void HALSIM_RegisterAddressableLEDAllCallbacks(int32_t index,
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HAL_NotifyCallback callback,
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void* param,
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HAL_Bool initialNotify) {
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REGISTER(initialized);
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REGISTER(outputPort);
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REGISTER(length);
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REGISTER(running);
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}
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} // extern "C"
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