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https://github.com/wpilibsuite/allwpilib
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106 lines
3.4 KiB
C++
106 lines
3.4 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 wpi::hal;
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namespace wpi::hal::init {
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void InitializeAddressableLEDData() {
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static AddressableLEDData sad[kNumAddressableLEDs];
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::wpi::hal::SimAddressableLEDData = sad;
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static AddressableLEDDataBuffer buf;
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::wpi::hal::SimAddressableLEDDataBuffer = &buf;
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}
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} // namespace wpi::hal::init
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AddressableLEDData* wpi::hal::SimAddressableLEDData;
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AddressableLEDDataBuffer* wpi::hal::SimAddressableLEDDataBuffer;
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void AddressableLEDData::ResetData() {
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initialized.Reset(false);
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start.Reset(0);
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length.Reset(0);
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}
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void AddressableLEDDataBuffer::SetData(int32_t start, int32_t len,
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const HAL_AddressableLEDData* d) {
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if ((start + len) > HAL_kAddressableLEDMaxLength) {
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len = HAL_kAddressableLEDMaxLength - start;
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}
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if (len <= 0) {
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return;
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}
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{
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std::scoped_lock lock(m_dataMutex);
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std::memcpy(&m_data[start], 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 AddressableLEDDataBuffer::GetData(int32_t start, int32_t len,
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HAL_AddressableLEDData* d) {
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if ((start + len) > HAL_kAddressableLEDMaxLength) {
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len = HAL_kAddressableLEDMaxLength - start;
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}
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if (len <= 0) {
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return 0;
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}
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std::scoped_lock lock(m_dataMutex);
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if (d) {
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std::memcpy(d, &m_data[start], len * sizeof(d[0]));
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}
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return len;
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}
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extern "C" {
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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 start, int32_t length,
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struct HAL_AddressableLEDData* data) {
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return SimAddressableLEDDataBuffer->GetData(start, length, data);
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}
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void HALSIM_SetAddressableLEDData(int32_t start, int32_t length,
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const struct HAL_AddressableLEDData* data) {
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SimAddressableLEDDataBuffer->SetData(start, length, data);
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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, Start, start)
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DEFINE_CAPI(int32_t, Length, length)
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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_NOINDEX( \
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TYPE, HALSIM, AddressableLED##CAPINAME, SimAddressableLEDDataBuffer, \
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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(start);
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REGISTER(length);
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}
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} // extern "C"
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