mirror of
https://github.com/wpilibsuite/allwpilib
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102 lines
3.0 KiB
C++
102 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/AddressableLED.h"
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#include <hal/AddressableLED.h>
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#include "frc/PWM.h"
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#include "frc/WPIErrors.h"
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using namespace frc;
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AddressableLED::AddressableLED(PWM& output)
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: m_pwmOutput{&output, NullDeleter<PWM>()} {
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Init();
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}
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AddressableLED::AddressableLED(PWM* output)
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: m_pwmOutput{output, NullDeleter<PWM>()} {
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if (m_pwmOutput == nullptr) {
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wpi_setWPIError(NullParameter);
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} else {
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Init();
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}
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}
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AddressableLED::AddressableLED(std::shared_ptr<PWM> output)
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: m_pwmOutput{std::move(output)} {
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Init();
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}
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AddressableLED::AddressableLED(int port)
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: m_pwmOutput{std::make_shared<PWM>(port)} {
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if (!m_pwmOutput->StatusIsFatal()) {
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Init();
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}
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}
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AddressableLED::~AddressableLED() { HAL_FreeAddressableLED(m_handle); }
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void AddressableLED::Init() {
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int32_t status = 0;
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m_handle = HAL_InitializeAddressableLED(m_pwmOutput->m_handle, &status);
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wpi_setHALError(status);
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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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wpi_setHALError(status);
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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(wpi::ArrayRef<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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wpi_setHALError(status);
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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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wpi_setHALError(status);
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}
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void AddressableLED::SetBitTiming(units::nanosecond_t lowTime0,
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units::nanosecond_t highTime0,
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units::nanosecond_t lowTime1,
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units::nanosecond_t highTime1) {
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int32_t status = 0;
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HAL_SetAddressableLEDBitTiming(
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m_handle, lowTime0.to<int32_t>(), highTime0.to<int32_t>(),
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lowTime1.to<int32_t>(), highTime1.to<int32_t>(), &status);
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wpi_setHALError(status);
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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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wpi_setHALError(status);
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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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wpi_setHALError(status);
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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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wpi_setHALError(status);
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}
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