mirror of
https://github.com/wpilibsuite/allwpilib
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120 lines
4.3 KiB
C++
120 lines
4.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2018-2020 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/simulation/AddressableLEDSim.h"
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#include <memory>
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#include <stdexcept>
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#include <utility>
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#include <hal/simulation/AddressableLEDData.h>
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using namespace frc;
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using namespace frc::sim;
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AddressableLEDSim::AddressableLEDSim() : m_index{0} {}
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AddressableLEDSim::AddressableLEDSim(const AddressableLED& addressableLED)
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: m_index{0} {}
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AddressableLEDSim AddressableLEDSim::CreateForChannel(int pwmChannel) {
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int index = HALSIM_FindAddressableLEDForChannel(pwmChannel);
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if (index < 0)
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throw std::out_of_range("no addressable LED found for PWM channel");
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return AddressableLEDSim{index};
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}
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AddressableLEDSim AddressableLEDSim::CreateForIndex(int index) {
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return AddressableLEDSim{index};
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}
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std::unique_ptr<CallbackStore> AddressableLEDSim::RegisterInitializedCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAddressableLEDInitializedCallback);
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store->SetUid(HALSIM_RegisterAddressableLEDInitializedCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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bool AddressableLEDSim::GetInitialized() const {
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return HALSIM_GetAddressableLEDInitialized(m_index);
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}
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void AddressableLEDSim::SetInitialized(bool initialized) {
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HALSIM_SetAddressableLEDInitialized(m_index, initialized);
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}
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std::unique_ptr<CallbackStore> AddressableLEDSim::RegisterOutputPortCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAddressableLEDOutputPortCallback);
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store->SetUid(HALSIM_RegisterAddressableLEDOutputPortCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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int AddressableLEDSim::GetOutputPort() const {
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return HALSIM_GetAddressableLEDOutputPort(m_index);
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}
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void AddressableLEDSim::SetOutputPort(int outputPort) {
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HALSIM_SetAddressableLEDOutputPort(m_index, outputPort);
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}
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std::unique_ptr<CallbackStore> AddressableLEDSim::RegisterLengthCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAddressableLEDLengthCallback);
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store->SetUid(HALSIM_RegisterAddressableLEDLengthCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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int AddressableLEDSim::GetLength() const {
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return HALSIM_GetAddressableLEDLength(m_index);
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}
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void AddressableLEDSim::SetLength(int length) {
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HALSIM_SetAddressableLEDLength(m_index, length);
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}
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std::unique_ptr<CallbackStore> AddressableLEDSim::RegisterRunningCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAddressableLEDRunningCallback);
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store->SetUid(HALSIM_RegisterAddressableLEDRunningCallback(
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m_index, &CallbackStoreThunk, store.get(), initialNotify));
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return store;
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}
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int AddressableLEDSim::GetRunning() const {
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return HALSIM_GetAddressableLEDRunning(m_index);
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}
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void AddressableLEDSim::SetRunning(bool running) {
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HALSIM_SetAddressableLEDRunning(m_index, running);
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}
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std::unique_ptr<CallbackStore> AddressableLEDSim::RegisterDataCallback(
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NotifyCallback callback, bool initialNotify) {
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auto store = std::make_unique<CallbackStore>(
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m_index, -1, callback, &HALSIM_CancelAddressableLEDDataCallback);
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store->SetUid(HALSIM_RegisterAddressableLEDDataCallback(
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m_index, &ConstBufferCallbackStoreThunk, store.get()));
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return store;
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}
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int AddressableLEDSim::GetData(struct HAL_AddressableLEDData* data) const {
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return HALSIM_GetAddressableLEDData(m_index, data);
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}
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void AddressableLEDSim::SetData(struct HAL_AddressableLEDData* data,
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int length) {
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HALSIM_SetAddressableLEDData(m_index, data, length);
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}
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