led_subsystem.h

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#pragma once
 
#include <argos_lib/led/animiation.h>
#include <argos_lib/led/panel.h>
#include <ctre/Phoenix.h>
#include <frc/AddressableLED.h>
#include <frc2/command/SubsystemBase.h>
 
#include <vector>
 
namespace argos_lib {
  struct LEDState {
    bool animated{false};                
    frc::AddressableLED::LEDData color;  
 
    bool operator==(const LEDState& other) const;
    bool operator!=(const LEDState& other) const;
 
    LEDState& operator=(const frc::AddressableLED::LEDData& other);
  };
 
  class LEDSubsystem : public frc2::SubsystemBase {
   private:
    // Forward declaration
    struct LEDUpdateGroup;
 
   public:
    explicit LEDSubsystem(unsigned numAuxLEDs);
 
    void Periodic() override;
 
    void StockAnimateAuxLEDs(ctre::phoenix::led::Animation& animation, int slot);
 
    void StockAnimateIntegratedLEDs(ctre::phoenix::led::Animation& animation, int slot);
 
    void CustomAnimateAuxLEDs(argos_lib::led::Animation animation);
 
    void CustomAnimateIntegratedLEDs(argos_lib::led::Animation animation);
 
   private:
    std::vector<LEDState> m_currentLEDs;                        
    std::vector<LEDState> m_prevLEDs;                           
    std::vector<argos_lib::led::Animation> m_customAnimations;  
    ctre::phoenix::led::CANdle m_controller;                    
 
    constexpr static unsigned numIntegratedLEDs = 8;  
 
    std::vector<LEDUpdateGroup> GetDeltaUpdate(const std::vector<LEDState>& prev, const std::vector<LEDState>& current);
 
    struct LEDUpdateGroup {
      LEDUpdateGroup(unsigned startIndex, unsigned numLEDs, frc::AddressableLED::LEDData color)
          : startIndex{startIndex}, numLEDs{numLEDs}, color{color} {};
 
      unsigned startIndex;                 
      unsigned numLEDs;                    
      frc::AddressableLED::LEDData color;  
    };
  };
}  // namespace argos_lib