panel.h

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#pragma once
 
#include <frc/AddressableLED.h>
 
#include <algorithm>
#include <vector>
 
namespace argos_lib {
  namespace led {
    template <typename T>
    class Array2D {
     public:
      Array2D() = delete;
      Array2D(unsigned width, unsigned height, T fillValue = {}) : m_cells(width, std::vector<T>(height, fillValue)) {}
 
      T& at(unsigned x, unsigned y) { return m_cells.at(x).at(y); }
 
      const T& at(unsigned x, unsigned y) const { return m_cells.at(x).at(y); }
 
      unsigned Width() const noexcept { return m_cells.size(); }
 
      unsigned Height() const noexcept {
        try {
          return m_cells.at(0).size();
        } catch (const std::out_of_range&) {
          // Handle empty vector even though this shouldn't ever happen with deleted default constructor
          return 0;
        }
      }
 
     private:
      std::vector<std::vector<T>>
          m_cells;  
    };
 
    using Panel = Array2D<frc::AddressableLED::LEDData>;  
    using Mask = Array2D<float>;  
 
    using Strip = std::vector<frc::AddressableLED::LEDData>;
 
    enum class PrimaryScanDirection { Vertical, Horizontal };
 
    enum class FirstPixelPosition { TopRight, TopLeft, BottomLeft, BottomRight };
 
    struct PanelScanParams {
      FirstPixelPosition firstPixel;       
      PrimaryScanDirection scanDirection;  
    };
 
    Strip Serialize(const Panel& panel, const PanelScanParams& params);
 
  }  // namespace led
}  // namespace argos_lib