simple_led_subsystem.h

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#pragma once
 
#include <argos_lib/general/log.h>
 
// Include GamePiece enum
#include <constants/field_points.h>
#include <ctre/Phoenix.h>
#include <frc/util/Color.h>
#include <frc2/command/SubsystemBase.h>
 
#include "argos_lib/config/config_types.h"
#include "argos_lib/general/color.h"
 
#include <chrono>
#include <functional>
 
enum class LedGroup { SIDES, BACK, FRONT };
enum class LedStrip { FrontLeft, FrontRight, SideFront, SideBack, BackRight, BackLeft };
enum class AlignLedStatus { NoTarget, FlashLeft, FlashRight, Aligned };
 
class SimpleLedSubsystem : public frc2::SubsystemBase {
 public:
  explicit SimpleLedSubsystem(argos_lib::RobotInstance instance);
 
  void Enable();
  void Disable();
 
  void SetLedsConnectedBrightness(bool connected);
 
  void SetDisableAnimation(std::function<void()> animationFunction);
 
  void SetLedGroupColor(LedGroup group, argos_lib::ArgosColor color, bool restorable = true);
  void SetLedStripColor(LedStrip strip, argos_lib::ArgosColor color, bool restorable = true);
 
  void SetAllGroupsColor(argos_lib::ArgosColor color,
                         bool restorable = true,
                         std::optional<std::function<GamePiece()>> tipColor = std::nullopt);
 
  void SetAllGroupsFade(argos_lib::ArgosColor color,
                        bool restorable = true,
                        std::optional<std::function<GamePiece()>> tipColor = std::nullopt);
 
  void SetAllGroupsFlash(argos_lib::ArgosColor color, bool restorable = true);
 
  void FlashStrip(LedStrip strip, argos_lib::ArgosColor color, bool restorable = true);
 
  void SetAllGroupsLarson(argos_lib::ArgosColor color, bool restorable = true);
 
  argos_lib::ArgosColor GetAllianceColor();
 
  void SetAllGroupsAllianceColor(bool fade,
                                 bool restorable = true,
                                 std::optional<std::function<GamePiece()>> tipColor = std::nullopt);
 
  void StopAllAnimations(bool restorable = true);
 
  void SetAllGroupsGamePieceColor(GamePiece gp, bool restorable = true);
 
  void SetAllGroupsOff(bool restorable = true);
 
  void Periodic() override;
  void FireEverywhere(bool restorable = true);
  void Blind(bool restorable = true);
 
  void ColorSweep(argos_lib::ArgosColor color, bool correctGamma = true, bool restorable = true);
 
  void TemporaryAnimate(std::function<void()> animationFunction, units::millisecond_t duration);
 
 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  std::optional<CANdle> m_CANdle;
  argos_lib::ArgosLogger m_log;
  bool m_enabled;
  bool m_hasBeenConnected;
 
  std::function<void()> m_disableUpdateFunction;
  std::function<void()> m_ledUpdateFunction;
  std::optional<std::function<void(void)>> m_restoreAnimationFunction;
  std::chrono::time_point<std::chrono::steady_clock> m_startTime;
  units::millisecond_t m_temporaryDuration;
 
  constexpr static argos_lib::ArgosColor GetGamePieceColor(GamePiece gp, bool gammaCorrect = true);
 
  constexpr static int startIndex_frontLeft = 8;     
  constexpr static int length_frontLeft = 29;        
  constexpr static bool inverted_frontLeft = false;  
  constexpr static int startIndex_frontRight = 37;
  constexpr static int length_frontRight = 30;
  constexpr static bool inverted_frontRight = true;
 
  constexpr static int startIndex_sideFront = 67;
  constexpr static int length_sideFront = 61;
  constexpr static bool inverted_sideFront = false;
  constexpr static int startIndex_sideBack = 128;
  constexpr static int length_sideBack = 61;
  constexpr static bool inverted_sideBack = true;
 
  constexpr static int startIndex_backRight = 189;
  constexpr static int length_backRight = 58;
  constexpr static bool inverted_backRight = false;
  constexpr static int startIndex_backLeft = 247;
  constexpr static int length_backLeft = 57;
  constexpr static bool inverted_backLeft = true;
};