simple_led_subsystem.h

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#pragma once
 
#include <argos_lib/general/log.h>
#include <constants/field_points.h>
#include <ctre/phoenix/led/CANdle.h>
#include <frc/DriverStation.h>
#include <frc/util/Color.h>
#include <frc2/command/SubsystemBase.h>
 
#include <chrono>
#include <functional>
 
#include "argos_lib/config/config_types.h"
#include "argos_lib/general/color.h"
 
enum class LedGroup { BACK, FRONT };
enum class LedStrip { BackLeft, BackRight, Front };
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);
 
  void SetAllGroupsFade(argos_lib::ArgosColor color, bool restorable = true);
 
  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);
 
  void StopAllAnimations(bool restorable = true);
 
  void SetAllGroupsOff(bool restorable = true);
 
  void Periodic() override;
  void FireEverywhere(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<ctre::phoenix::led::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;
 
  frc::DriverStation::Alliance m_latestAlliance;
 
  constexpr static int startIndex_backLeft = 8;    
  constexpr static int length_backLeft = 23;       
  constexpr static bool inverted_backLeft = true;  
 
  constexpr static int startIndex_backRight = 31;
  constexpr static int length_backRight = 23;
  constexpr static bool inverted_backRight = true;
 
  constexpr static int startIndex_front = 54;
  constexpr static int length_front = 9;
  constexpr static bool inverted_front = true;
};