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laineeelaineeewmmc88
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add led matrix lib (#163)
* add led matrix lib * clang changes and test app * changed tabbing for clang formatting * clang formatting * more clang formatting * clang changes * include threading for flashing function * fix build errors * implement thread flashing and delete * fix build issues * fix logic and add destructor * implement flags * remove dynamic threads * add more tests * add led states * remove led state var * fix build errors * fix submodule * fix submodule stuff * add ledmatrix namespace * add led namespace * fix clang format and comments * fix clang formatting in hw bridge * change pin names and add comments * change pin names and add comments * add flag variables to class * fix clang formatting * updating submodule to latest * update hw bridge * refactor cmake * clang format * Update libs/led-matrix/include/LEDMatrix.h Co-authored-by: Melvin Wang <melvin.mc.wang@gmail.com> * add whitespace for readability Co-authored-by: laineee <ieitua@uwaterloo.ca> Co-authored-by: Melvin Wang <melvin.mc.wang@gmail.com>
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‎CMakeLists.txt‎

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@@ -69,6 +69,7 @@ add_subdirectory(${LIBS_DIR}/encoder)
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add_subdirectory(${LIBS_DIR}/gamepad)
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add_subdirectory(${LIBS_DIR}/gpio)
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add_subdirectory(${LIBS_DIR}/controllers)
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add_subdirectory(${LIBS_DIR}/led-matrix)
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add_subdirectory(${LIBS_DIR}/neopixel)
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add_subdirectory(${LIBS_DIR}/pid)
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add_subdirectory(${LIBS_DIR}/sensors)
@@ -103,6 +104,7 @@ add_app_subdirectory(${TEST_APPS_DIR}/test-blinky)
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add_app_subdirectory(${TEST_APPS_DIR}/test-blockingneo)
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add_app_subdirectory(${TEST_APPS_DIR}/test-can)
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add_app_subdirectory(${TEST_APPS_DIR}/test-mae3)
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add_app_subdirectory(${TEST_APPS_DIR}/test-led-matrix)
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add_app_subdirectory(${TEST_APPS_DIR}/test-logger)
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add_app_subdirectory(${TEST_APPS_DIR}/test-lookup-table)
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add_app_subdirectory(${TEST_APPS_DIR}/test-pid)

‎libs/led-matrix/CMakeLists.txt‎

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add_library(LEDMatrix STATIC)
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target_sources(LEDMatrix PRIVATE src/LEDMatrix.cpp)
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target_include_directories(LEDMatrix PUBLIC include)
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target_link_libraries(LEDMatrix
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PRIVATE
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uwrt-mars-rover-hw-bridge
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mbed-os
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)

‎libs/led-matrix/include/LEDMatrix.h‎

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#pragma once
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#include "hw_bridge.h"
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#include "mbed.h"
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class LEDMatrix {
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public:
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// Define LED matrix colour channels by the pins it is connected to.
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LEDMatrix(PinName R, PinName G, PinName B);
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// Terminate thread and clear lights.
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~LEDMatrix();
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// Set the state of the LEDs.
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void setState(HWBRIDGE::LEDMATRIX::LEDMatrixState state);
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// Periodically flash the colour given by R, G, B on the LED matrix.
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void setFlashColor(bool R, bool G, bool B);
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// Set a solid colour given by the R, G, B on the LED matrix.
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void setSolidColor(bool R, bool G, bool B);
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private:
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DigitalOut m_RChannel;
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DigitalOut m_GChannel;
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DigitalOut m_BChannel;
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// Flags
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constexpr static uint32_t START_FLASH = (1U << 0); // 01
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constexpr static uint32_t ENDED_FLASH = (1U << 1); // 10
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volatile bool m_flashing_red, m_flashing_green, m_flashing_blue;
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volatile bool m_continue_flashing;
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EventFlags m_event_flags;
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Thread m_lightsThread;
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static constexpr auto PERIOD_DELAY = 500ms;
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// Thread to take care of flashing colours on the LED matrix by setFlashColor().
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void flashing();
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// Set the given R, G, B colour channels.
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void setColor(bool R, bool G, bool B);
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};

‎libs/led-matrix/src/LEDMatrix.cpp‎

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#include "LEDMatrix.h"
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LEDMatrix::LEDMatrix(PinName R, PinName G, PinName B)
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: m_RChannel(R),
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m_GChannel(G),
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m_BChannel(B),
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m_flashing_red(false),
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m_flashing_green(false),
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m_flashing_blue(false),
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m_continue_flashing(false) {
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m_lightsThread.start(callback(this, &LEDMatrix::flashing));
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}
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LEDMatrix::~LEDMatrix() {
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m_lightsThread.terminate();
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setSolidColor(0, 0, 0);
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}
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void LEDMatrix::setState(HWBRIDGE::LEDMATRIX::LEDMatrixState state) {
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switch (state) {
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case HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_RED:
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setSolidColor(1, 0, 0);
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break;
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case HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_BLUE:
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setSolidColor(0, 0, 1);
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break;
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case HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_GREEN:
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setSolidColor(0, 1, 0);
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break;
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case HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_RED:
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setFlashColor(1, 0, 0);
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break;
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case HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_BLUE:
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setFlashColor(0, 0, 1);
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break;
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case HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_GREEN:
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setFlashColor(0, 1, 0);
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break;
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case HWBRIDGE::LEDMATRIX::LEDMatrixState::OFF:
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setSolidColor(0, 0, 0);
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break;
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}
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}
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void LEDMatrix::flashing() { // check https://os.mbed.com/docs/mbed-os/v6.8/apis/thisthread.html
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while (true) {
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m_event_flags.wait_all(START_FLASH); // yield until flag is set
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m_continue_flashing = true;
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while (m_continue_flashing) {
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setColor(m_flashing_red, m_flashing_green, m_flashing_blue);
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ThisThread::sleep_for(PERIOD_DELAY);
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setColor(0, 0, 0);
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ThisThread::sleep_for(PERIOD_DELAY);
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}
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m_event_flags.set(ENDED_FLASH);
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}
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}
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void LEDMatrix::setFlashColor(bool R, bool G, bool B) {
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m_flashing_red = R;
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m_flashing_green = G;
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m_flashing_blue = B;
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if (!m_continue_flashing) {
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m_event_flags.set(START_FLASH);
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}
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}
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void LEDMatrix::setSolidColor(bool R, bool G, bool B) {
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if (m_continue_flashing) {
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m_continue_flashing = false;
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m_event_flags.wait_all(ENDED_FLASH); // wait for while loop in flashing() to finish
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}
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setColor(R, G, B);
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}
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void LEDMatrix::setColor(bool R, bool G, bool B) {
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m_RChannel = R;
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m_GChannel = G;
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m_BChannel = B;
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}

‎supported_build_configurations.yaml‎

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# - SCIENCE_REV2
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- UWRT_NUCLEO
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test-led-matrix:
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- UWRT_NUCLEO
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test-logger:
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- GIMBAL_REV2
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- PDB_REV2

‎test-apps/test-led-matrix/CMakeLists.txt‎

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add_executable(test-led-matrix)
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target_sources(test-led-matrix PRIVATE src/main.cpp)
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target_link_libraries(test-led-matrix
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PRIVATE
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LEDMatrix
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uwrt-mars-rover-hw-bridge
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mbed-os
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)
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mbed_set_post_build(test-led-matrix)

‎test-apps/test-led-matrix/src/main.cpp‎

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#include "LEDMatrix.h"
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#include "hw_bridge.h"
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#include "mbed.h"
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int main() {
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printf("####### STARTING LED MATRIX TEST #######\r\n");
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LEDMatrix blinky(D8, D9, D10);
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while (true) {
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_RED);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_BLUE);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_GREEN);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::OFF);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_RED);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_BLUE);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_GREEN);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::OFF);
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ThisThread::sleep_for(5s);
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blinky.setFlashColor(1, 0, 0); // red
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ThisThread::sleep_for(5s);
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blinky.setFlashColor(0, 1, 0); // green
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ThisThread::sleep_for(5s);
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blinky.setFlashColor(0, 0, 1); // blue
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::OFF);
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ThisThread::sleep_for(5s);
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blinky.setSolidColor(1, 0, 0); // red
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ThisThread::sleep_for(5s);
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blinky.setSolidColor(0, 1, 0); // green
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ThisThread::sleep_for(5s);
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blinky.setSolidColor(0, 0, 1); // blue
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::OFF);
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ThisThread::sleep_for(5s);
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blinky.setFlashColor(1, 0, 1); // purple
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ThisThread::sleep_for(5s);
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blinky.setFlashColor(1, 1, 0); // brownish
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ThisThread::sleep_for(5s);
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blinky.setFlashColor(0, 1, 1); // blue-green
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::OFF);
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ThisThread::sleep_for(5s);
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blinky.setSolidColor(1, 0, 1); // purple
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ThisThread::sleep_for(5s);
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blinky.setSolidColor(1, 1, 0); // brownish
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ThisThread::sleep_for(5s);
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blinky.setSolidColor(0, 1, 1); // blue-green
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_RED);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_GREEN);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_BLUE);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::FLASHING_GREEN);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_BLUE);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::SOLID_RED);
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ThisThread::sleep_for(5s);
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blinky.setState(HWBRIDGE::LEDMATRIX::LEDMatrixState::OFF);
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}
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}

‎uwrt-mars-rover-hw-bridge‎

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