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led: Synchronise reef prox blinking to RSL #235

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led: Synchronise reef prox blinking to RSL #235

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20 changes: 19 additions & 1 deletion components/led_component.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,17 @@ def is_off(led_data: AddressableLED.LEDData) -> bool:
return led_data.b == 0 and led_data.g == 0 and led_data.r == 0


# TODO(davo): implement this in WPILib simulation:
# https://github.com/wpilibsuite/allwpilib/blob/f9307de04c55e437eaf6b9f8320819ba8f7db9bf/hal/src/main/native/sim/HAL.cpp#L342
def fake_rsl_state() -> bool:
if wpilib.DriverStation.isDisabled():
return True

# TODO(davo): check period is correct
period = 1_000_000 # us
return wpilib.RobotController.getFPGATime() % period < period // 2


class LightStrip:
def __init__(self, strip_length: int = 5) -> None:
self.leds = AddressableLED(PwmChannel.LIGHT_STRIP)
Expand All @@ -34,6 +45,11 @@ def __init__(self, strip_length: int = 5) -> None:
self.last_update_time = time.monotonic()
self.is_reef_offset_flashing = False

if wpilib.RobotBase.isReal():
self.get_rsl_state = wpilib.RobotController.getRSLState
else:
self.get_rsl_state = fake_rsl_state

@feedback
def is_red_right(self) -> bool:
return is_red()
Expand All @@ -58,7 +74,9 @@ def not_in_range(self) -> None:
self.keep_alive()

def too_close_to_reef(self) -> None:
self.pattern = LEDPattern.blink(LEDPattern.solid(wpilib.Color.kOrange), 0.5)
self.pattern = LEDPattern.solid(wpilib.Color.kOrange).synchronizedBlink(
self.get_rsl_state
)
self.keep_alive()

def rainbow(self) -> None:
Expand Down