Add java user code

hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java

@@ -10,6 +10,13 @@
  * @see "hal/AddressableLED.h"
  */
 public class AddressableLEDJNI extends JNIWrapper {
+  public static final int COLOR_ORDER_RBG = 0;
+  public static final int COLOR_ORDER_BGR = 1;
+  public static final int COLOR_ORDER_BRG = 2;
+  public static final int COLOR_ORDER_GRB = 3;
+  public static final int COLOR_ORDER_GBR = 4;
+  public static final int COLOR_ORDER_RGB = 5;
+
   /**
    * Initialize Addressable LED using a PWM Digital handle.
    *
@@ -27,6 +34,14 @@ public class AddressableLEDJNI extends JNIWrapper {
    */
   public static native void free(int handle);
 
+  /**
+   * Sets the color order for the addressable LED output
+   *
+   * @param handle the Addressable LED handle
+   * @param colorOrder the color order
+   */
+  public static native void setColorOrder(int handle, int colorOrder);
+
   /**
    * Sets the length of the LED strip.
    *

hal/src/main/native/cpp/jni/AddressableLEDJNI.cpp

@@ -15,6 +15,13 @@ using namespace wpi::java;
 
 static_assert(sizeof(jbyte) * 4 == sizeof(HAL_AddressableLEDData));
 
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_RBG == HAL_ALED_RBG);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_BGR == HAL_ALED_BGR);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_BRG == HAL_ALED_BRG);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_GRB == HAL_ALED_GRB);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_GBR == HAL_ALED_GBR);
+static_assert(edu_wpi_first_hal_AddressableLEDJNI_COLOR_ORDER_RGB == HAL_ALED_RGB);
+
 extern "C" {
 /*
  * Class:     edu_wpi_first_hal_AddressableLEDJNI
@@ -46,6 +53,22 @@ Java_edu_wpi_first_hal_AddressableLEDJNI_free
   }
 }
 
+/*
+ * Class:     edu_wpi_first_hal_AddressableLEDJNI
+ * Method:    setColorOrder
+ * Signature: (II)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_AddressableLEDJNI_setColorOrder
+  (JNIEnv* env, jclass, jint handle, jint colorOrder)
+{
+  int32_t status = 0;
+  HAL_SetAddressableLEDColorOrder(
+      static_cast<HAL_AddressableLEDHandle>(handle),
+      static_cast<HAL_AddressableLEDColorOrder>(colorOrder), &status);
+  CheckStatus(env, status);
+}
+
 /*
  * Class:     edu_wpi_first_hal_AddressableLEDJNI
  * Method:    setLength

wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java

@@ -12,12 +12,58 @@
 /**
  * A class for driving addressable LEDs, such as WS2812Bs and NeoPixels.
  *
- * <p>By default, the timing supports WS2812B LEDs, but is configurable using setBitTiming()
+ * <p>By default, the timing supports WS2812B LEDs, but is configurable using {@link
+ * #setBitTiming(int, int, int, int)}
+ *
+ * <p>Some LEDs use a different color order than the default RGB. The color order is configurable
+ * using {@link #setColorOrder(ColorOrder)}.
  *
  * <p>Only 1 LED driver is currently supported by the roboRIO. However, multiple LED strips can be
  * connected in series and controlled from the single driver.
  */
 public class AddressableLED implements AutoCloseable {
+
+  /** Order that color data is sent over the wire. */
+  enum ColorOrder {
+    /** RBG order. */
+    kRBG(AddressableLEDJNI.COLOR_ORDER_RBG),
+    /** BGR order. */
+    kBGR(AddressableLEDJNI.COLOR_ORDER_BGR),
+    /** BRG order. */
+    kBRG(AddressableLEDJNI.COLOR_ORDER_BRG),
+    /** GRB order. */
+    kGRB(AddressableLEDJNI.COLOR_ORDER_GRB),
+    /** GBR order. */
+    kGBR(AddressableLEDJNI.COLOR_ORDER_GBR),
+    /** RGB order. */
+    kRGB(AddressableLEDJNI.COLOR_ORDER_RGB);
+
+    /** The native value for this ColorOrder */
+    public final int value;
+
+    ColorOrder(int value) {
+      this.value = value;
+    }
+
+    /**
+     * Gets a color order from an int value.
+     *
+     * @param value int value
+     * @return color order
+     */
+    public ColorOrder fromValue(int value) {
+      return switch (value) {
+        case AddressableLEDJNI.COLOR_ORDER_RBG -> kRBG;
+        case AddressableLEDJNI.COLOR_ORDER_BGR -> kBGR;
+        case AddressableLEDJNI.COLOR_ORDER_BRG -> kBRG;
+        case AddressableLEDJNI.COLOR_ORDER_GRB -> kGRB;
+        case AddressableLEDJNI.COLOR_ORDER_GBR -> kGBR;
+        case AddressableLEDJNI.COLOR_ORDER_RGB -> kRGB;
+        default -> kRGB;
+      };
+    }
+  }
+
   private final int m_pwmHandle;
   private final int m_handle;
 
@@ -42,6 +88,15 @@ public void close() {
     }
   }
 
+  /**
+   * Sets the color order for this AddressableLED. The default order is RGB.
+   *
+   * @param order the color order
+   */
+  public void setColorOrder(ColorOrder order) {
+    AddressableLEDJNI.setColorOrder(m_handle, order.value);
+  }
+
   /**
    * Sets the length of the LED strip.
    *