leds.h

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#pragma once
 
#include <soc/gpio_num.h>
 
#include "include/hal/gpio.h"
#include "types/rgb_color.h"
#include "include/log_sources.h"
 
class Robot;
 
namespace Device {
    class Leds {
    private:
        static constexpr const char* TAG = "Device::Leds";
        static constexpr log_source LOG_SOURCE = LOG_SOURCE_DEVICE_LEDS;
 
        static constexpr uint8_t NUM_LEDS = 4;
        static constexpr gpio_num_t MOSI_PIN = GPIO_NUM_23;
        static constexpr gpio_num_t SCK_PIN = GPIO_NUM_18;
 
        Robot& robot;
        rgb_color_t leds[NUM_LEDS];
        HAL::GPIO::fast_gpio_path_t mosi_fast_path;
        HAL::GPIO::fast_gpio_path_t sck_fast_path;
 
    private:
        void send_bit(bool bit) const;              
        void send_byte(uint8_t byte) const;         
        void send_frame(rgb_color_t color) const;   
 
    public:
        enum class led_id_t : uint8_t {
            FRONT_LEFT = 0,
            FRONT_RIGHT = 1,
            BACK_LEFT = 2,
            BACK_RIGHT = 3
        };
 
    public:
        explicit Leds(Robot& robot);
        ~Leds();

        void initialize();

        void shutdown();

        void update() const;

        void set_color(led_id_t led_id, rgb_color_t color, bool do_update = false);

        void set_color_all(rgb_color_t color);

        void turn_off(led_id_t led_id, bool do_update = true);

        void turn_all_off();
    };
}