Make LED subsystem a singleton

Author: viggy96

src/main/java/org/lasarobotics/led/LEDStrip.java

@@ -140,19 +140,17 @@ public static Hardware initializeHardware(ID id) {
     return ledStripHardware;
   }
 
-  Runnable runAnimation() {
-    return () -> {
-      m_sectionLEDPatterns.entrySet().stream().forEach(entry -> {
-        for (var section : entry.getKey()) entry.getValue().applyTo(SECTION_MAP.get(section));
-      });
-      m_leds.setData(m_ledBuffer);
-    };
+  void runAnimation() {
+    m_sectionLEDPatterns.entrySet().stream().forEach(entry -> {
+      for (var section : entry.getKey()) entry.getValue().applyTo(SECTION_MAP.get(section));
+    });
+    m_leds.setData(m_ledBuffer);
   }
 
   /**
    * Prepare for LED override
    */
-  protected void startOverride() {
+  void startOverride() {
     // Save LED patterns
     m_tempLEDPatterns.clear();
     m_tempLEDPatterns.putAll(m_sectionLEDPatterns);
@@ -161,24 +159,16 @@ protected void startOverride() {
   /**
    * Restore LED patterns after override
    */
-  protected void endOverride() {
+  void endOverride() {
     m_sectionLEDPatterns.clear();
     m_sectionLEDPatterns.putAll(m_tempLEDPatterns);
   }
 
-  /**
-   * Get latest LED buffer
-   * @return Addressable LED buffer
-   */
-  public AddressableLEDBuffer getBuffer() {
-    return m_ledBuffer;
-  }
-
   /**
    * Set pattern and color of LED strip
    * @param pattern Desired pattern
    */
-  public void set(LEDPattern pattern) {
+  void set(LEDPattern pattern) {
     set(pattern, Section.FULL);
   }
 
@@ -187,7 +177,7 @@ public void set(LEDPattern pattern) {
    * @param pattern Desired pattern
    * @param sections LED strip sections to set
    */
-  public void set(LEDPattern pattern, Section... sections) {
+  void set(LEDPattern pattern, Section... sections) {
     // Remove all conflicting scheduled LED patterns
     m_sectionLEDPatterns.entrySet().removeIf(
       (entry) -> !Collections.disjoint(Arrays.asList(entry.getKey()), Arrays.asList(sections))
@@ -201,19 +191,27 @@ public void set(LEDPattern pattern, Section... sections) {
       Logger.recordOutput(String.join("/", m_leds.getName(), section.name()), pattern.toString());
   }
 
+  /**
+   * Turn off LED strip sections
+   * @param sections LED strip sections
+   */
+  void off(Section... sections) {
+    set(LEDPattern.kOff, sections);
+  }
+
   /**
    * Turn off LED strip
    */
-  public void off() {
+  void off() {
     set(LEDPattern.kOff, Section.FULL);
   }
 
   /**
-   * Turn off LED strip sections
-   * @param sections LED strip sections
+   * Get latest LED buffer
+   * @return Addressable LED buffer
    */
-  public void off(Section... sections) {
-    set(LEDPattern.kOff, sections);
+  public AddressableLEDBuffer getBuffer() {
+    return m_ledBuffer;
   }
 
   @Override

src/main/java/org/lasarobotics/led/LEDSubsystem.java

@@ -11,50 +11,84 @@
 
 /** LED Subsystem */
 public class LEDSubsystem extends SubsystemBase implements AutoCloseable {
+  private static LEDSubsystem s_instance;
   private static LEDPattern m_overridePattern = LEDPattern.solid(LEDStrip.TEAM_COLOR);
-
-  private LEDStrip m_ledStrip;
+  private static LEDStrip s_ledStrip;
 
   /** Creates a new LEDSubsystem. */
-  public LEDSubsystem(LEDStrip ledStrip) {
-    this.m_ledStrip = ledStrip;
-    setDefaultCommand(run(m_ledStrip.runAnimation()));
+  private LEDSubsystem() {
+    setDefaultCommand(run(() -> {
+      if (s_ledStrip != null) s_ledStrip.runAnimation();
+    }));
+  }
+
+  public static LEDSubsystem getInstance() {
+    if (s_instance == null) s_instance = new LEDSubsystem();
+    return s_instance;
+  }
+
+  public void setLEDStrip(LEDStrip ledStrip) {
+    s_ledStrip = ledStrip;
   }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
 
-  /**
-   * Add LED strips
-   * @param ledStrips LED strips to add
-   */
-  public void add(LEDStrip ledStrips) {
-    m_ledStrip = ledStrips;
-  }
-
   /**
    * Start override of all LEDs
    * @param pattern Pattern to override with
    */
   public void startOverride(LEDPattern pattern) {
     m_overridePattern = pattern;
-    m_ledStrip.startOverride();
-    m_ledStrip.set(m_overridePattern, Section.FULL);
+    s_ledStrip.startOverride();
+    s_ledStrip.set(m_overridePattern, Section.FULL);
   }
 
   /**
    * End override of LEDs, resume previous patterns
    */
   public void endOverride() {
     m_overridePattern = LEDPattern.solid(LEDStrip.TEAM_COLOR);
-    m_ledStrip.endOverride();
+    s_ledStrip.endOverride();
+  }
+
+  /**
+   * Set pattern and color of LED strip sections
+   * @param pattern Desired pattern
+   * @param sections LED strip sections to set
+   */
+  public void set(LEDPattern pattern, Section... sections) {
+    s_ledStrip.set(pattern, sections);
+  }
+
+  /**
+   * Set pattern and color of LED strip
+   * @param pattern Desired pattern
+   */
+  public void set(LEDPattern pattern) {
+    s_ledStrip.set(pattern, Section.FULL);
+  }
+
+  /**
+   * Turn off LED strip sections
+   * @param sections LED strip sections
+   */
+  public void off(Section... sections) {
+    s_ledStrip.set(LEDPattern.kOff, sections);
+  }
+
+  /**
+   * Turn off LED strip
+   */
+  public void off() {
+    s_ledStrip.set(LEDPattern.kOff, Section.FULL);
   }
 
   @Override
   public void close() {
-    m_ledStrip.close();
+    s_ledStrip.close();
   }
 }
 

src/test/java/org/lasarobotics/led/LEDSubsystemTest.java

@@ -47,7 +47,10 @@ public void setup() {
     m_ledStrip1 = new LEDStrip(new LEDStrip.Hardware(m_leds1));
 
     // Create LEDSubsystem object
-    m_ledSubsystem = new LEDSubsystem(m_ledStrip1);
+    m_ledSubsystem = LEDSubsystem.getInstance();
+
+    // Set LED strip for subsystem
+    m_ledSubsystem.setLEDStrip(m_ledStrip1);
   }
 
   @AfterEach
@@ -61,7 +64,7 @@ public void close() {
   @DisplayName("Test if robot can set LED strip to single static solid color")
   public void solidFull() {
     // Set LED pattern
-    m_ledStrip1.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), LEDStrip.Section.FULL);
+    m_ledSubsystem.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), LEDStrip.Section.FULL);
 
     // Run LED subsystem loop
     m_ledSubsystem.getDefaultCommand().execute();
@@ -79,8 +82,8 @@ public void solidFull() {
   @DisplayName("Test if robot can set LED strip start section independently")
   public void startSection() {
     // Set LED pattern
-    m_ledStrip1.set(LEDPattern.solid(Color.kRed), Section.START);
-    m_ledStrip1.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), Section.MIDDLE, Section.END);
+    m_ledSubsystem.set(LEDPattern.solid(Color.kRed), Section.START);
+    m_ledSubsystem.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), Section.MIDDLE, Section.END);
 
     // Run LED subsystem loop
     m_ledSubsystem.getDefaultCommand().execute();
@@ -97,8 +100,8 @@ public void startSection() {
   @DisplayName("Test if robot can set LED strip middle section independently")
   public void middleSection() {
     // Set LED pattern
-    m_ledStrip1.set(LEDPattern.solid(Color.kRed), Section.MIDDLE);
-    m_ledStrip1.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), Section.START, Section.END);
+    m_ledSubsystem.set(LEDPattern.solid(Color.kRed), Section.MIDDLE);
+    m_ledSubsystem.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), Section.START, Section.END);
 
     // Run LED subsystem loop
     m_ledSubsystem.getDefaultCommand().execute();
@@ -120,8 +123,8 @@ public void middleSection() {
   @DisplayName("Test if robot can set LED strip end section independently")
   public void endSection() {
     // Set LED pattern
-    m_ledStrip1.set(LEDPattern.solid(Color.kRed), Section.END);
-    m_ledStrip1.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), Section.START, Section.MIDDLE);
+    m_ledSubsystem.set(LEDPattern.solid(Color.kRed), Section.END);
+    m_ledSubsystem.set(LEDPattern.solid(LEDStrip.TEAM_COLOR), Section.START, Section.MIDDLE);
 
     // Run LED subsystem loop
     m_ledSubsystem.getDefaultCommand().execute();
@@ -138,7 +141,7 @@ public void endSection() {
   @DisplayName("Test if robot can override subsystem LED control")
   public void ledOverride() {
     // Set LED pattern
-    m_ledStrip1.set(LEDPattern.solid(Color.kBlue), Section.FULL);
+    m_ledSubsystem.set(LEDPattern.solid(Color.kBlue), Section.FULL);
 
     // Request LED override
     m_ledSubsystem.startOverride(LEDPattern.solid(LEDStrip.TEAM_COLOR));