Add radio LED control to HAL

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

@@ -0,0 +1,22 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.hal;
+
+public class LEDJNI extends JNIWrapper {
+  public enum RadioLEDState {
+    kOff(0),
+    kGreen(1),
+    kRed(2),
+    kOrange(3);
+
+    final int m_value;
+
+    RadioLEDState(int value) {
+      m_value = value;
+    }
+  }
+
+  public static native void setRadioLEDState(int state);
+}

hal/src/main/native/athena/LEDs.cpp

@@ -0,0 +1,42 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <unistd.h>
+
+#include <fstream>
+
+#include <wpi/fs.h>
+
+#include "hal/Errors.h"
+#include "hal/HALBase.h"
+
+static const fs::path radioLEDGreenFilePath =
+    "/sys/class/leds/nilrt:wifi:primary/brightness";
+static const fs::path radioLEDRedFilePath =
+    "/sys/class/leds/nilrt:wifi:secondary/brightness";
+
+static const char* onStr = "1";
+static const char* offStr = "0";
+
+void HAL_SetRadioLEDState(HAL_RadioLEDState state, int32_t* status) {
+  std::error_code ec;
+  fs::file_t greenFile = fs::OpenFileForWrite(radioLEDGreenFilePath, ec,
+                                              fs::CD_OpenExisting, fs::OF_Text);
+  if (ec) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+  fs::file_t redFile = fs::OpenFileForWrite(radioLEDRedFilePath, ec,
+                                            fs::CD_OpenExisting, fs::OF_Text);
+  if (ec) {
+    *status = INCOMPATIBLE_STATE;
+    return;
+  }
+
+  write(greenFile, state & HAL_RadioLED_kGreen ? onStr : offStr, 1);
+  write(redFile, state & HAL_RadioLED_kRed ? onStr : offStr, 1);
+
+  fs::CloseFile(greenFile);
+  fs::CloseFile(redFile);
+}

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

@@ -0,0 +1,24 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include <fmt/core.h>
+
+#include "HALUtil.h"
+#include "edu_wpi_first_hal_LEDJNI.h"
+#include "hal/HALBase.h"
+
+using namespace hal;
+/*
+ * Class:     edu_wpi_first_hal_LEDJNI
+ * Method:    setRadioLEDState
+ * Signature: (I)V
+ */
+JNIEXPORT void JNICALL
+Java_edu_wpi_first_hal_LEDJNI_setRadioLEDState
+  (JNIEnv* env, jclass, jint state)
+{
+  int32_t status = 0;
+  HAL_SetRadioLEDState((HAL_RadioLEDState)state, &status);
+  CheckStatus(env, status);
+}

hal/src/main/native/include/hal/HALBase.h

@@ -240,6 +240,11 @@ void HAL_SimPeriodicBefore(void);
  */
 void HAL_SimPeriodicAfter(void);
 
+HAL_ENUM(HAL_RadioLEDState){HAL_RadioLED_kOFF = 0, HAL_RadioLED_kGreen = 1,
+                            HAL_RadioLED_kRed = 2, HAL_RadioLED_kOrange = 3};
+
+void HAL_SetRadioLEDState(HAL_RadioLEDState state, int32_t* status);
+
 #ifdef __cplusplus
 }  // extern "C"
 #endif

hal/src/main/native/sim/LEDs.cpp

@@ -0,0 +1,7 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "hal/HALBase.h"
+
+void HAL_SetRadioLEDState(HAL_RadioLEDState state, int32_t* status) {}