Add support for Green/Yellow status LEDs, like is used on some Limelights

docs/requirements.txt

@@ -36,7 +36,6 @@ sphinx-autobuild==2024.10.3
 sphinx-basic-ng==1.0.0b2
 sphinx-notfound-page==1.1.0
 sphinx-rtd-theme==3.0.2
-sphinx-tabs==3.4.7
 sphinx_design==0.6.1
 sphinxcontrib-applehelp==2.0.0
 sphinxcontrib-devhelp==2.0.0

docs/source/conf.py

@@ -181,4 +181,4 @@ def setup(app):
     linkcheck_auth = [(R"https://github.com/.+", token)]
 
 # MyST configuration (https://myst-parser.readthedocs.io/en/latest/configuration.html)
-myst_enable_extensions = ["colon_fence", "substitution"]
+myst_enable_extensions = ["colon_fence", "substitution", "attrs_inline"]

docs/source/docs/advanced-installation/sw_install/files/Limelight2+/hardwareConfig.json

@@ -3,5 +3,8 @@
   "ledPins" : [ 13, 18 ],
   "ledsCanDim" : true,
   "ledPWMFrequency" : 1000,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
   "vendorFOV" : 75.76079874010732
 }

docs/source/docs/advanced-installation/sw_install/files/Limelight2/hardwareConfig.json

@@ -2,5 +2,8 @@
   "deviceName" : "Limelight 2",
   "ledPins" : [ 17, 18 ],
   "ledsCanDim" : false,
+  "statusLEDType": "GreenYellow",
+  "statusLEDPins": [ 5, 4 ],
+  "statusLEDActiveHigh": false,
   "vendorFOV" : 75.76079874010732
 }

docs/source/docs/hardware/customhardware.md

@@ -19,14 +19,18 @@ When running on Linux, PhotonVision can use [diozero](https://www.diozero.com) t
         "ledsCanDim" : true,
         "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "statusRGBPins" : [ ],
-        "statusRGBActiveHigh" : false,
+        "statusLEDType": "RGB",
+        "statusLEDPins" : [ ],
+        "statusLEDActiveHigh" : false,
       }
 ```
 
-:::{note}
-No hardware boards with status RGB LED pins or non-dimming LED's have been tested yet. Please reach out to the development team if these features are desired, they can assist with configuration and testing.
-:::
+There are currently two types of status LEDs supported:
+
+* `RGB` (default): A singular LED mixing separate red, green, and blue inputs
+* `GreenYellow`: A pair of independent green and yellow LEDs
+
+For an explanation of the colors used for status LEDs, see {ref}`Status LEDs<docs/troubleshooting/status-leds:Status LEDs>`
 
 ### GPIO Pinout
 
@@ -134,8 +138,9 @@ Here is a complete example `hardwareConfig.json`:
         "ledsCanDim" : true,
         "ledBrightnessRange" : [ 0, 100 ],
         "ledPWMFrequency" : 0,
-        "statusRGBPins" : [ ],
-        "statusRGBActiveHigh" : false,
+        "statusLEDType": "RGB",
+        "statusLEDPins" : [ ],
+        "statusLEDActiveHigh" : false,
         "getGPIOCommand" : "getGPIO {p}",
         "setGPIOCommand" : "setGPIO {p} {s}",
         "setPWMCommand" : "setPWM {p} {v}",

docs/source/docs/troubleshooting/index.md

@@ -5,6 +5,7 @@
 
 common-errors
 logging
+status-leds
 camera-troubleshooting
 networking-troubleshooting
 unix-commands

docs/source/docs/troubleshooting/status-leds.md

@@ -0,0 +1,101 @@
+---
+myst:
+  substitutions:
+    led_loader: |
+      ```{image} images/led.svg
+      :height: 0
+      ```
+    led: |
+      ```{raw} html
+      <svg class="led" height="30" width="30">
+        <use href="../../_images/led.svg#led"/>
+      </svg>
+      ```
+---
+<!-- markdownlint-disable-next-line MD033 MD041 -->
+<style>
+  svg.led {
+    --off-color: transparent;
+    color: var(--on-color);
+  }
+
+  @keyframes led-blink {
+    66% {
+      color: var(--off-color);
+    }
+  }
+
+  :not(.solid) > svg.led {
+    animation: led-blink 0.45s steps(1) infinite;
+  }
+
+  @keyframes led-even-blink {
+    50% {
+      color: var(--off-color);
+    }
+  }
+
+  :not(.solid).fast > svg.led {
+    animation-name: led-even-blink;
+    animation-duration: 150ms;
+  }
+
+  :not(.solid).error > svg.led {
+    animation-name: led-even-blink;
+    animation-duration: 0.90s;
+  }
+
+  .green > svg.led {
+    --on-color: limegreen;
+  }
+  .blue > svg.led {
+    --on-color: blue;
+  }
+  .yellow > svg.led {
+    --on-color: yellow;
+  }
+  .red > svg.led {
+    --on-color: red;
+  }
+
+  .anti-yellow > svg.led {
+    --on-color: transparent;
+    --off-color: yellow;
+  }
+
+  .off > svg.led {
+    color: var(--off-color);
+  }
+</style>
+
+# Status LEDs
+
+PhotonVision has support for multiple kinds of status LEDs. Make sure you reference the correct table for the type present on your hardware.
+
+## RGB LED
+
+ Color  | Flashing | Preview                   | Status
+--------|----------|:-------------------------:|-----------------------------------------------
+ Green  | Yes      | [{{ led }}]{.green}       | Running normally, no targets visible
+ Blue   | No       | [{{ led }}]{.solid .blue} | Running normally, targets visible
+ Yellow | Yes      | [{{ led }}]{.yellow}      | NT Disconnected, no targets visible
+ Blue   | Yes      | [{{ led }}]{.blue}        | NT Disconnected, targets visible
+ Red    | Yes      | [{{ led }}]{.red}         | Initializing or faulted, not running
+ Off    | No       | [{{ led }}]{.off}         | No power or initialization fault, not running
+
+## Green and Yellow LEDs
+
+Used on Limelight 1, 2, 2+, 3, 3G, and 3A
+
+Green and Yellow LED patterns may be active at the same time
+
+ Color  | Pattern        | Preview                                                     | Status
+--------|----------------|:-----------------------------------------------------------:|-------------------------------------------------
+ Green  | Slow Flashing  | [{{ led }}]{.green} [{{ led }}]{.off}                       | No targets visible
+ Green  | Quick Flashing | [{{ led }}]{.fast .green} [{{ led }}]{.off}                 | Targets visible
+ Yellow | Flashing       | [{{ led }}]{.off} [{{ led }}]{.yellow}                      | NT Disconnected
+ Yellow | Solid          | [{{ led }}]{.off} [{{ led }}]{.solid .yellow}               | NT Connected
+ Both   | Alternating    | [{{ led }}]{.green .error} [{{ led }}]{.anti-yellow .error} | Initializing or faulted, not running
+ Both   | Off            | [{{ led }}]{.off} [{{ led }}]{.off}                         | No power or initialization fault, not running
+
+{{ led_loader }}

photon-core/src/main/java/org/photonvision/common/configuration/HardwareConfig.java

@@ -17,8 +17,10 @@
 
 package org.photonvision.common.configuration;
 
+import com.fasterxml.jackson.annotation.JsonAlias;
 import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
 import java.util.ArrayList;
+import org.photonvision.common.hardware.statusLED.StatusLEDType;
 
 @JsonIgnoreProperties(ignoreUnknown = true)
 public class HardwareConfig {
@@ -29,8 +31,13 @@ public class HardwareConfig {
     public final boolean ledsCanDim;
     public final ArrayList<Integer> ledBrightnessRange;
     public final int ledPWMFrequency;
-    public final ArrayList<Integer> statusRGBPins;
-    public final boolean statusRGBActiveHigh;
+    public final StatusLEDType statusLEDType;
+
+    @JsonAlias("statusRGBPins")
+    public final ArrayList<Integer> statusLEDPins;
+
+    @JsonAlias("statusRGBActiveHigh")
+    public final boolean statusLEDActiveHigh;
 
     // Custom GPIO
     public final String getGPIOCommand;
@@ -49,8 +56,9 @@ public HardwareConfig(
             boolean ledsCanDim,
             ArrayList<Integer> ledBrightnessRange,
             int ledPwmFrequency,
-            ArrayList<Integer> statusRGBPins,
-            boolean statusRGBActiveHigh,
+            StatusLEDType statusLEDType,
+            ArrayList<Integer> statusLEDPins,
+            boolean statusLEDActiveHigh,
             String getGPIOCommand,
             String setGPIOCommand,
             String setPWMCommand,
@@ -63,8 +71,9 @@ public HardwareConfig(
         this.ledsCanDim = ledsCanDim;
         this.ledBrightnessRange = ledBrightnessRange;
         this.ledPWMFrequency = ledPwmFrequency;
-        this.statusRGBPins = statusRGBPins;
-        this.statusRGBActiveHigh = statusRGBActiveHigh;
+        this.statusLEDType = statusLEDType;
+        this.statusLEDPins = statusLEDPins;
+        this.statusLEDActiveHigh = statusLEDActiveHigh;
         this.getGPIOCommand = getGPIOCommand;
         this.setGPIOCommand = setGPIOCommand;
         this.setPWMCommand = setPWMCommand;
@@ -80,8 +89,9 @@ public HardwareConfig() {
         ledsCanDim = false;
         ledBrightnessRange = new ArrayList<>();
         ledPWMFrequency = 0;
-        statusRGBPins = new ArrayList<>();
-        statusRGBActiveHigh = false;
+        statusLEDType = StatusLEDType.RGB;
+        statusLEDPins = new ArrayList<>();
+        statusLEDActiveHigh = false;
         getGPIOCommand = "";
         setGPIOCommand = "";
         setPWMCommand = "";
@@ -121,10 +131,12 @@ public String toString() {
                 + ledBrightnessRange
                 + ", ledPWMFrequency="
                 + ledPWMFrequency
-                + ", statusRGBPins="
-                + statusRGBPins
-                + ", statusRGBActiveHigh"
-                + statusRGBActiveHigh
+                + ", statusLEDType="
+                + statusLEDType
+                + ", statusLEDPins="
+                + statusLEDPins
+                + ", statusLEDActiveHigh"
+                + statusLEDActiveHigh
                 + ", getGPIOCommand="
                 + getGPIOCommand
                 + ", setGPIOCommand="