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[wpilib] Allow LED pattern gradients to be discontinuous (#7174)

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This commit is contained in:
Sam Carlberg
2024-10-11 01:05:33 -04:00
committed by GitHub
parent 0cfff31439
commit 2085ab3d47
5 changed files with 147 additions and 35 deletions
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20
wpilibc/src/main/native/cpp/LEDPattern.cpp
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@@ -263,7 +263,8 @@ LEDPattern LEDPattern::Steps(
return Steps(std::span{steps.begin(), steps.end()});
}
LEDPattern LEDPattern::Gradient(std::span<const Color> colors) {
LEDPattern LEDPattern::Gradient(GradientType type,
std::span<const Color> colors) {
if (colors.size() == 0) {
// no colors specified
return LEDPattern::Off();
@@ -273,11 +274,19 @@ LEDPattern LEDPattern::Gradient(std::span<const Color> colors) {
return LEDPattern::Solid(colors[0]);
}
return LEDPattern{[colors = std::vector(colors.begin(), colors.end())](
return LEDPattern{[type, colors = std::vector(colors.begin(), colors.end())](
auto data, auto writer) {
size_t numSegments = colors.size();
auto bufLen = data.size();
int ledsPerSegment = bufLen / numSegments;
int ledsPerSegment = 0;
switch (type) {
case kContinuous:
ledsPerSegment = bufLen / numSegments;
break;
case kDiscontinuous:
ledsPerSegment = (bufLen - 1) / (numSegments - 1);
break;
}
for (size_t led = 0; led < bufLen; led++) {
int colorIndex = (led / ledsPerSegment) % numSegments;
@@ -295,8 +304,9 @@ LEDPattern LEDPattern::Gradient(std::span<const Color> colors) {
}};
}
LEDPattern LEDPattern::Gradient(std::initializer_list<Color> colors) {
return Gradient(std::span{colors.begin(), colors.end()});
LEDPattern LEDPattern::Gradient(GradientType type,
std::initializer_list<Color> colors) {
return Gradient(type, std::span{colors.begin(), colors.end()});
}
LEDPattern LEDPattern::Rainbow(int saturation, int value) {

55
wpilibc/src/main/native/include/frc/LEDPattern.h
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@@ -315,29 +315,52 @@ class LEDPattern {
static LEDPattern Steps(
std::initializer_list<std::pair<double, Color>> steps);
/**
* Creates a pattern that displays a non-animated gradient of colors across
* the entire length of the LED strip. The gradient wraps around so the start
* and end of the strip are the same color, which allows the gradient to be
* modified with a scrolling effect with no discontinuities. Colors are evenly
* distributed along the full length of the LED strip.
*
* @param colors the colors to display in the gradient
* @return a motionless gradient pattern
*/
static LEDPattern Gradient(std::span<const Color> colors);
/** Types of gradients. */
enum GradientType {
/**
* A continuous gradient, where the gradient wraps around to allow for
* seamless scrolling effects.
*/
kContinuous,
/**
* A discontinuous gradient, where the first pixel is set to the first color
* of the gradient and the final pixel is set to the last color of the
* gradient. There is no wrapping effect, so scrolling effects will display
* an obvious seam.
*/
kDiscontinuous
};
/**
* Creates a pattern that displays a non-animated gradient of colors across
* the entire length of the LED strip. The gradient wraps around so the start
* and end of the strip are the same color, which allows the gradient to be
* modified with a scrolling effect with no discontinuities. Colors are evenly
* distributed along the full length of the LED strip.
* the entire length of the LED strip. Colors are evenly distributed along the
* full length of the LED strip. The gradient type is configured with the
* {@code type} parameter, allowing the gradient to be either continuous (no
* seams, good for scrolling effects) or discontinuous (a clear seam is
* visible, but the gradient applies to the full length of the LED strip
* without needing to use some space for wrapping).
*
* @param type the type of gradient (continuous or discontinuous)
* @param colors the colors to display in the gradient
* @return a motionless gradient pattern
*/
static LEDPattern Gradient(std::initializer_list<Color> colors);
static LEDPattern Gradient(GradientType type, std::span<const Color> colors);
/**
* Creates a pattern that displays a non-animated gradient of colors across
* the entire length of the LED strip. Colors are evenly distributed along the
* full length of the LED strip. The gradient type is configured with the
* {@code type} parameter, allowing the gradient to be either continuous (no
* seams, good for scrolling effects) or discontinuous (a clear seam is
* visible, but the gradient applies to the full length of the LED strip
* without needing to use some space for wrapping).
*
* @param type the type of gradient (continuous or discontinuous)
* @param colors the colors to display in the gradient
* @return a motionless gradient pattern
*/
static LEDPattern Gradient(GradientType type,
std::initializer_list<Color> colors);
/**
* Creates an LED pattern that displays a rainbow across the color wheel. The

37
wpilibc/src/test/native/cpp/LEDPatternTest.cpp
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@@ -48,7 +48,8 @@ TEST(LEDPatternTest, SolidColor) {
TEST(LEDPatternTest, EmptyGradientSetsToBlack) {
std::array<Color, 0> colors;
LEDPattern pattern = LEDPattern::Gradient(colors);
LEDPattern pattern =
LEDPattern::Gradient(LEDPattern::GradientType::kContinuous, colors);
std::array<AddressableLED::LEDData, 5> buffer;
pattern.ApplyTo(buffer);
for (int i = 0; i < 5; i++) {
@@ -58,7 +59,8 @@ TEST(LEDPatternTest, EmptyGradientSetsToBlack) {
TEST(LEDPatternTest, SingleColorGradientSetsSolid) {
std::array<Color, 1> colors{Color::kYellow};
LEDPattern pattern = LEDPattern::Gradient(colors);
LEDPattern pattern =
LEDPattern::Gradient(LEDPattern::GradientType::kContinuous, colors);
std::array<AddressableLED::LEDData, 5> buffer;
pattern.ApplyTo(buffer);
for (int i = 0; i < 5; i++) {
@@ -68,7 +70,8 @@ TEST(LEDPatternTest, SingleColorGradientSetsSolid) {
TEST(LEDPatternTest, Gradient2Colors) {
std::array<Color, 2> colors{Color::kYellow, Color::kPurple};
LEDPattern pattern = LEDPattern::Gradient(colors);
LEDPattern pattern =
LEDPattern::Gradient(LEDPattern::GradientType::kContinuous, colors);
std::array<AddressableLED::LEDData, 99> buffer;
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kYellow);
@@ -80,9 +83,21 @@ TEST(LEDPatternTest, Gradient2Colors) {
AssertIndexColor(buffer, 98, Color::kYellow);
}
TEST(LEDPatternTest, DiscontinuousGradient2Colors) {
std::array<Color, 2> colors{Color::kYellow, Color::kPurple};
LEDPattern pattern =
LEDPattern::Gradient(LEDPattern::GradientType::kDiscontinuous, colors);
std::array<AddressableLED::LEDData, 99> buffer;
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kYellow);
AssertIndexColor(buffer, 49, LerpColors(Color::kYellow, Color::kPurple, 0.5));
AssertIndexColor(buffer, 98, Color::kPurple);
}
TEST(LEDPatternTest, Gradient3Colors) {
std::array<Color, 3> colors{Color::kYellow, Color::kPurple, Color::kWhite};
LEDPattern pattern = LEDPattern::Gradient(colors);
LEDPattern pattern =
LEDPattern::Gradient(LEDPattern::GradientType::kContinuous, colors);
std::array<AddressableLED::LEDData, 99> buffer;
pattern.ApplyTo(buffer);
@@ -99,6 +114,20 @@ TEST(LEDPatternTest, Gradient3Colors) {
LerpColors(Color::kWhite, Color::kYellow, 32 / 33.0));
}
TEST(LEDPatternTest, DiscontinuousGradient3Colors) {
std::array<Color, 3> colors{Color::kYellow, Color::kPurple, Color::kWhite};
LEDPattern pattern =
LEDPattern::Gradient(LEDPattern::GradientType::kDiscontinuous, colors);
std::array<AddressableLED::LEDData, 101> buffer;
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kYellow);
AssertIndexColor(buffer, 25, LerpColors(Color::kYellow, Color::kPurple, 0.5));
AssertIndexColor(buffer, 50, Color::kPurple);
AssertIndexColor(buffer, 75, LerpColors(Color::kPurple, Color::kWhite, 0.5));
AssertIndexColor(buffer, 100, Color::kWhite);
}
TEST(LEDPatternTest, EmptyStepsSetsToBlack) {
std::array<std::pair<double, Color>, 0> steps;
LEDPattern pattern = LEDPattern::Steps(steps);

33
wpilibj/src/main/java/edu/wpi/first/wpilibj/LEDPattern.java
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@@ -569,16 +569,35 @@ public interface LEDPattern {
};
}
/** Types of gradients. */
enum GradientType {
/**
* A continuous gradient, where the gradient wraps around to allow for seamless scrolling
* effects.
*/
kContinuous,
/**
* A discontinuous gradient, where the first pixel is set to the first color of the gradient and
* the final pixel is set to the last color of the gradient. There is no wrapping effect, so
* scrolling effects will display an obvious seam.
*/
kDiscontinuous
}
/**
* Creates a pattern that displays a non-animated gradient of colors across the entire length of
* the LED strip. The gradient wraps around so the start and end of the strip are the same color,
* which allows the gradient to be modified with a scrolling effect with no discontinuities.
* Colors are evenly distributed along the full length of the LED strip.
* the LED strip. Colors are evenly distributed along the full length of the LED strip. The
* gradient type is configured with the {@code type} parameter, allowing the gradient to be either
* continuous (no seams, good for scrolling effects) or discontinuous (a clear seam is visible,
* but the gradient applies to the full length of the LED strip without needing to use some space
* for wrapping).
*
* @param type the type of gradient (continuous or discontinuous)
* @param colors the colors to display in the gradient
* @return a motionless gradient pattern
*/
static LEDPattern gradient(Color... colors) {
static LEDPattern gradient(GradientType type, Color... colors) {
if (colors.length == 0) {
// Nothing to display
DriverStation.reportWarning("Creating a gradient with no colors!", false);
@@ -595,7 +614,11 @@ public interface LEDPattern {
return (reader, writer) -> {
int bufLen = reader.getLength();
int ledsPerSegment = bufLen / numSegments;
int ledsPerSegment =
switch (type) {
case kContinuous -> bufLen / numSegments;
case kDiscontinuous -> (bufLen - 1) / (numSegments - 1);
};
for (int led = 0; led < bufLen; led++) {
int colorIndex = (led / ledsPerSegment) % numSegments;

37
wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
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@@ -11,6 +11,8 @@ import static edu.wpi.first.units.Units.Microseconds;
import static edu.wpi.first.units.Units.Percent;
import static edu.wpi.first.units.Units.Seconds;
import static edu.wpi.first.units.Units.Value;
import static edu.wpi.first.wpilibj.LEDPattern.GradientType.kContinuous;
import static edu.wpi.first.wpilibj.LEDPattern.GradientType.kDiscontinuous;
import static edu.wpi.first.wpilibj.util.Color.kBlack;
import static edu.wpi.first.wpilibj.util.Color.kBlue;
import static edu.wpi.first.wpilibj.util.Color.kLime;
@@ -80,7 +82,7 @@ class LEDPatternTest {
@Test
void gradient0SetsToBlack() {
LEDPattern pattern = LEDPattern.gradient();
LEDPattern pattern = LEDPattern.gradient(kContinuous);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
for (int i = 0; i < buffer.getLength(); i++) {
buffer.setRGB(i, 127, 128, 129);
@@ -95,7 +97,7 @@ class LEDPatternTest {
@Test
void gradient1SetsToSolid() {
LEDPattern pattern = LEDPattern.gradient(kYellow);
LEDPattern pattern = LEDPattern.gradient(kContinuous, kYellow);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
@@ -106,8 +108,8 @@ class LEDPatternTest {
}
@Test
void gradient2Colors() {
LEDPattern pattern = LEDPattern.gradient(kYellow, kPurple);
void continuousGradient2Colors() {
LEDPattern pattern = LEDPattern.gradient(kContinuous, kYellow, kPurple);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
@@ -119,9 +121,21 @@ class LEDPatternTest {
assertColorEquals(kYellow, buffer.getLED(98));
}
@Test
void discontinuousGradient2Colors() {
LEDPattern pattern = LEDPattern.gradient(kDiscontinuous, kYellow, kPurple);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
assertColorEquals(kYellow, buffer.getLED(0));
assertColorEquals(Color.lerpRGB(kYellow, kPurple, 0.5), buffer.getLED(49));
assertColorEquals(kPurple, buffer.getLED(98));
}
@Test
void gradient3Colors() {
LEDPattern pattern = LEDPattern.gradient(kYellow, kPurple, kWhite);
LEDPattern pattern = LEDPattern.gradient(kContinuous, kYellow, kPurple, kWhite);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
pattern.applyTo(buffer);
@@ -134,6 +148,19 @@ class LEDPatternTest {
assertColorEquals(Color.lerpRGB(kWhite, kYellow, 32.0 / 33.0), buffer.getLED(98));
}
@Test
void discontinuousGradient3Colors() {
LEDPattern pattern = LEDPattern.gradient(kDiscontinuous, kYellow, kPurple, kWhite);
AddressableLEDBuffer buffer = new AddressableLEDBuffer(101);
pattern.applyTo(buffer);
assertColorEquals(kYellow, buffer.getLED(0));
assertColorEquals(Color.lerpRGB(kYellow, kPurple, 0.5), buffer.getLED(25));
assertColorEquals(kPurple, buffer.getLED(50));
assertColorEquals(Color.lerpRGB(kPurple, kWhite, 0.5), buffer.getLED(75));
assertColorEquals(kWhite, buffer.getLED(100));
}
@Test
void step0SetsToBlack() {
LEDPattern pattern = LEDPattern.steps(Map.of());