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Add methods for getting color of an LED (#2366)

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Also fix rounding in Color.
This commit is contained in:
sciencewhiz
2020-02-18 20:40:03 -08:00
committed by GitHub
parent 60c09ea51f
commit 30ccd13b69
3 changed files with 54 additions and 3 deletions
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26
wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -116,4 +116,28 @@ public class AddressableLEDBuffer {
public int getLength() {
return m_buffer.length / 4;
}
/**
* Gets the color at the specified index.
*
* @param index the index to get
* @return the LED color at the specified index
*/
public Color8Bit getLED8Bit(int index) {
return new Color8Bit(m_buffer[index * 4 + 2] & 0xFF, m_buffer[index * 4 + 1] & 0xFF,
m_buffer[index * 4] & 0xFF);
}
/**
* Gets the color at the specified index.
*
* @param index the index to get
* @return the LED color at the specified index
*/
public Color getLED(int index) {
return new Color((m_buffer[index * 4 + 2] & 0xFF) / 255.0,
(m_buffer[index * 4 + 1] & 0xFF) / 255.0,
(m_buffer[index * 4] & 0xFF) / 255.0);
}
}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
View File

@@ -69,7 +69,7 @@ public class Color {
}
private static double roundAndClamp(double value) {
final var rounded = Math.round(value / kPrecision) * kPrecision;
final var rounded = Math.round((value + kPrecision / 2) / kPrecision) * kPrecision;
return MathUtil.clamp(rounded, 0.0, 1.0);
}

29
wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -9,12 +9,17 @@ package edu.wpi.first.wpilibj;
import java.util.stream.Stream;
import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.Arguments;
import org.junit.jupiter.params.provider.MethodSource;
import edu.wpi.first.wpilibj.util.Color;
import edu.wpi.first.wpilibj.util.Color8Bit;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.params.provider.Arguments.arguments;
class AddressableLEDBufferTest {
@@ -51,4 +56,26 @@ class AddressableLEDBufferTest {
arguments(120, 255, 128, 0, 0, 128) // Navy
);
}
@Test
void getColorTest() {
AddressableLEDBuffer buffer = new AddressableLEDBuffer(4);
final Color8Bit denimColor8Bit = new Color8Bit(Color.kDenim);
final Color8Bit firstBlueColor8Bit = new Color8Bit(Color.kFirstBlue);
final Color8Bit firstRedColor8Bit = new Color8Bit(Color.kFirstRed);
buffer.setLED(0, Color.kFirstBlue);
buffer.setLED(1, denimColor8Bit);
buffer.setLED(2, Color.kFirstRed);
buffer.setLED(3, Color.kFirstBlue);
assertTrue(buffer.getLED(0).equals(Color.kFirstBlue));
assertTrue(buffer.getLED(1).equals(Color.kDenim));
assertTrue(buffer.getLED(2).equals(Color.kFirstRed));
assertTrue(buffer.getLED(3).equals(Color.kFirstBlue));
assertTrue(buffer.getLED8Bit(0).equals(firstBlueColor8Bit));
assertTrue(buffer.getLED8Bit(1).equals(denimColor8Bit));
assertTrue(buffer.getLED8Bit(2).equals(firstRedColor8Bit));
assertTrue(buffer.getLED8Bit(3).equals(firstBlueColor8Bit));
}
}