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[wpiutil] Move Color and Color8Bit from wpilib to wpiutil (#8437)

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Removes one of the org.wpilib.util package conflicts for modularization.

Only a few minor tweaks were required to remove the wpimath dependency.
This commit is contained in:
Peter Johnson
2025-11-30 11:11:48 -08:00
committed by GitHub
parent e902a98601
commit 42992953ed
32 changed files with 468 additions and 385 deletions
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89
wpilibc/src/main/native/cpp/hardware/led/LEDPattern.cpp
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@@ -17,24 +17,29 @@
using namespace wpi;
LEDPattern::LEDPattern(std::function<void(wpi::LEDPattern::LEDReader,
std::function<void(int, wpi::Color)>)>
impl)
LEDPattern::LEDPattern(
std::function<void(wpi::LEDPattern::LEDReader,
std::function<void(int, wpi::util::Color)>)>
impl)
: m_impl(std::move(impl)) {}
void LEDPattern::ApplyTo(LEDPattern::LEDReader reader,
std::function<void(int, wpi::Color)> writer) const {
void LEDPattern::ApplyTo(
LEDPattern::LEDReader reader,
std::function<void(int, wpi::util::Color)> writer) const {
m_impl(reader, writer);
}
void LEDPattern::ApplyTo(std::span<AddressableLED::LEDData> data,
std::function<void(int, wpi::Color)> writer) const {
void LEDPattern::ApplyTo(
std::span<AddressableLED::LEDData> data,
std::function<void(int, wpi::util::Color)> writer) const {
ApplyTo(LEDPattern::LEDReader{[=](size_t i) { return data[i]; }, data.size()},
writer);
}
void LEDPattern::ApplyTo(std::span<AddressableLED::LEDData> data) const {
ApplyTo(data, [&](int index, Color color) { data[index].SetLED(color); });
ApplyTo(data, [&](int index, wpi::util::Color color) {
data[index].SetLED(color);
});
}
LEDPattern LEDPattern::MapIndex(
@@ -44,7 +49,9 @@ LEDPattern LEDPattern::MapIndex(
self.ApplyTo(
LEDPattern::LEDReader{
[=](auto i) { return data[indexMapper(bufLen, i)]; }, bufLen},
[&](int i, Color color) { writer(indexMapper(bufLen, i), color); });
[&](int i, wpi::util::Color color) {
writer(indexMapper(bufLen, i), color);
});
}};
}
@@ -131,7 +138,7 @@ LEDPattern LEDPattern::Breathe(wpi::units::second_t period) {
auto periodMicros = wpi::units::microsecond_t{period};
return LEDPattern{[periodMicros, self = *this](auto data, auto writer) {
self.ApplyTo(data, [&writer, periodMicros](int i, Color color) {
self.ApplyTo(data, [&writer, periodMicros](int i, wpi::util::Color color) {
double t = (wpi::util::Now() % periodMicros.to<uint64_t>()) /
periodMicros.to<double>();
double phase = t * 2 * std::numbers::pi;
@@ -140,7 +147,8 @@ LEDPattern LEDPattern::Breathe(wpi::units::second_t period) {
// Use cosine so the period starts at 100% brightness
double dim = (std::cos(phase) + 1) / 2.0;
writer(i, Color{color.red * dim, color.green * dim, color.blue * dim});
writer(i, wpi::util::Color{color.red * dim, color.green * dim,
color.blue * dim});
});
}};
}
@@ -151,7 +159,7 @@ LEDPattern LEDPattern::OverlayOn(const LEDPattern& base) {
base.ApplyTo(data, writer);
// ... then, overwrite with illuminated LEDs from the overlay
self.ApplyTo(data, [&](int i, Color color) {
self.ApplyTo(data, [&](int i, wpi::util::Color color) {
if (color.red > 0 || color.green > 0 || color.blue > 0) {
writer(i, color);
}
@@ -164,12 +172,12 @@ LEDPattern LEDPattern::Blend(const LEDPattern& other) {
// Apply the current pattern down as normal...
self.ApplyTo(data, writer);
other.ApplyTo(data, [&](int i, Color color) {
other.ApplyTo(data, [&](int i, wpi::util::Color color) {
// ... then read the result and average it with the output from the other
// pattern
writer(i, Color{(data[i].r / 255.0 + color.red) / 2,
(data[i].g / 255.0 + color.green) / 2,
(data[i].b / 255.0 + color.blue) / 2});
writer(i, wpi::util::Color{(data[i].r / 255.0 + color.red) / 2,
(data[i].g / 255.0 + color.green) / 2,
(data[i].b / 255.0 + color.blue) / 2});
});
}};
}
@@ -179,23 +187,24 @@ LEDPattern LEDPattern::Mask(const LEDPattern& mask) {
// Apply the current pattern down as normal...
self.ApplyTo(data, writer);
mask.ApplyTo(data, [&](int i, Color color) {
mask.ApplyTo(data, [&](int i, wpi::util::Color color) {
auto currentColor = data[i];
// ... then perform a bitwise AND operation on each channel to apply the
// mask
writer(i, Color{currentColor.r & static_cast<uint8_t>(255 * color.red),
currentColor.g & static_cast<uint8_t>(255 * color.green),
currentColor.b & static_cast<uint8_t>(255 * color.blue)});
writer(i, wpi::util::Color{
currentColor.r & static_cast<uint8_t>(255 * color.red),
currentColor.g & static_cast<uint8_t>(255 * color.green),
currentColor.b & static_cast<uint8_t>(255 * color.blue)});
});
}};
}
LEDPattern LEDPattern::AtBrightness(double relativeBrightness) {
return LEDPattern{[relativeBrightness, self = *this](auto data, auto writer) {
self.ApplyTo(data, [&](int i, Color color) {
writer(i, Color{color.red * relativeBrightness,
color.green * relativeBrightness,
color.blue * relativeBrightness});
self.ApplyTo(data, [&](int i, wpi::util::Color color) {
writer(i, wpi::util::Color{color.red * relativeBrightness,
color.green * relativeBrightness,
color.blue * relativeBrightness});
});
}};
}
@@ -203,10 +212,10 @@ LEDPattern LEDPattern::AtBrightness(double relativeBrightness) {
// Static constants and functions
LEDPattern LEDPattern::Off() {
return LEDPattern::Solid(Color::kBlack);
return LEDPattern::Solid(wpi::util::Color::kBlack);
}
LEDPattern LEDPattern::Solid(const Color color) {
LEDPattern LEDPattern::Solid(const wpi::util::Color color) {
return LEDPattern{[=](auto data, auto writer) {
auto bufLen = data.size();
for (size_t i = 0; i < bufLen; i++) {
@@ -223,15 +232,16 @@ LEDPattern LEDPattern::ProgressMaskLayer(
size_t max = bufLen * progress;
for (size_t led = 0; led < max; led++) {
writer(led, Color::kWhite);
writer(led, wpi::util::Color::kWhite);
}
for (size_t led = max; led < bufLen; led++) {
writer(led, Color::kBlack);
writer(led, wpi::util::Color::kBlack);
}
}};
}
LEDPattern LEDPattern::Steps(std::span<const std::pair<double, Color>> steps) {
LEDPattern LEDPattern::Steps(
std::span<const std::pair<double, wpi::util::Color>> steps) {
if (steps.size() == 0) {
// no colors specified
return LEDPattern::Off();
@@ -247,12 +257,12 @@ LEDPattern LEDPattern::Steps(std::span<const std::pair<double, Color>> steps) {
// precompute relevant positions for this buffer so we don't need to do a
// check on every single LED index
std::unordered_map<int, Color> stopPositions;
std::unordered_map<int, wpi::util::Color> stopPositions;
for (auto step : steps) {
stopPositions[std::floor(step.first * bufLen)] = step.second;
}
auto currentColor = Color::kBlack;
auto currentColor = wpi::util::Color::kBlack;
for (size_t led = 0; led < bufLen; led++) {
if (stopPositions.contains(led)) {
currentColor = stopPositions[led];
@@ -263,12 +273,12 @@ LEDPattern LEDPattern::Steps(std::span<const std::pair<double, Color>> steps) {
}
LEDPattern LEDPattern::Steps(
std::initializer_list<std::pair<double, Color>> steps) {
std::initializer_list<std::pair<double, wpi::util::Color>> steps) {
return Steps(std::span{steps.begin(), steps.end()});
}
LEDPattern LEDPattern::Gradient(GradientType type,
std::span<const Color> colors) {
std::span<const wpi::util::Color> colors) {
if (colors.size() == 0) {
// no colors specified
return LEDPattern::Off();
@@ -300,16 +310,17 @@ LEDPattern LEDPattern::Gradient(GradientType type,
auto color = colors[colorIndex];
auto nextColor = colors[nextColorIndex];
Color gradientColor{wpi::util::Lerp(color.red, nextColor.red, t),
wpi::util::Lerp(color.green, nextColor.green, t),
wpi::util::Lerp(color.blue, nextColor.blue, t)};
wpi::util::Color gradientColor{
wpi::util::Lerp(color.red, nextColor.red, t),
wpi::util::Lerp(color.green, nextColor.green, t),
wpi::util::Lerp(color.blue, nextColor.blue, t)};
writer(led, gradientColor);
}
}};
}
LEDPattern LEDPattern::Gradient(GradientType type,
std::initializer_list<Color> colors) {
LEDPattern LEDPattern::Gradient(
GradientType type, std::initializer_list<wpi::util::Color> colors) {
return Gradient(type, std::span{colors.begin(), colors.end()});
}
@@ -318,7 +329,7 @@ LEDPattern LEDPattern::Rainbow(int saturation, int value) {
auto bufLen = data.size();
for (size_t led = 0; led < bufLen; led++) {
int hue = ((led * 180) / bufLen) % 180;
writer(led, Color::FromHSV(hue, saturation, value));
writer(led, wpi::util::Color::FromHSV(hue, saturation, value));
}
}};
}