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

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

Only a few minor tweaks were required to remove the wpimath dependency.

wpilibc/src/main/native/include/wpi/hardware/led/AddressableLED.hpp

@@ -79,7 +79,7 @@ class AddressableLED {
      *
      * @param color The color of the LED
      */
-    void SetLED(const Color& color) {
+    void SetLED(const wpi::util::Color& color) {
       this->r = color.red * 255;
       this->g = color.green * 255;
       this->b = color.blue * 255;
@@ -90,7 +90,7 @@ class AddressableLED {
      *
      * @param color The color of the LED
      */
-    void SetLED(const Color8Bit& color) {
+    void SetLED(const wpi::util::Color8Bit& color) {
       this->r = color.red;
       this->g = color.green;
       this->b = color.blue;

wpilibc/src/main/native/include/wpi/hardware/led/LEDPattern.hpp

@@ -41,12 +41,13 @@ class LEDPattern {
     size_t m_size;
   };
 
-  explicit LEDPattern(std::function<void(wpi::LEDPattern::LEDReader,
-                                         std::function<void(int, wpi::Color)>)>
-                          impl);
+  explicit LEDPattern(
+      std::function<void(wpi::LEDPattern::LEDReader,
+                         std::function<void(int, wpi::util::Color)>)>
+          impl);
 
   void ApplyTo(LEDReader reader,
-               std::function<void(int, wpi::Color)> writer) const;
+               std::function<void(int, wpi::util::Color)> writer) const;
 
   /**
    * Writes the pattern to an LED buffer. Dynamic animations should be called
@@ -62,7 +63,7 @@ class LEDPattern {
    * @param writer data writer for setting new LED colors on the LED strip
    */
   void ApplyTo(std::span<wpi::AddressableLED::LEDData> data,
-               std::function<void(int, wpi::Color)> writer) const;
+               std::function<void(int, wpi::util::Color)> writer) const;
 
   /**
    * Writes the pattern to an LED buffer. Dynamic animations should be called
@@ -199,8 +200,8 @@ class LEDPattern {
 
   /**
    * Creates a pattern that plays this pattern overlaid on another. Anywhere
-   * this pattern sets an LED to off (or {@link wpi::Color::kBlack}), the base
-   * pattern will be displayed instead.
+   * this pattern sets an LED to off (or {@link wpi::util::Color::kBlack}), the
+   * base pattern will be displayed instead.
    *
    * @param base the base pattern to overlay on top of
    * @return the combined overlay pattern
@@ -256,10 +257,10 @@ class LEDPattern {
    *
    * <pre>
    *   // Solid red, but at 50% brightness
-   *   wpi::LEDPattern::Solid(wpi::Color::kRed).AtBrightness(0.5);
+   *   wpi::LEDPattern::Solid(wpi::util::Color::kRed).AtBrightness(0.5);
    *
    *   // Solid white, but at only 10% (i.e. ~0.5V)
-   *   wpi::LEDPattern::Solid(frc:Color::kWhite).AtBrightness(0.1);
+   *   wpi::LEDPattern::Solid(wpi::util::Color::kWhite).AtBrightness(0.1);
    * </pre>
    *
    * @param relativeBrightness the multiplier to apply to all channels to modify
@@ -279,7 +280,7 @@ class LEDPattern {
    * @param color the color to display
    * @return the pattern
    */
-  static LEDPattern Solid(const Color color);
+  static LEDPattern Solid(const wpi::util::Color color);
 
   /**
    * Creates a pattern that works as a mask layer for {@link
@@ -296,8 +297,8 @@ class LEDPattern {
    *
    * <pre>
    * wpi::LEDPattern basePattern =
-   *   wpi::LEDPattern::Gradient(wpi::Color::kRed, wpi::Color::kBlue);
-   * wpi::LEDPattern progressPattern =
+   *   wpi::LEDPattern::Gradient(wpi::util::Color::kRed,
+   * wpi::util::Color::kBlue); wpi::LEDPattern progressPattern =
    *   basePattern.Mask(wpi::LEDPattern::ProgressMaskLayer([&]() {
    *     return elevator.GetHeight() / elevator.MaxHeight();
    *   });
@@ -322,7 +323,8 @@ class LEDPattern {
    * position along the LED strip
    * @return a motionless step pattern
    */
-  static LEDPattern Steps(std::span<const std::pair<double, Color>> steps);
+  static LEDPattern Steps(
+      std::span<const std::pair<double, wpi::util::Color>> steps);
 
   /**
    * Display a set of colors in steps across the length of the LED strip. No
@@ -337,7 +339,7 @@ class LEDPattern {
    * @return a motionless step pattern
    */
   static LEDPattern Steps(
-      std::initializer_list<std::pair<double, Color>> steps);
+      std::initializer_list<std::pair<double, wpi::util::Color>> steps);
 
   /** Types of gradients. */
   enum GradientType {
@@ -368,7 +370,8 @@ class LEDPattern {
    * @param colors the colors to display in the gradient
    * @return a motionless gradient pattern
    */
-  static LEDPattern Gradient(GradientType type, std::span<const Color> colors);
+  static LEDPattern Gradient(GradientType type,
+                             std::span<const wpi::util::Color> colors);
 
   /**
    * Creates a pattern that displays a non-animated gradient of colors across
@@ -384,7 +387,7 @@ class LEDPattern {
    * @return a motionless gradient pattern
    */
   static LEDPattern Gradient(GradientType type,
-                             std::initializer_list<Color> colors);
+                             std::initializer_list<wpi::util::Color> colors);
 
   /**
    * Creates an LED pattern that displays a rainbow across the color wheel. The
@@ -398,7 +401,7 @@ class LEDPattern {
 
  private:
   std::function<void(wpi::LEDPattern::LEDReader,
-                     std::function<void(int, wpi::Color)>)>
+                     std::function<void(int, wpi::util::Color)>)>
       m_impl;
 };
 }  // namespace wpi

wpilibc/src/main/native/include/wpi/smartdashboard/Mechanism2d.hpp

@@ -52,7 +52,7 @@ class Mechanism2d : public wpi::nt::NTSendable,
    * @param backgroundColor the background color
    */
   Mechanism2d(double width, double height,
-              const Color8Bit& backgroundColor = {0, 0, 32});
+              const wpi::util::Color8Bit& backgroundColor = {0, 0, 32});
 
   /**
    * Get or create a root in this Mechanism2d with the given name and
@@ -73,7 +73,7 @@ class Mechanism2d : public wpi::nt::NTSendable,
    *
    * @param color the new background color
    */
-  void SetBackgroundColor(const Color8Bit& color);
+  void SetBackgroundColor(const wpi::util::Color8Bit& color);
 
   void InitSendable(wpi::nt::NTSendableBuilder& builder) override;
 

wpilibc/src/main/native/include/wpi/smartdashboard/MechanismLigament2d.hpp

@@ -27,21 +27,21 @@ class MechanismLigament2d : public MechanismObject2d {
  public:
   MechanismLigament2d(std::string_view name, double length,
                       wpi::units::degree_t angle, double lineWidth = 6,
-                      const wpi::Color8Bit& color = {235, 137, 52});
+                      const wpi::util::Color8Bit& color = {235, 137, 52});
 
   /**
    * Set the ligament color.
    *
    * @param color the color of the line
    */
-  void SetColor(const Color8Bit& color);
+  void SetColor(const wpi::util::Color8Bit& color);
 
   /**
    * Get the ligament color.
    *
    * @return the color of the line
    */
-  Color8Bit GetColor();
+  wpi::util::Color8Bit GetColor();
 
   /**
    * Set the ligament's length.

wpilibc/src/main/native/include/wpi/util/Color8Bit.hpp

@@ -1,134 +0,0 @@
-// 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.
-
-#pragma once
-
-#include <algorithm>
-#include <stdexcept>
-#include <string>
-#include <string_view>
-
-#include <fmt/format.h>
-
-#include "wpi/util/Color.hpp"
-#include "wpi/util/StringExtras.hpp"
-#include "wpi/util/ct_string.hpp"
-
-namespace wpi {
-
-/**
- * Represents colors that can be used with Addressable LEDs.
- */
-class Color8Bit {
- public:
-  /**
-   * Constructs a default color (black).
-   */
-  constexpr Color8Bit() = default;
-
-  /**
-   * Constructs a Color8Bit.
-   *
-   * @param r Red value (0-255)
-   * @param g Green value (0-255)
-   * @param b Blue value (0-255)
-   */
-  constexpr Color8Bit(int r, int g, int b)
-      : red(std::clamp(r, 0, 255)),
-        green(std::clamp(g, 0, 255)),
-        blue(std::clamp(b, 0, 255)) {}
-
-  /**
-   * Constructs a Color8Bit from a Color.
-   *
-   * @param color The color
-   */
-  constexpr Color8Bit(const Color& color)  // NOLINT
-      : red(color.red * 255),
-        green(color.green * 255),
-        blue(color.blue * 255) {}
-
-  /**
-   * Constructs a Color8Bit from a hex string.
-   *
-   * @param hexString a string of the format <tt>\#RRGGBB</tt>
-   * @throws std::invalid_argument if the hex string is invalid.
-   */
-  explicit constexpr Color8Bit(std::string_view hexString) {
-    if (hexString.length() != 7 || !hexString.starts_with("#") ||
-        !wpi::util::isHexDigit(hexString[1]) ||
-        !wpi::util::isHexDigit(hexString[2]) ||
-        !wpi::util::isHexDigit(hexString[3]) ||
-        !wpi::util::isHexDigit(hexString[4]) ||
-        !wpi::util::isHexDigit(hexString[5]) ||
-        !wpi::util::isHexDigit(hexString[6])) {
-      throw std::invalid_argument(
-          fmt::format("Invalid hex string for Color \"{}\"", hexString));
-    }
-
-    red = wpi::util::hexDigitValue(hexString[1]) * 16 +
-          wpi::util::hexDigitValue(hexString[2]);
-    green = wpi::util::hexDigitValue(hexString[3]) * 16 +
-            wpi::util::hexDigitValue(hexString[4]);
-    blue = wpi::util::hexDigitValue(hexString[5]) * 16 +
-           wpi::util::hexDigitValue(hexString[6]);
-  }
-
-  constexpr bool operator==(const Color8Bit&) const = default;
-
-  constexpr operator Color() const {  // NOLINT
-    return Color(red / 255.0, green / 255.0, blue / 255.0);
-  }
-
-  /**
-   * Create a Color8Bit from a hex string.
-   *
-   * @param hexString a string of the format <tt>\#RRGGBB</tt>
-   * @return Color8Bit object from hex string.
-   * @throws std::invalid_argument if the hex string is invalid.
-   */
-  static constexpr Color8Bit FromHexString(std::string_view hexString) {
-    if (hexString.length() != 7 || !hexString.starts_with("#") ||
-        !wpi::util::isHexDigit(hexString[1]) ||
-        !wpi::util::isHexDigit(hexString[2]) ||
-        !wpi::util::isHexDigit(hexString[3]) ||
-        !wpi::util::isHexDigit(hexString[4]) ||
-        !wpi::util::isHexDigit(hexString[5]) ||
-        !wpi::util::isHexDigit(hexString[6])) {
-      throw std::invalid_argument(
-          fmt::format("Invalid hex string for Color \"{}\"", hexString));
-    }
-
-    int r = wpi::util::hexDigitValue(hexString[0]) * 16 +
-            wpi::util::hexDigitValue(hexString[1]);
-    int g = wpi::util::hexDigitValue(hexString[2]) * 16 +
-            wpi::util::hexDigitValue(hexString[3]);
-    int b = wpi::util::hexDigitValue(hexString[4]) * 16 +
-            wpi::util::hexDigitValue(hexString[5]);
-    return Color8Bit{r, g, b};
-  }
-
-  /**
-   * Return this color represented as a hex string.
-   *
-   * @return a string of the format <tt>\#RRGGBB</tt>
-   */
-  constexpr auto HexString() const {
-    return wpi::util::ct_string<char, std::char_traits<char>, 7>{
-        {'#', wpi::util::hexdigit(red / 16), wpi::util::hexdigit(red % 16),
-         wpi::util::hexdigit(green / 16), wpi::util::hexdigit(green % 16),
-         wpi::util::hexdigit(blue / 16), wpi::util::hexdigit(blue % 16)}};
-  }
-
-  /// Red component (0-255).
-  int red = 0;
-
-  /// Green component (0-255).
-  int green = 0;
-
-  /// Blue component (0-255).
-  int blue = 0;
-};
-
-}  // namespace wpi