[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/python/pyproject.toml

@@ -210,8 +210,6 @@ Watchdog = "wpi/system/Watchdog.hpp"
 
 # wpi/util
 Alert = "wpi/util/Alert.hpp"
-Color = "wpi/util/Color.hpp"
-Color8Bit = "wpi/util/Color8Bit.hpp"
 Preferences = "wpi/util/Preferences.hpp"
 SensorUtil = "wpi/util/SensorUtil.hpp"
 

wpilibc/src/main/python/semiwrap/AddressableLED.yml

@@ -39,6 +39,6 @@ classes:
       SetHSV:
       SetLED:
         overloads:
-          const Color&:
-          const Color8Bit&:
+          const wpi::util::Color&:
+          const wpi::util::Color8Bit&:
 

wpilibc/src/main/python/semiwrap/Color.yml

@@ -1,191 +0,0 @@
-extra_includes:
-- pybind11/operators.h
-
-classes:
-  wpi::Color:
-    force_type_casters:
-    - wpi::util::ct_string
-    attributes:
-      kDenim:
-      kFirstBlue:
-      kFirstRed:
-      kAliceBlue:
-      kAntiqueWhite:
-      kAqua:
-      kAquamarine:
-      kAzure:
-      kBeige:
-      kBisque:
-      kBlack:
-      kBlanchedAlmond:
-      kBlue:
-      kBlueViolet:
-      kBrown:
-      kBurlywood:
-      kCadetBlue:
-      kChartreuse:
-      kChocolate:
-      kCoral:
-      kCornflowerBlue:
-      kCornsilk:
-      kCrimson:
-      kCyan:
-      kDarkBlue:
-      kDarkCyan:
-      kDarkGoldenrod:
-      kDarkGray:
-      kDarkGreen:
-      kDarkKhaki:
-      kDarkMagenta:
-      kDarkOliveGreen:
-      kDarkOrange:
-      kDarkOrchid:
-      kDarkRed:
-      kDarkSalmon:
-      kDarkSeaGreen:
-      kDarkSlateBlue:
-      kDarkSlateGray:
-      kDarkTurquoise:
-      kDarkViolet:
-      kDeepPink:
-      kDeepSkyBlue:
-      kDimGray:
-      kDodgerBlue:
-      kFirebrick:
-      kFloralWhite:
-      kForestGreen:
-      kFuchsia:
-      kGainsboro:
-      kGhostWhite:
-      kGold:
-      kGoldenrod:
-      kGray:
-      kGreen:
-      kGreenYellow:
-      kHoneydew:
-      kHotPink:
-      kIndianRed:
-      kIndigo:
-      kIvory:
-      kKhaki:
-      kLavender:
-      kLavenderBlush:
-      kLawnGreen:
-      kLemonChiffon:
-      kLightBlue:
-      kLightCoral:
-      kLightCyan:
-      kLightGoldenrodYellow:
-      kLightGray:
-      kLightGreen:
-      kLightPink:
-      kLightSalmon:
-      kLightSeaGreen:
-      kLightSkyBlue:
-      kLightSlateGray:
-      kLightSteelBlue:
-      kLightYellow:
-      kLime:
-      kLimeGreen:
-      kLinen:
-      kMagenta:
-      kMaroon:
-      kMediumAquamarine:
-      kMediumBlue:
-      kMediumOrchid:
-      kMediumPurple:
-      kMediumSeaGreen:
-      kMediumSlateBlue:
-      kMediumSpringGreen:
-      kMediumTurquoise:
-      kMediumVioletRed:
-      kMidnightBlue:
-      kMintcream:
-      kMistyRose:
-      kMoccasin:
-      kNavajoWhite:
-      kNavy:
-      kOldLace:
-      kOlive:
-      kOliveDrab:
-      kOrange:
-      kOrangeRed:
-      kOrchid:
-      kPaleGoldenrod:
-      kPaleGreen:
-      kPaleTurquoise:
-      kPaleVioletRed:
-      kPapayaWhip:
-      kPeachPuff:
-      kPeru:
-      kPink:
-      kPlum:
-      kPowderBlue:
-      kPurple:
-      kRed:
-      kRosyBrown:
-      kRoyalBlue:
-      kSaddleBrown:
-      kSalmon:
-      kSandyBrown:
-      kSeaGreen:
-      kSeashell:
-      kSienna:
-      kSilver:
-      kSkyBlue:
-      kSlateBlue:
-      kSlateGray:
-      kSnow:
-      kSpringGreen:
-      kSteelBlue:
-      kTan:
-      kTeal:
-      kThistle:
-      kTomato:
-      kTurquoise:
-      kViolet:
-      kWheat:
-      kWhite:
-      kWhiteSmoke:
-      kYellow:
-      kYellowGreen:
-      red:
-        access: readonly
-      green:
-        access: readonly
-      blue:
-        access: readonly
-    methods:
-      Color:
-        overloads:
-          '':
-          double, double, double:
-            param_override:
-              r:
-                name: red
-              g:
-                name: green
-              b:
-                name: blue
-          int, int, int:
-      FromString:
-      FromHSV:
-      HexString:
-      operator==:
-
-inline_code: |
-  cls_Color
-    .def("__hash__", [](Color *self) -> size_t {
-      size_t h = (size_t)(
-        std::hash<double>{}(self->red)
-        ^ (std::hash<double>{}(self->green) << 1)
-        ^ (std::hash<double>{}(self->blue) << 2)
-      );
-      return h != static_cast<size_t>(-1) ? h : -2;
-    })
-    .def("__repr__", [](Color *self) {
-      return "Color("
-        "red=" + std::to_string(self->red) + ", "
-        "green=" + std::to_string(self->green) + ", "
-        "blue=" + std::to_string(self->blue) + ")";
-    });

wpilibc/src/main/python/semiwrap/Color8Bit.yml

@@ -1,46 +0,0 @@
-extra_includes:
-- pybind11/operators.h
-
-classes:
-  wpi::Color8Bit:
-    force_type_casters:
-    - wpi::util::ct_string
-    attributes:
-      red:
-        access: readonly
-      green:
-        access: readonly
-      blue:
-        access: readonly
-    methods:
-      Color8Bit:
-        overloads:
-          '':
-          int, int, int:
-            param_override:
-              r:
-                name: red
-              g:
-                name: green
-              b:
-                name: blue
-          const Color&:
-          std::string_view:
-      FromHexString:
-      HexString:
-      operator==:
-
-inline_code: |
-  cls_Color8Bit
-    .def("toColor", [](const Color8Bit &self) -> wpi::Color {
-      return self;
-    })
-    .def("__hash__", [](Color8Bit *self) -> size_t {
-      return (self->red) | (self->green << 8) | (self->blue << 16);
-    })
-    .def("__repr__", [](Color8Bit *self) {
-      return "Color8Bit("
-        "red=" + std::to_string(self->red) + ", "
-        "green=" + std::to_string(self->green) + ", "
-        "blue=" + std::to_string(self->blue) + ")";
-    });

wpilibc/src/main/python/semiwrap/LEDPattern.yml

@@ -8,8 +8,8 @@ classes:
       ApplyTo:
         overloads:
           std::span<wpi::AddressableLED::LEDData> [const]:
-          LEDReader, std::function<void (int, wpi::Color)> [const]:
-          std::span<wpi::AddressableLED::LEDData>, std::function<void (int, wpi::Color)> [const]:
+          LEDReader, std::function<void (int, wpi::util::Color)> [const]:
+          std::span<wpi::AddressableLED::LEDData>, std::function<void (int, wpi::util::Color)> [const]:
       Reversed:
       OffsetBy:
       ScrollAtRelativeSpeed:
@@ -28,13 +28,13 @@ classes:
       ProgressMaskLayer:
       Steps:
         overloads:
-          std::span<const std::pair<double, Color>>:
-          std::initializer_list<std::pair<double, Color>>:
+          std::span<const std::pair<double, wpi::util::Color>>:
+          std::initializer_list<std::pair<double, wpi::util::Color>>:
             ignore: true
       Gradient:
         overloads:
-          GradientType, std::span<const Color>:
-          GradientType, std::initializer_list<Color>:
+          GradientType, std::span<const wpi::util::Color>:
+          GradientType, std::initializer_list<wpi::util::Color>:
             ignore: true
       Rainbow:
       MapIndex:

wpilibc/src/main/python/semiwrap/MechanismObject2d.yml

@@ -21,11 +21,11 @@ inline_code: |-
   cls_MechanismObject2d
     .def("appendLigament", [](MechanismObject2d *self,
       std::string_view name, double length, wpi::units::degree_t angle,
-      double lineWidth, const wpi::Color8Bit& color) {
+      double lineWidth, const wpi::util::Color8Bit& color) {
         return self->Append<MechanismLigament2d>(name, length, angle, lineWidth, color);
       },
       py::arg("name"), py::arg("length"), py::arg("angle"),
-      py::arg("lineWidth") = 6, py::arg("color") = wpi::Color8Bit{235, 137, 52},
+      py::arg("lineWidth") = 6, py::arg("color") = wpi::util::Color8Bit{235, 137, 52},
       "Append a ligament node",
       py::return_value_policy::reference_internal)
     ;

wpilibc/src/main/python/semiwrap/MechanismRoot2d.yml

@@ -20,11 +20,11 @@ inline_code: |-
     .def("getName", [](MechanismRoot2d *self) { return self->GetName(); }, release_gil())
     .def("appendLigament", [](MechanismRoot2d *self,
       std::string_view name, double length, wpi::units::degree_t angle,
-      double lineWidth, const wpi::Color8Bit& color) {
+      double lineWidth, const wpi::util::Color8Bit& color) {
         return self->Append<MechanismLigament2d>(name, length, angle, lineWidth, color);
       },
       py::arg("name"), py::arg("length"), py::arg("angle"),
-      py::arg("lineWidth") = 6, py::arg("color") = wpi::Color8Bit{235, 137, 52},
+      py::arg("lineWidth") = 6, py::arg("color") = wpi::util::Color8Bit{235, 137, 52},
       release_gil(), "Append a ligament node",
       py::return_value_policy::reference_internal)
     ;

wpilibc/src/main/python/wpilib/__init__.py

@@ -14,8 +14,6 @@ from ._wpilib import (
     AnalogPotentiometer,
     CAN,
     CANStatus,
-    Color,
-    Color8Bit,
     Compressor,
     CompressorConfigType,
     DSControlWord,
@@ -106,8 +104,6 @@ __all__ = [
     "AnalogPotentiometer",
     "CAN",
     "CANStatus",
-    "Color",
-    "Color8Bit",
     "Compressor",
     "CompressorConfigType",
     "DSControlWord",