[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.

wpiutil/src/test/java/org/wpilib/util/Color8BitTest.java

@@ -0,0 +1,65 @@
+// 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.
+
+package org.wpilib.util;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+
+import org.junit.jupiter.api.Test;
+
+class Color8BitTest {
+  @Test
+  void testConstructDefault() {
+    var color = new Color8Bit();
+
+    assertEquals(0, color.red);
+    assertEquals(0, color.green);
+    assertEquals(0, color.blue);
+  }
+
+  @Test
+  void testConstructFromInts() {
+    var color = new Color8Bit(255, 128, 64);
+
+    assertEquals(255, color.red);
+    assertEquals(128, color.green);
+    assertEquals(64, color.blue);
+  }
+
+  @Test
+  void testConstructFromColor() {
+    var color = new Color8Bit(new Color(255, 128, 64));
+
+    assertEquals(255, color.red);
+    assertEquals(128, color.green);
+    assertEquals(64, color.blue);
+  }
+
+  @Test
+  void testConstructFromHexString() {
+    var color = new Color8Bit("#FF8040");
+
+    assertEquals(255, color.red);
+    assertEquals(128, color.green);
+    assertEquals(64, color.blue);
+
+    // No leading #
+    assertThrows(IllegalArgumentException.class, () -> new Color8Bit("112233"));
+
+    // Too long
+    assertThrows(IllegalArgumentException.class, () -> new Color8Bit("#11223344"));
+
+    // Invalid hex characters
+    assertThrows(IllegalArgumentException.class, () -> new Color8Bit("#$$$$$$"));
+  }
+
+  @Test
+  void testToHexString() {
+    var color = new Color8Bit(255, 128, 64);
+
+    assertEquals("#FF8040", color.toHexString());
+    assertEquals("#FF8040", color.toString());
+  }
+}

wpiutil/src/test/java/org/wpilib/util/ColorTest.java

@@ -0,0 +1,160 @@
+// 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.
+
+package org.wpilib.util;
+
+import static org.junit.jupiter.api.Assertions.assertAll;
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.junit.jupiter.params.provider.Arguments.arguments;
+
+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;
+
+class ColorTest {
+  @Test
+  void testConstructDefault() {
+    var color = new Color();
+
+    assertEquals(0.0, color.red);
+    assertEquals(0.0, color.green);
+    assertEquals(0.0, color.blue);
+  }
+
+  @Test
+  void testConstructFromDoubles() {
+    {
+      var color = new Color(1.0, 0.5, 0.25);
+
+      assertEquals(1.0, color.red, 1e-2);
+      assertEquals(0.5, color.green, 1e-2);
+      assertEquals(0.25, color.blue, 1e-2);
+    }
+
+    {
+      var color = new Color(1.0, 0.0, 0.0);
+
+      // Check for exact match to ensure round-and-clamp is correct
+      assertEquals(1.0, color.red);
+      assertEquals(0.0, color.green);
+      assertEquals(0.0, color.blue);
+    }
+  }
+
+  @Test
+  void testConstructFromInts() {
+    var color = new Color(255, 128, 64);
+
+    assertEquals(1.0, color.red, 1e-2);
+    assertEquals(0.5, color.green, 1e-2);
+    assertEquals(0.25, color.blue, 1e-2);
+  }
+
+  @Test
+  void testFromHexString() {
+    var color = Color.fromString("#FF8040");
+
+    assertEquals(1.0, color.red, 1e-2);
+    assertEquals(0.5, color.green, 1e-2);
+    assertEquals(0.25, color.blue, 1e-2);
+
+    // No leading #
+    assertThrows(IllegalArgumentException.class, () -> Color.fromString("112233"));
+
+    // Too long
+    assertThrows(IllegalArgumentException.class, () -> Color.fromString("#11223344"));
+
+    // Invalid hex characters
+    assertThrows(IllegalArgumentException.class, () -> Color.fromString("#$$$$$$"));
+  }
+
+  @Test
+  void testFromRGBString() {
+    var color = Color.fromString("rgb(255,128,64)");
+
+    assertEquals(1.0, color.red, 1e-2);
+    assertEquals(0.5, color.green, 1e-2);
+    assertEquals(0.25, color.blue, 1e-2);
+
+    // Wrong number of components
+    assertThrows(IllegalArgumentException.class, () -> Color.fromString("rgb(255,128)"));
+
+    // Invalid integer
+    assertThrows(IllegalArgumentException.class, () -> Color.fromString("rgb(255,xx,64)"));
+  }
+
+  @Test
+  void testFromConstantName() {
+    var color = Color.fromString("red");
+
+    assertEquals(1.0, color.red, 1e-2);
+    assertEquals(0.0, color.green, 1e-2);
+    assertEquals(0.0, color.blue, 1e-2);
+
+    // with k prefix
+    color = Color.fromString("kRed");
+
+    assertEquals(1.0, color.red, 1e-2);
+    assertEquals(0.0, color.green, 1e-2);
+    assertEquals(0.0, color.blue, 1e-2);
+
+    // Unknown name
+    assertThrows(IllegalArgumentException.class, () -> Color.fromString("unknowncolor"));
+  }
+
+  @Test
+  void testFromHSV() {
+    var color = Color.fromHSV(90, 128, 64);
+
+    assertEquals(0.125732421875, color.red);
+    assertEquals(0.251220703125, color.green);
+    assertEquals(0.251220703125, color.blue);
+  }
+
+  @Test
+  void testToHexString() {
+    var color = new Color(255, 128, 64);
+
+    assertEquals("#FF8040", color.toHexString());
+    assertEquals("#FF8040", color.toString());
+  }
+
+  @ParameterizedTest
+  @MethodSource("hsvToRgbProvider")
+  void hsvToRgb(int h, int s, int v, int r, int g, int b) {
+    int rgb = Color.hsvToRgb(h, s, v);
+    int R = Color.unpackRGB(rgb, Color.RGBChannel.kRed);
+    int G = Color.unpackRGB(rgb, Color.RGBChannel.kGreen);
+    int B = Color.unpackRGB(rgb, Color.RGBChannel.kBlue);
+
+    assertAll(
+        () -> assertEquals(r, R, "R value didn't match"),
+        () -> assertEquals(g, G, "G value didn't match"),
+        () -> assertEquals(b, B, "B value didn't match"));
+  }
+
+  private static Stream<Arguments> hsvToRgbProvider() {
+    return Stream.of(
+        arguments(0, 0, 0, 0, 0, 0), // Black
+        arguments(0, 0, 255, 255, 255, 255), // White
+        arguments(0, 255, 255, 255, 0, 0), // Red
+        arguments(60, 255, 255, 0, 255, 0), // Lime
+        arguments(120, 255, 255, 0, 0, 255), // Blue
+        arguments(30, 255, 255, 255, 255, 0), // Yellow
+        arguments(90, 255, 255, 0, 255, 255), // Cyan
+        arguments(150, 255, 255, 255, 0, 255), // Magenta
+        arguments(0, 0, 191, 191, 191, 191), // Silver
+        arguments(0, 0, 128, 128, 128, 128), // Gray
+        arguments(0, 255, 128, 128, 0, 0), // Maroon
+        arguments(30, 255, 128, 128, 128, 0), // Olive
+        arguments(60, 255, 128, 0, 128, 0), // Green
+        arguments(150, 255, 128, 128, 0, 128), // Purple
+        arguments(90, 255, 128, 0, 128, 128), // Teal
+        arguments(120, 255, 128, 0, 0, 128) // Navy
+        );
+  }
+}