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[wpilibj, wpilibc] Fix LED patterns not offsetting reads (#6948)

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Was causing bugs when combined with patterns that need to read back from the buffer (eg masks and overlays)

Co-authored-by: Joseph Eng <s-engjo@bsd405.org>
This commit is contained in:
Sam Carlberg
2024-11-29 00:25:54 -05:00
committed by GitHub
parent a0af0fd572
commit 5e1c6a84ce
5 changed files with 529 additions and 89 deletions
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214
wpilibc/src/test/native/cpp/LEDPatternTest.cpp
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@@ -813,6 +813,220 @@ TEST(LEDPatternTest, ClippingBrightness) {
AssertIndexColor(buffer, 0, Color::kWhite);
}
TEST(LEDPatternTest, ReverseMask) {
std::array<AddressableLED::LEDData, 8> buffer;
std::array<std::pair<double, Color>, 4> colorSteps{
std::pair{0.0, Color::kRed}, std::pair{0.25, Color::kBlue},
std::pair{0.5, Color::kYellow}, std::pair{0.75, Color::kGreen}};
std::array<std::pair<double, Color>, 2> maskSteps{
std::pair{0, Color::kWhite}, std::pair{0.5, Color::kBlack}};
auto pattern = LEDPattern::Steps(colorSteps)
.Mask(LEDPattern::Steps(maskSteps))
.Reversed();
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 7, Color::kRed);
AssertIndexColor(buffer, 6, Color::kRed);
AssertIndexColor(buffer, 5, Color::kBlue);
AssertIndexColor(buffer, 4, Color::kBlue);
AssertIndexColor(buffer, 3, Color::kBlack);
AssertIndexColor(buffer, 2, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kBlack);
AssertIndexColor(buffer, 0, Color::kBlack);
}
TEST(LEDPatternTest, OffsetMask) {
std::array<AddressableLED::LEDData, 8> buffer;
std::array<std::pair<double, Color>, 4> colorSteps{
std::pair{0.0, Color::kRed}, std::pair{0.25, Color::kBlue},
std::pair{0.5, Color::kYellow}, std::pair{0.75, Color::kGreen}};
std::array<std::pair<double, Color>, 2> maskSteps{
std::pair{0, Color::kWhite}, std::pair{0.5, Color::kBlack}};
auto pattern = LEDPattern::Steps(colorSteps)
.Mask(LEDPattern::Steps(maskSteps))
.OffsetBy(4);
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kBlack);
AssertIndexColor(buffer, 2, Color::kBlack);
AssertIndexColor(buffer, 3, Color::kBlack);
AssertIndexColor(buffer, 4, Color::kRed);
AssertIndexColor(buffer, 5, Color::kRed);
AssertIndexColor(buffer, 6, Color::kBlue);
AssertIndexColor(buffer, 7, Color::kBlue);
}
TEST(LEDPatternTest, RelativeScrollingMask) {
std::array<AddressableLED::LEDData, 8> buffer;
std::array<std::pair<double, Color>, 4> colorSteps{
std::pair{0.0, Color::kRed}, std::pair{0.25, Color::kBlue},
std::pair{0.5, Color::kYellow}, std::pair{0.75, Color::kGreen}};
std::array<std::pair<double, Color>, 2> maskSteps{
std::pair{0, Color::kWhite}, std::pair{0.5, Color::kBlack}};
auto pattern = LEDPattern::Steps(colorSteps)
.Mask(LEDPattern::Steps(maskSteps))
.ScrollAtRelativeSpeed(units::hertz_t{1e6 / 8.0});
pattern.ApplyTo(buffer);
static uint64_t now = 0ull;
WPI_SetNowImpl([] { return now; });
{
now = 0ull; // start
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kRed);
AssertIndexColor(buffer, 1, Color::kRed);
AssertIndexColor(buffer, 2, Color::kBlue);
AssertIndexColor(buffer, 3, Color::kBlue);
AssertIndexColor(buffer, 4, Color::kBlack);
AssertIndexColor(buffer, 5, Color::kBlack);
AssertIndexColor(buffer, 6, Color::kBlack);
AssertIndexColor(buffer, 7, Color::kBlack);
}
{
now = 1ull;
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kRed);
AssertIndexColor(buffer, 2, Color::kRed);
AssertIndexColor(buffer, 3, Color::kBlue);
AssertIndexColor(buffer, 4, Color::kBlue);
AssertIndexColor(buffer, 5, Color::kBlack);
AssertIndexColor(buffer, 6, Color::kBlack);
AssertIndexColor(buffer, 7, Color::kBlack);
}
{
now = 2ull;
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kBlack);
AssertIndexColor(buffer, 2, Color::kRed);
AssertIndexColor(buffer, 3, Color::kRed);
AssertIndexColor(buffer, 4, Color::kBlue);
AssertIndexColor(buffer, 5, Color::kBlue);
AssertIndexColor(buffer, 6, Color::kBlack);
AssertIndexColor(buffer, 7, Color::kBlack);
}
{
now = 3ull;
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kBlack);
AssertIndexColor(buffer, 2, Color::kBlack);
AssertIndexColor(buffer, 3, Color::kRed);
AssertIndexColor(buffer, 4, Color::kRed);
AssertIndexColor(buffer, 5, Color::kBlue);
AssertIndexColor(buffer, 6, Color::kBlue);
AssertIndexColor(buffer, 7, Color::kBlack);
}
WPI_SetNowImpl(nullptr); // cleanup
}
TEST(LEDPatternTest, AbsoluteScrollingMask) {
std::array<AddressableLED::LEDData, 8> buffer;
std::array<std::pair<double, Color>, 4> colorSteps{
std::pair{0.0, Color::kRed}, std::pair{0.25, Color::kBlue},
std::pair{0.5, Color::kYellow}, std::pair{0.75, Color::kGreen}};
std::array<std::pair<double, Color>, 2> maskSteps{
std::pair{0, Color::kWhite}, std::pair{0.5, Color::kBlack}};
auto pattern = LEDPattern::Steps(colorSteps)
.Mask(LEDPattern::Steps(maskSteps))
.ScrollAtAbsoluteSpeed(1_mps, 1_m);
pattern.ApplyTo(buffer);
static uint64_t now = 0ull;
WPI_SetNowImpl([] { return now; });
{
now = 0ull; // start
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kRed);
AssertIndexColor(buffer, 1, Color::kRed);
AssertIndexColor(buffer, 2, Color::kBlue);
AssertIndexColor(buffer, 3, Color::kBlue);
AssertIndexColor(buffer, 4, Color::kBlack);
AssertIndexColor(buffer, 5, Color::kBlack);
AssertIndexColor(buffer, 6, Color::kBlack);
AssertIndexColor(buffer, 7, Color::kBlack);
}
{
now = 1000000ull;
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kRed);
AssertIndexColor(buffer, 2, Color::kRed);
AssertIndexColor(buffer, 3, Color::kBlue);
AssertIndexColor(buffer, 4, Color::kBlue);
AssertIndexColor(buffer, 5, Color::kBlack);
AssertIndexColor(buffer, 6, Color::kBlack);
AssertIndexColor(buffer, 7, Color::kBlack);
}
{
now = 2000000ull;
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kBlack);
AssertIndexColor(buffer, 2, Color::kRed);
AssertIndexColor(buffer, 3, Color::kRed);
AssertIndexColor(buffer, 4, Color::kBlue);
AssertIndexColor(buffer, 5, Color::kBlue);
AssertIndexColor(buffer, 6, Color::kBlack);
AssertIndexColor(buffer, 7, Color::kBlack);
}
{
now = 3000000ull;
SCOPED_TRACE(fmt::format("Time {}", now));
pattern.ApplyTo(buffer);
AssertIndexColor(buffer, 0, Color::kBlack);
AssertIndexColor(buffer, 1, Color::kBlack);
AssertIndexColor(buffer, 2, Color::kBlack);
AssertIndexColor(buffer, 3, Color::kRed);
AssertIndexColor(buffer, 4, Color::kRed);
AssertIndexColor(buffer, 5, Color::kBlue);
AssertIndexColor(buffer, 6, Color::kBlue);
AssertIndexColor(buffer, 7, Color::kBlack);
}
WPI_SetNowImpl(nullptr); // cleanup
}
void AssertIndexColor(std::span<AddressableLED::LEDData> data, int index,
Color color) {
frc::Color8Bit color8bit{color};