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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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172
wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
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@@ -5,6 +5,7 @@
package edu.wpi.first.wpilibj;
import static edu.wpi.first.units.Units.Centimeters;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.MetersPerSecond;
import static edu.wpi.first.units.Units.Microsecond;
import static edu.wpi.first.units.Units.Microseconds;
@@ -15,6 +16,7 @@ import static edu.wpi.first.wpilibj.LEDPattern.GradientType.kContinuous;
import static edu.wpi.first.wpilibj.LEDPattern.GradientType.kDiscontinuous;
import static edu.wpi.first.wpilibj.util.Color.kBlack;
import static edu.wpi.first.wpilibj.util.Color.kBlue;
import static edu.wpi.first.wpilibj.util.Color.kGreen;
import static edu.wpi.first.wpilibj.util.Color.kLime;
import static edu.wpi.first.wpilibj.util.Color.kMagenta;
import static edu.wpi.first.wpilibj.util.Color.kMidnightBlue;
@@ -815,6 +817,176 @@ class LEDPatternTest {
assertColorEquals(kWhite, buffer.getLED(0));
}
@Test
void reverseMask() {
var pattern =
LEDPattern.steps(Map.of(0, kRed, 0.25, kBlue, 0.5, kYellow, 0.75, kGreen))
.mask(LEDPattern.steps(Map.of(0, kWhite, 0.5, kBlack)))
.reversed();
var buffer = new AddressableLEDBuffer(8);
pattern.applyTo(buffer);
assertColorEquals(kRed, buffer.getLED(7));
assertColorEquals(kRed, buffer.getLED(6));
assertColorEquals(kBlue, buffer.getLED(5));
assertColorEquals(kBlue, buffer.getLED(4));
assertColorEquals(kBlack, buffer.getLED(3));
assertColorEquals(kBlack, buffer.getLED(2));
assertColorEquals(kBlack, buffer.getLED(1));
assertColorEquals(kBlack, buffer.getLED(0));
}
@Test
void offsetMask() {
var pattern =
LEDPattern.steps(Map.of(0, kRed, 0.25, kBlue, 0.5, kYellow, 0.75, kGreen))
.mask(LEDPattern.steps(Map.of(0, kWhite, 0.5, kBlack)))
.offsetBy(4);
var buffer = new AddressableLEDBuffer(8);
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
assertColorEquals(kBlack, buffer.getLED(1));
assertColorEquals(kBlack, buffer.getLED(2));
assertColorEquals(kBlack, buffer.getLED(3));
assertColorEquals(kRed, buffer.getLED(4));
assertColorEquals(kRed, buffer.getLED(5));
assertColorEquals(kBlue, buffer.getLED(6));
assertColorEquals(kBlue, buffer.getLED(7));
}
@Test
void relativeScrollingMask() {
// [red, red, blue, blue, yellow, yellow, green, green]
// under a mask of first 50% on, last 50% off
// [red, red, blue, blue, black, black, black, black]
// all scrolling at 1 LED per microsecond
var pattern =
LEDPattern.steps(Map.of(0, kRed, 0.25, kBlue, 0.5, kYellow, 0.75, kGreen))
.mask(LEDPattern.steps(Map.of(0, kWhite, 0.5, kBlack)))
.scrollAtRelativeSpeed(Percent.per(Microsecond).of(12.5));
var buffer = new AddressableLEDBuffer(8);
{
m_mockTime = 0; // start
pattern.applyTo(buffer);
assertColorEquals(kRed, buffer.getLED(0));
assertColorEquals(kRed, buffer.getLED(1));
assertColorEquals(kBlue, buffer.getLED(2));
assertColorEquals(kBlue, buffer.getLED(3));
assertColorEquals(kBlack, buffer.getLED(4));
assertColorEquals(kBlack, buffer.getLED(5));
assertColorEquals(kBlack, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
{
m_mockTime = 1;
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
assertColorEquals(kRed, buffer.getLED(1));
assertColorEquals(kRed, buffer.getLED(2));
assertColorEquals(kBlue, buffer.getLED(3));
assertColorEquals(kBlue, buffer.getLED(4));
assertColorEquals(kBlack, buffer.getLED(5));
assertColorEquals(kBlack, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
{
m_mockTime = 2;
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
assertColorEquals(kBlack, buffer.getLED(1));
assertColorEquals(kRed, buffer.getLED(2));
assertColorEquals(kRed, buffer.getLED(3));
assertColorEquals(kBlue, buffer.getLED(4));
assertColorEquals(kBlue, buffer.getLED(5));
assertColorEquals(kBlack, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
{
m_mockTime = 3;
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
assertColorEquals(kBlack, buffer.getLED(1));
assertColorEquals(kBlack, buffer.getLED(2));
assertColorEquals(kRed, buffer.getLED(3));
assertColorEquals(kRed, buffer.getLED(4));
assertColorEquals(kBlue, buffer.getLED(5));
assertColorEquals(kBlue, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
}
@Test
void absoluteScrollingMask() {
// [red, red, blue, blue, yellow, yellow, green, green]
// under a mask of first 50% on, last 50% off
// [red, red, blue, blue, black, black, black, black]
// all scrolling at 1 LED per microsecond
var pattern =
LEDPattern.steps(Map.of(0, kRed, 0.25, kBlue, 0.5, kYellow, 0.75, kGreen))
.mask(LEDPattern.steps(Map.of(0, kWhite, 0.5, kBlack)))
.scrollAtAbsoluteSpeed(Meters.per(Microsecond).of(1), Meters.one());
var buffer = new AddressableLEDBuffer(8);
{
m_mockTime = 0; // start
pattern.applyTo(buffer);
assertColorEquals(kRed, buffer.getLED(0));
assertColorEquals(kRed, buffer.getLED(1));
assertColorEquals(kBlue, buffer.getLED(2));
assertColorEquals(kBlue, buffer.getLED(3));
assertColorEquals(kBlack, buffer.getLED(4));
assertColorEquals(kBlack, buffer.getLED(5));
assertColorEquals(kBlack, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
{
m_mockTime = 1;
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
assertColorEquals(kRed, buffer.getLED(1));
assertColorEquals(kRed, buffer.getLED(2));
assertColorEquals(kBlue, buffer.getLED(3));
assertColorEquals(kBlue, buffer.getLED(4));
assertColorEquals(kBlack, buffer.getLED(5));
assertColorEquals(kBlack, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
{
m_mockTime = 2;
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
assertColorEquals(kBlack, buffer.getLED(1));
assertColorEquals(kRed, buffer.getLED(2));
assertColorEquals(kRed, buffer.getLED(3));
assertColorEquals(kBlue, buffer.getLED(4));
assertColorEquals(kBlue, buffer.getLED(5));
assertColorEquals(kBlack, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
{
m_mockTime = 3;
pattern.applyTo(buffer);
assertColorEquals(kBlack, buffer.getLED(0));
assertColorEquals(kBlack, buffer.getLED(1));
assertColorEquals(kBlack, buffer.getLED(2));
assertColorEquals(kRed, buffer.getLED(3));
assertColorEquals(kRed, buffer.getLED(4));
assertColorEquals(kBlue, buffer.getLED(5));
assertColorEquals(kBlue, buffer.getLED(6));
assertColorEquals(kBlack, buffer.getLED(7));
}
}
void assertColorEquals(Color expected, Color actual) {
assertEquals(new Color8Bit(expected), new Color8Bit(actual));
}