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[wpilib] Fix precision issue in Color round-and-clamp (#6100)

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This commit is contained in:
Tyler Veness
2023-12-26 13:38:15 -08:00
committed by GitHub
parent 7aa9ad44b8
commit 795d4be9fd
4 changed files with 36 additions and 20 deletions
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7
wpilibc/src/main/native/include/frc/util/Color.h
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@@ -10,6 +10,7 @@
#include <string_view>
#include <fmt/core.h>
#include <gcem.hpp>
#include <wpi/StringExtras.h>
#include <wpi/ct_string.h>
@@ -868,12 +869,8 @@ class Color {
double blue = 0.0;
private:
static constexpr double kPrecision = 1.0 / (1 << 12);
static constexpr double roundAndClamp(double value) {
const auto rounded =
(static_cast<int>(value / kPrecision) + 0.5) * kPrecision;
return std::clamp(rounded, 0.0, 1.0);
return std::clamp(gcem::ceil(value * (1 << 12)) / (1 << 12), 0.0, 1.0);
}
};

25
wpilibc/src/test/native/cpp/util/ColorTest.cpp
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@@ -17,11 +17,22 @@ TEST(ColorTest, ConstructDefault) {
}
TEST(ColorTest, ConstructFromDoubles) {
constexpr frc::Color color{1.0, 0.5, 0.25};
{
constexpr frc::Color color{1.0, 0.5, 0.25};
EXPECT_NEAR(1.0, color.red, 1e-2);
EXPECT_NEAR(0.5, color.green, 1e-2);
EXPECT_NEAR(0.25, color.blue, 1e-2);
EXPECT_NEAR(1.0, color.red, 1e-2);
EXPECT_NEAR(0.5, color.green, 1e-2);
EXPECT_NEAR(0.25, color.blue, 1e-2);
}
{
constexpr frc::Color color{1.0, 0.0, 0.0};
// Check for exact match to ensure round-and-clamp is correct
EXPECT_EQ(1.0, color.red);
EXPECT_EQ(0.0, color.green);
EXPECT_EQ(0.0, color.blue);
}
}
TEST(ColorTest, ConstructFromInts) {
@@ -52,9 +63,9 @@ TEST(ColorTest, ConstructFromHexString) {
TEST(ColorTest, FromHSV) {
constexpr frc::Color color = frc::Color::FromHSV(90, 128, 64);
EXPECT_DOUBLE_EQ(0.1256103515625, color.red);
EXPECT_DOUBLE_EQ(0.2510986328125, color.green);
EXPECT_DOUBLE_EQ(0.2510986328125, color.blue);
EXPECT_DOUBLE_EQ(0.125732421875, color.red);
EXPECT_DOUBLE_EQ(0.251220703125, color.green);
EXPECT_DOUBLE_EQ(0.251220703125, color.blue);
}
TEST(ColorTest, ToHexString) {

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
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@@ -14,8 +14,6 @@ import java.util.Objects;
*/
@SuppressWarnings("MemberName")
public class Color {
private static final double kPrecision = Math.pow(2, -12);
public final double red;
public final double green;
public final double blue;
@@ -178,8 +176,7 @@ public class Color {
}
private static double roundAndClamp(double value) {
final var rounded = Math.round((value + kPrecision / 2) / kPrecision) * kPrecision;
return MathUtil.clamp(rounded, 0.0, 1.0);
return MathUtil.clamp(Math.ceil(value * (1 << 12)) / (1 << 12), 0.0, 1.0);
}
/*

19
wpilibj/src/test/java/edu/wpi/first/wpilibj/util/ColorTest.java
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@@ -21,11 +21,22 @@ class ColorTest {
@Test
void testConstructFromDoubles() {
var color = new Color(1.0, 0.5, 0.25);
{
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);
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