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[wpilib] Add LED pattern API for easily animating addressable LEDs (#6344)
Add LEDReader and LEDWriter helper interfaces to facilitate composing simple patterns into more complex ones, e.g. LEDPattern.solid(Color.kBlue).breathe(Seconds.of(0.75)). Pattern composition relies on changing out the write behavior; for example, offsetBy increments the indexes to write to; while blink will switch between playing a base pattern and turning off all the LEDs. Add a view class for splitting a single large buffer into smaller distinct sections, which is useful for dealing with long chained LED strips mounted on different parts of a robot. Views cannot be written directly to an LED strip (in fact, trying to do so won't even compile). Adds some utility methods to the Color class for interpolating between two colors, and support color representations with 32-bit integers to avoid object allocations. Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Sam Carlberg
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import edu.wpi.first.wpilibj.util.Color;
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import org.junit.jupiter.api.Test;
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class AddressableLEDBufferViewTest {
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@Test
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void singleLED() {
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var buffer = new AddressableLEDBuffer(10);
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var view = new AddressableLEDBufferView(buffer, 5, 5);
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var color = Color.kAqua;
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view.setLED(0, color);
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assertEquals(color, buffer.getLED(5));
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assertEquals(color, view.getLED(0));
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}
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@Test
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void segment() {
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var buffer = new AddressableLEDBuffer(10);
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var view = new AddressableLEDBufferView(buffer, 2, 8);
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view.setLED(0, Color.kAqua);
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assertEquals(Color.kAqua, buffer.getLED(2));
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view.setLED(6, Color.kAzure);
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assertEquals(Color.kAzure, buffer.getLED(8));
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}
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@Test
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void manualReversed() {
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var buffer = new AddressableLEDBuffer(10);
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var view = new AddressableLEDBufferView(buffer, 8, 2);
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// LED 0 in the view should write to LED 8 on the real buffer
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view.setLED(0, Color.kAqua);
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assertEquals(Color.kAqua, buffer.getLED(8));
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// .. and LED 6 in the view should write to LED 2 on the real buffer
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view.setLED(6, Color.kAzure);
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assertEquals(Color.kAzure, buffer.getLED(2));
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}
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@Test
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void fullManualReversed() {
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var buffer = new AddressableLEDBuffer(10);
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var view = new AddressableLEDBufferView(buffer, 9, 0);
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view.setLED(0, Color.kWhite);
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assertEquals(Color.kWhite, buffer.getLED(9));
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buffer.setLED(8, Color.kRed);
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assertEquals(Color.kRed, view.getLED(1));
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}
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@Test
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void reversed() {
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var buffer = new AddressableLEDBuffer(10);
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var view = new AddressableLEDBufferView(buffer, 0, 9).reversed();
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view.setLED(0, Color.kWhite);
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assertEquals(Color.kWhite, buffer.getLED(9));
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view.setLED(9, Color.kRed);
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assertEquals(Color.kRed, buffer.getLED(0));
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}
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}
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798
wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
Normal file
798
wpilibj/src/test/java/edu/wpi/first/wpilibj/LEDPatternTest.java
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@@ -0,0 +1,798 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package edu.wpi.first.wpilibj;
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import static edu.wpi.first.units.Units.Centimeters;
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import static edu.wpi.first.units.Units.MetersPerSecond;
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import static edu.wpi.first.units.Units.Microsecond;
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import static edu.wpi.first.units.Units.Microseconds;
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import static edu.wpi.first.units.Units.Percent;
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import static edu.wpi.first.units.Units.Seconds;
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import static edu.wpi.first.units.Units.Value;
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import static edu.wpi.first.wpilibj.util.Color.kBlack;
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import static edu.wpi.first.wpilibj.util.Color.kBlue;
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import static edu.wpi.first.wpilibj.util.Color.kLime;
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import static edu.wpi.first.wpilibj.util.Color.kMagenta;
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import static edu.wpi.first.wpilibj.util.Color.kMidnightBlue;
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import static edu.wpi.first.wpilibj.util.Color.kPurple;
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import static edu.wpi.first.wpilibj.util.Color.kRed;
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import static edu.wpi.first.wpilibj.util.Color.kWhite;
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import static edu.wpi.first.wpilibj.util.Color.kYellow;
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import static org.junit.jupiter.api.Assertions.assertEquals;
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import static org.junit.jupiter.api.Assertions.fail;
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import edu.wpi.first.util.WPIUtilJNI;
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import edu.wpi.first.wpilibj.util.Color;
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import edu.wpi.first.wpilibj.util.Color8Bit;
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import java.util.Map;
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import java.util.concurrent.atomic.AtomicBoolean;
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import java.util.concurrent.atomic.AtomicReference;
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import org.junit.jupiter.api.AfterEach;
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import org.junit.jupiter.api.BeforeEach;
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import org.junit.jupiter.api.Test;
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class LEDPatternTest {
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// Applies a pattern of White, Yellow, Purple to LED triplets
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LEDPattern m_whiteYellowPurple =
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(reader, writer) -> {
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for (int led = 0; led < reader.getLength(); led++) {
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switch (led % 3) {
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case 0:
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writer.setLED(led, kWhite);
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break;
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case 1:
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writer.setLED(led, kYellow);
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break;
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case 2:
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writer.setLED(led, kPurple);
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break;
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default:
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fail("Bad test setup");
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break;
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}
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}
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};
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@BeforeEach
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void setUp() {
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WPIUtilJNI.enableMockTime();
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WPIUtilJNI.setMockTime(0L);
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}
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@AfterEach
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void tearDown() {
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WPIUtilJNI.setMockTime(0L);
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WPIUtilJNI.disableMockTime();
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}
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@Test
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void solidColor() {
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LEDPattern pattern = LEDPattern.solid(kYellow);
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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pattern.applyTo(buffer);
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for (int i = 0; i < buffer.getLength(); i++) {
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assertEquals(kYellow, buffer.getLED(i));
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}
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}
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@Test
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void gradient0SetsToBlack() {
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LEDPattern pattern = LEDPattern.gradient();
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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for (int i = 0; i < buffer.getLength(); i++) {
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buffer.setRGB(i, 127, 128, 129);
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}
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pattern.applyTo(buffer);
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for (int i = 0; i < buffer.getLength(); i++) {
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assertEquals(kBlack, buffer.getLED(i));
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}
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}
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@Test
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void gradient1SetsToSolid() {
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LEDPattern pattern = LEDPattern.gradient(kYellow);
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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pattern.applyTo(buffer);
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for (int i = 0; i < buffer.getLength(); i++) {
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assertEquals(kYellow, buffer.getLED(i));
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}
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}
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@Test
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void gradient2Colors() {
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LEDPattern pattern = LEDPattern.gradient(kYellow, kPurple);
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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pattern.applyTo(buffer);
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assertColorEquals(kYellow, buffer.getLED(0));
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assertColorEquals(Color.lerpRGB(kYellow, kPurple, 25 / 49.0), buffer.getLED(25));
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assertColorEquals(kPurple, buffer.getLED(49));
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assertColorEquals(Color.lerpRGB(kYellow, kPurple, 25 / 49.0), buffer.getLED(73));
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assertColorEquals(kYellow, buffer.getLED(98));
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}
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@Test
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void gradient3Colors() {
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LEDPattern pattern = LEDPattern.gradient(kYellow, kPurple, kWhite);
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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pattern.applyTo(buffer);
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assertColorEquals(kYellow, buffer.getLED(0));
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assertColorEquals(Color.lerpRGB(kYellow, kPurple, 25.0 / 33.0), buffer.getLED(25));
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assertColorEquals(kPurple, buffer.getLED(33));
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assertColorEquals(Color.lerpRGB(kPurple, kWhite, 25.0 / 33.0), buffer.getLED(58));
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assertColorEquals(kWhite, buffer.getLED(66));
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assertColorEquals(Color.lerpRGB(kWhite, kYellow, 25.0 / 33.0), buffer.getLED(91));
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assertColorEquals(Color.lerpRGB(kWhite, kYellow, 32.0 / 33.0), buffer.getLED(98));
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}
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@Test
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void step0SetsToBlack() {
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LEDPattern pattern = LEDPattern.steps(Map.of());
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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for (int i = 0; i < buffer.getLength(); i++) {
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buffer.setRGB(i, 127, 128, 129);
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}
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pattern.applyTo(buffer);
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for (int i = 0; i < 99; i++) {
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assertColorEquals(kBlack, buffer.getLED(i));
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}
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}
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@Test
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void step1SetsToSolid() {
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LEDPattern pattern = LEDPattern.steps(Map.of(0.0, kYellow));
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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pattern.applyTo(buffer);
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for (int i = 0; i < 99; i++) {
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assertColorEquals(kYellow, buffer.getLED(i));
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}
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}
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@Test
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void step1HalfSetsToHalfOffHalfColor() {
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LEDPattern pattern = LEDPattern.steps(Map.of(0.50, kYellow));
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AddressableLEDBuffer buffer = new AddressableLEDBuffer(99);
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pattern.applyTo(buffer);
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// [0, 48] should be black...
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for (int i = 0; i < 49; i++) {
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assertColorEquals(kBlack, buffer.getLED(i));
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}
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// ... and [49, <end>] should be the color that was set
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for (int i = 49; i < buffer.getLength(); i++) {
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assertColorEquals(kYellow, buffer.getLED(i));
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}
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}
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@Test
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void scrollForward() {
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var buffer = new AddressableLEDBuffer(256);
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LEDPattern base =
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(reader, writer) -> {
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for (int led = 0; led < reader.getLength(); led++) {
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writer.setRGB(led, led % 256, led % 256, led % 256);
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}
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};
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// scroll forwards 1/256th (1 LED) per microsecond - this makes mock time easier
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var scroll = base.scrollAtRelativeSpeed(Value.per(Microsecond).of(1 / 256.0));
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for (int time = 0; time < 500; time++) {
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WPIUtilJNI.setMockTime(time);
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scroll.applyTo(buffer);
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for (int led = 0; led < buffer.getLength(); led++) {
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// Base: [(0, 0, 0) (1, 1, 1) (2, 2, 2) (3, 3, 3) (4, 4, 4) ... (255, 255, 255)]
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// Value for every channel should DECREASE by 1 in each timestep, wrapping around 0 and 255
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// t=0, channel value = (0, 1, 2, ..., 254, 255)
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// t=1, channel value = (255, 0, 1, ..., 253, 254)
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// t=2, channel value = (254, 255, 0, ..., 252, 253)
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// t=255, channel value = (1, 2, 3, ..., 255, 0)
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// t=256, channel value = (0, 1, 2, ..., 254, 255)
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int ch = Math.floorMod(led - time, 256);
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assertEquals(new Color8Bit(ch, ch, ch), buffer.getLED8Bit(led));
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}
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}
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}
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@Test
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void scrollBackward() {
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var buffer = new AddressableLEDBuffer(256);
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LEDPattern base =
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(reader, writer) -> {
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for (int led = 0; led < reader.getLength(); led++) {
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writer.setRGB(led, led % 256, led % 256, led % 256);
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}
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};
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// scroll backwards 1/256th (1 LED) per microsecond - this makes mock time easier
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var scroll = base.scrollAtRelativeSpeed(Value.per(Microsecond).of(-1 / 256.0));
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for (int time = 0; time < 500; time++) {
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WPIUtilJNI.setMockTime(time);
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scroll.applyTo(buffer);
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for (int led = 0; led < buffer.getLength(); led++) {
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// Base: [(0, 0, 0) (1, 1, 1) (2, 2, 2) (3, 3, 3) (4, 4, 4) ... (255, 255, 255)]
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// Value for every channel should INCREASE by 1 in each timestep, wrapping around 0 and 255
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// t=0, channel value = (0, 1, 2, ..., 254, 255)
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// t=1, channel value = (1, 2, 3, ..., 255, 0)
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// t=2, channel value = (2, 3, 4, ..., 0, 1)
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// t=255, channel value = (255, 0, 1, ..., 253, 254)
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// t=256, channel value = (0, 1, 2, ..., 254, 255)
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int ch = Math.floorMod(led + time, 256);
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assertEquals(new Color8Bit(ch, ch, ch), buffer.getLED8Bit(led));
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}
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}
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}
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@Test
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void scrollAbsoluteSpeedForward() {
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var buffer = new AddressableLEDBuffer(256);
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LEDPattern base =
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(reader, writer) -> {
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for (int led = 0; led < reader.getLength(); led++) {
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writer.setRGB(led, led % 256, led % 256, led % 256);
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}
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};
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// scroll at 16 m/s, LED spacing = 2cm
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// buffer is 256 LEDs, so total length = 512cm = 5.12m
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// scrolling at 16 m/s yields a period of 0.32 seconds, or 0.00125 seconds per LED (800 LEDs/s)
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var scroll = base.scrollAtAbsoluteSpeed(MetersPerSecond.of(16), Centimeters.of(2));
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for (int time = 0; time < 500; time++) {
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WPIUtilJNI.setMockTime(time * 1_250); // 1.25ms per LED
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scroll.applyTo(buffer);
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for (int led = 0; led < buffer.getLength(); led++) {
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// Base: [(0, 0, 0) (1, 1, 1) (2, 2, 2) (3, 3, 3) (4, 4, 4) ... (255, 255, 255)]
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// Value for every channel should DECREASE by 1 in each timestep, wrapping around 0 and 255
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// t=0, channel value = (0, 1, 2, ..., 254, 255)
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// t=1, channel value = (255, 0, 1, ..., 253, 254)
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// t=2, channel value = (254, 255, 0, ..., 252, 253)
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// t=255, channel value = (1, 2, 3, ..., 255, 0)
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// t=256, channel value = (0, 1, 2, ..., 254, 255)
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int ch = Math.floorMod(led - time, 256);
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assertEquals(new Color8Bit(ch, ch, ch), buffer.getLED8Bit(led));
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}
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}
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}
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@Test
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void scrollAbsoluteSpeedBackward() {
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var buffer = new AddressableLEDBuffer(256);
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LEDPattern base =
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(reader, writer) -> {
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for (int led = 0; led < reader.getLength(); led++) {
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writer.setRGB(led, led % 256, led % 256, led % 256);
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}
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};
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// scroll at 16 m/s, LED spacing = 2cm
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// buffer is 256 LEDs, so total length = 512cm = 5.12m
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// scrolling at 16 m/s yields a period of 0.32 seconds, or 0.00125 seconds per LED (800 LEDs/s)
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var scroll = base.scrollAtAbsoluteSpeed(MetersPerSecond.of(-16), Centimeters.of(2));
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for (int time = 0; time < 500; time++) {
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WPIUtilJNI.setMockTime(time * 1_250); // 1.25ms per LED
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scroll.applyTo(buffer);
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for (int led = 0; led < buffer.getLength(); led++) {
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// Base: [(0, 0, 0) (1, 1, 1) (2, 2, 2) (3, 3, 3) (4, 4, 4) ... (255, 255, 255)]
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// Value for every channel should DECREASE by 1 in each timestep, wrapping around 0 and 255
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// t=0, channel value = (0, 1, 2, ..., 254, 255)
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// t=1, channel value = (255, 0, 1, ..., 253, 254)
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// t=2, channel value = (254, 255, 0, ..., 252, 253)
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// t=255, channel value = (1, 2, 3, ..., 255, 0)
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// t=256, channel value = (0, 1, 2, ..., 254, 255)
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int ch = Math.floorMod(led + time, 256);
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assertEquals(new Color8Bit(ch, ch, ch), buffer.getLED8Bit(led));
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}
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}
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}
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@Test
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void rainbowAtFullSize() {
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var buffer = new AddressableLEDBuffer(180);
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int saturation = 255;
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int value = 255;
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var pattern = LEDPattern.rainbow(saturation, value);
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pattern.applyTo(buffer);
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for (int led = 0; led < buffer.getLength(); led++) {
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assertColorEquals(Color.fromHSV(led, saturation, value), buffer.getLED(led));
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}
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}
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@Test
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void rainbowAtHalfSize() {
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var buffer = new AddressableLEDBuffer(90);
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int saturation = 42;
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int value = 87;
|
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var pattern = LEDPattern.rainbow(saturation, value);
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|
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pattern.applyTo(buffer);
|
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for (int led = 0; led < buffer.getLength(); led++) {
|
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assertColorEquals(Color.fromHSV(led * 2, saturation, value), buffer.getLED(led));
|
||||
}
|
||||
}
|
||||
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||||
@Test
|
||||
void rainbowAtOneThirdSize() {
|
||||
var buffer = new AddressableLEDBuffer(60);
|
||||
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||||
int saturation = 191;
|
||||
int value = 255;
|
||||
var pattern = LEDPattern.rainbow(saturation, value);
|
||||
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
assertColorEquals(Color.fromHSV(led * 3, saturation, value), buffer.getLED(led));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void rainbowAtDoubleSize() {
|
||||
var buffer = new AddressableLEDBuffer(360);
|
||||
|
||||
int saturation = 212;
|
||||
int value = 93;
|
||||
var pattern = LEDPattern.rainbow(saturation, value);
|
||||
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
assertColorEquals(Color.fromHSV(led / 2, saturation, value), buffer.getLED(led));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void rainbowOddSize() {
|
||||
var buffer = new AddressableLEDBuffer(127);
|
||||
double scale = 180.0 / buffer.getLength();
|
||||
|
||||
int saturation = 73;
|
||||
int value = 128;
|
||||
var pattern = LEDPattern.rainbow(saturation, value);
|
||||
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
assertColorEquals(Color.fromHSV((int) (led * scale), saturation, value), buffer.getLED(led));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void reverseSolid() {
|
||||
var buffer = new AddressableLEDBuffer(90);
|
||||
|
||||
var pattern = LEDPattern.solid(Color.kRosyBrown).reversed();
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
assertColorEquals(Color.kRosyBrown, buffer.getLED(led));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void reverseSteps() {
|
||||
var buffer = new AddressableLEDBuffer(100);
|
||||
|
||||
var pattern = LEDPattern.steps(Map.of(0, kWhite, 0.5, kYellow)).reversed();
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
// colors should be swapped; yellow first, then white
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
if (led < 50) {
|
||||
assertColorEquals(kYellow, buffer.getLED(led));
|
||||
} else {
|
||||
assertColorEquals(kWhite, buffer.getLED(led));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void offsetPositive() {
|
||||
var buffer = new AddressableLEDBuffer(21);
|
||||
|
||||
// offset repeats PWY
|
||||
var offset = m_whiteYellowPurple.offsetBy(1);
|
||||
offset.applyTo(buffer);
|
||||
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
Color color = buffer.getLED(led);
|
||||
switch (led % 3) {
|
||||
case 0:
|
||||
assertColorEquals(kPurple, color);
|
||||
break;
|
||||
case 1:
|
||||
assertColorEquals(kWhite, color);
|
||||
break;
|
||||
case 2:
|
||||
assertColorEquals(kYellow, color);
|
||||
break;
|
||||
default:
|
||||
fail("Bad test setup");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void offsetNegative() {
|
||||
var buffer = new AddressableLEDBuffer(21);
|
||||
|
||||
// offset repeats YPW
|
||||
var offset = m_whiteYellowPurple.offsetBy(-1);
|
||||
offset.applyTo(buffer);
|
||||
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
Color color = buffer.getLED(led);
|
||||
switch (led % 3) {
|
||||
case 0:
|
||||
assertColorEquals(kYellow, color);
|
||||
break;
|
||||
case 1:
|
||||
assertColorEquals(kPurple, color);
|
||||
break;
|
||||
case 2:
|
||||
assertColorEquals(kWhite, color);
|
||||
break;
|
||||
default:
|
||||
fail("Bad test setup");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void offsetZero() {
|
||||
var buffer = new AddressableLEDBuffer(21);
|
||||
|
||||
// offset copies the base pattern, WYP
|
||||
var offset = m_whiteYellowPurple.offsetBy(0);
|
||||
offset.applyTo(buffer);
|
||||
|
||||
for (int led = 0; led < buffer.getLength(); led++) {
|
||||
Color color = buffer.getLED(led);
|
||||
switch (led % 3) {
|
||||
case 0:
|
||||
assertColorEquals(kWhite, color);
|
||||
break;
|
||||
case 1:
|
||||
assertColorEquals(kYellow, color);
|
||||
break;
|
||||
case 2:
|
||||
assertColorEquals(kPurple, color);
|
||||
break;
|
||||
default:
|
||||
fail("Bad test setup");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void blinkSymmetric() {
|
||||
// on for 2 seconds, off for 2 seconds
|
||||
var pattern = LEDPattern.solid(kWhite).blink(Seconds.of(2));
|
||||
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
|
||||
for (int t = 0; t < 8; t++) {
|
||||
WPIUtilJNI.setMockTime(t * 1_000_000L); // time travel 1 second
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
Color color = buffer.getLED(0);
|
||||
switch (t) {
|
||||
case 0:
|
||||
case 1:
|
||||
case 4:
|
||||
case 5:
|
||||
assertColorEquals(kWhite, color);
|
||||
break;
|
||||
case 2:
|
||||
case 3:
|
||||
case 6:
|
||||
case 7:
|
||||
assertColorEquals(kBlack, color);
|
||||
break;
|
||||
default:
|
||||
fail("Bad test setup");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void blinkAsymmetric() {
|
||||
// on for 3 seconds, off for 1 second
|
||||
var pattern = LEDPattern.solid(kWhite).blink(Seconds.of(3), Seconds.of(1));
|
||||
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
|
||||
for (int t = 0; t < 8; t++) {
|
||||
WPIUtilJNI.setMockTime(t * 1_000_000L); // time travel 1 second
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
Color color = buffer.getLED(0);
|
||||
switch (t) {
|
||||
case 0:
|
||||
case 1:
|
||||
case 2: // first period
|
||||
case 4:
|
||||
case 5:
|
||||
case 6: // second period
|
||||
assertColorEquals(kWhite, color);
|
||||
break;
|
||||
case 3:
|
||||
case 7:
|
||||
assertColorEquals(kBlack, color);
|
||||
break;
|
||||
default:
|
||||
fail("Bad test setup");
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void blinkInSync() {
|
||||
AtomicBoolean condition = new AtomicBoolean(false);
|
||||
var pattern = LEDPattern.solid(kWhite).synchronizedBlink(condition::get);
|
||||
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(kBlack, buffer.getLED(0));
|
||||
|
||||
condition.set(true);
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(kWhite, buffer.getLED(0));
|
||||
|
||||
condition.set(false);
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(kBlack, buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void breathe() {
|
||||
final Color midGray = new Color(0.5, 0.5, 0.5);
|
||||
|
||||
var pattern = LEDPattern.solid(kWhite).breathe(Microseconds.of(4));
|
||||
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
|
||||
{
|
||||
WPIUtilJNI.setMockTime(0); // start
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(kWhite, buffer.getLED(0));
|
||||
}
|
||||
|
||||
{
|
||||
WPIUtilJNI.setMockTime(1); // midway (down)
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(midGray, buffer.getLED(0));
|
||||
}
|
||||
|
||||
{
|
||||
WPIUtilJNI.setMockTime(2); // bottom
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(kBlack, buffer.getLED(0));
|
||||
}
|
||||
|
||||
{
|
||||
WPIUtilJNI.setMockTime(3); // midway (up)
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(midGray, buffer.getLED(0));
|
||||
}
|
||||
|
||||
{
|
||||
WPIUtilJNI.setMockTime(4); // back to start
|
||||
pattern.applyTo(buffer);
|
||||
assertColorEquals(kWhite, buffer.getLED(0));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void overlaySolidOnSolid() {
|
||||
var overlay = LEDPattern.solid(kYellow).overlayOn(LEDPattern.solid(kWhite));
|
||||
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
overlay.applyTo(buffer);
|
||||
|
||||
assertColorEquals(kYellow, buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void overlayNearlyBlack() {
|
||||
Color overlayColor = new Color(new Color8Bit(1, 0, 0));
|
||||
var overlay = LEDPattern.solid(overlayColor).overlayOn(LEDPattern.solid(kWhite));
|
||||
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
overlay.applyTo(buffer);
|
||||
|
||||
assertColorEquals(overlayColor, buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void overlayMixed() {
|
||||
var overlay =
|
||||
LEDPattern.steps(Map.of(0, kYellow, 0.5, kBlack)).overlayOn(LEDPattern.solid(kWhite));
|
||||
|
||||
var buffer = new AddressableLEDBuffer(2);
|
||||
overlay.applyTo(buffer);
|
||||
|
||||
assertColorEquals(kYellow, buffer.getLED(0));
|
||||
assertColorEquals(kWhite, buffer.getLED(1));
|
||||
}
|
||||
|
||||
@Test
|
||||
void blend() {
|
||||
var pattern1 = LEDPattern.solid(kBlue);
|
||||
var pattern2 = LEDPattern.solid(kRed);
|
||||
var blend = pattern1.blend(pattern2);
|
||||
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
blend.applyTo(buffer);
|
||||
|
||||
// Individual RGB channels are averaged; #0000FF blended with #FF0000 yields #7F007F
|
||||
assertColorEquals(new Color(127, 0, 127), buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void binaryMask() {
|
||||
Color color = new Color(123, 123, 123);
|
||||
var base = LEDPattern.solid(color);
|
||||
// first 50% mask on, last 50% mask off
|
||||
var mask = LEDPattern.steps(Map.of(0, kWhite, 0.5, kBlack));
|
||||
var masked = base.mask(mask);
|
||||
|
||||
var buffer = new AddressableLEDBuffer(10);
|
||||
masked.applyTo(buffer);
|
||||
|
||||
for (int i = 0; i < 5; i++) {
|
||||
assertColorEquals(color, buffer.getLED(i));
|
||||
}
|
||||
|
||||
for (int i = 5; i < 10; i++) {
|
||||
assertColorEquals(kBlack, buffer.getLED(i));
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void channelwiseMask() {
|
||||
Color baseColor = new Color(123, 123, 123);
|
||||
Color halfGray = new Color(0.5, 0.5, 0.5);
|
||||
var base = LEDPattern.solid(baseColor);
|
||||
|
||||
var mask =
|
||||
LEDPattern.steps(Map.of(0, kRed, 0.2, kLime, 0.4, kBlue, 0.6, halfGray, 0.8, kWhite));
|
||||
|
||||
var masked = base.mask(mask);
|
||||
|
||||
var buffer = new AddressableLEDBuffer(5);
|
||||
masked.applyTo(buffer);
|
||||
|
||||
assertColorEquals(new Color(123, 0, 0), buffer.getLED(0)); // red channel only
|
||||
assertColorEquals(new Color(0, 123, 0), buffer.getLED(1)); // green channel only
|
||||
assertColorEquals(new Color(0, 0, 123), buffer.getLED(2)); // blue channel only
|
||||
|
||||
// mask channels are all 0b00111111, base is 0b00111011,
|
||||
// so the AND should give us the unmodified base color
|
||||
assertColorEquals(baseColor, buffer.getLED(3));
|
||||
assertColorEquals(baseColor, buffer.getLED(4)); // full color allowed
|
||||
}
|
||||
|
||||
@Test
|
||||
void progressMaskLayer() {
|
||||
var progress = new AtomicReference<>(0.0);
|
||||
var maskLayer = LEDPattern.progressMaskLayer(progress::get);
|
||||
var buffer = new AddressableLEDBuffer(100);
|
||||
|
||||
for (double t = 0; t <= 1.0; t += 0.01) {
|
||||
progress.set(t);
|
||||
maskLayer.applyTo(buffer);
|
||||
|
||||
int lastMaskedLED = (int) (t * 100);
|
||||
for (int i = 0; i < lastMaskedLED; i++) {
|
||||
assertColorEquals(
|
||||
kWhite,
|
||||
buffer.getLED(i),
|
||||
"Progress " + lastMaskedLED + "%, LED " + i + " should be WHITE");
|
||||
}
|
||||
|
||||
for (int i = lastMaskedLED; i < 100; i++) {
|
||||
assertColorEquals(
|
||||
kBlack,
|
||||
buffer.getLED(i),
|
||||
"Progress " + lastMaskedLED + "% , LED " + i + " should be BLACK");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@Test
|
||||
void zeroBrightness() {
|
||||
var pattern = LEDPattern.solid(kRed).atBrightness(Percent.zero());
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
assertColorEquals(kBlack, buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void sameBrightness() {
|
||||
var pattern = LEDPattern.solid(kMagenta).atBrightness(Percent.of(100));
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
assertColorEquals(kMagenta, buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void higherBrightness() {
|
||||
var pattern = LEDPattern.solid(kMagenta).atBrightness(Value.of(4 / 3.0));
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
assertColorEquals(kMagenta, buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void negativeBrightness() {
|
||||
var pattern = LEDPattern.solid(kWhite).atBrightness(Percent.of(-1000));
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
assertColorEquals(kBlack, buffer.getLED(0));
|
||||
}
|
||||
|
||||
@Test
|
||||
void clippingBrightness() {
|
||||
var pattern = LEDPattern.solid(kMidnightBlue).atBrightness(Percent.of(10000));
|
||||
var buffer = new AddressableLEDBuffer(1);
|
||||
pattern.applyTo(buffer);
|
||||
|
||||
assertColorEquals(kWhite, buffer.getLED(0));
|
||||
}
|
||||
|
||||
void assertColorEquals(Color expected, Color actual) {
|
||||
assertEquals(new Color8Bit(expected), new Color8Bit(actual));
|
||||
}
|
||||
|
||||
void assertColorEquals(Color expected, Color actual, String message) {
|
||||
assertEquals(new Color8Bit(expected), new Color8Bit(actual), message);
|
||||
}
|
||||
}
|
||||
@@ -4,10 +4,16 @@
|
||||
|
||||
package edu.wpi.first.wpilibj.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
|
||||
@@ -82,4 +88,39 @@ class ColorTest {
|
||||
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
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user