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Use Java 17 features #6691

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merged 10 commits into from
Jun 5, 2024
Merged

Use Java 17 features #6691

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6dfb397
Use Java 21 language features
SamCarlberg Jan 21, 2024
b79f233
Use enhanced instanceof, switch expressions, and simplify boolean ret…
Gold856 Jun 2, 2024
aea3e79
Remove Option types
Gold856 Jun 3, 2024
ba5113f
Remove features unavailable in Java 17
Gold856 Jun 3, 2024
050e6d9
Final cleanup
Gold856 Jun 3, 2024
d0a7e61
Explicitly list PixelFormats
Gold856 Jun 3, 2024
4b7055a
More refactors
Gold856 Jun 3, 2024
660ae72
Revert missing switch default suppression
Gold856 Jun 3, 2024
17a95d4
Fixes
Gold856 Jun 3, 2024
7cd6bfe
Explicitly check for Test mode when running periodic methods
Gold856 Jun 4, 2024
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6 changes: 1 addition & 5 deletions apriltag/src/main/java/edu/wpi/first/apriltag/AprilTag.java
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Original file line number Diff line number Diff line change
Expand Up @@ -39,11 +39,7 @@ public AprilTag(

@Override
public boolean equals(Object obj) {
if (obj instanceof AprilTag) {
var other = (AprilTag) obj;
return ID == other.ID && pose.equals(other.pose);
}
return false;
return obj instanceof AprilTag tag && ID == tag.ID && pose.equals(tag.pose);
}

@Override
Expand Down
16 changes: 4 additions & 12 deletions apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagDetector.java
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Original file line number Diff line number Diff line change
Expand Up @@ -99,12 +99,8 @@ public int hashCode() {

@Override
public boolean equals(Object obj) {
if (!(obj instanceof Config)) {
return false;
}

Config other = (Config) obj;
return numThreads == other.numThreads
return obj instanceof Config other
&& numThreads == other.numThreads
&& quadDecimate == other.quadDecimate
&& quadSigma == other.quadSigma
&& refineEdges == other.refineEdges
Expand Down Expand Up @@ -194,12 +190,8 @@ public int hashCode() {

@Override
public boolean equals(Object obj) {
if (!(obj instanceof QuadThresholdParameters)) {
return false;
}

QuadThresholdParameters other = (QuadThresholdParameters) obj;
return minClusterPixels == other.minClusterPixels
return obj instanceof QuadThresholdParameters other
&& minClusterPixels == other.minClusterPixels
&& maxNumMaxima == other.maxNumMaxima
&& criticalAngle == other.criticalAngle
&& maxLineFitMSE == other.maxLineFitMSE
Expand Down
29 changes: 11 additions & 18 deletions apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
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Original file line number Diff line number Diff line change
Expand Up @@ -148,19 +148,14 @@ public double getFieldWidth() {
*/
@JsonIgnore
public final void setOrigin(OriginPosition origin) {
switch (origin) {
case kBlueAllianceWallRightSide:
setOrigin(Pose3d.kZero);
break;
case kRedAllianceWallRightSide:
setOrigin(
new Pose3d(
new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
new Rotation3d(0, 0, Math.PI)));
break;
default:
throw new IllegalArgumentException("Unsupported enum value");
}
var pose =
switch (origin) {
case kBlueAllianceWallRightSide -> Pose3d.kZero;
case kRedAllianceWallRightSide -> new Pose3d(
new Translation3d(m_fieldDimensions.fieldLength, m_fieldDimensions.fieldWidth, 0),
new Rotation3d(0, 0, Math.PI));
};
setOrigin(pose);
}

/**
Expand Down Expand Up @@ -271,11 +266,9 @@ public static AprilTagFieldLayout loadFromResource(String resourcePath) throws I

@Override
public boolean equals(Object obj) {
if (obj instanceof AprilTagFieldLayout) {
var other = (AprilTagFieldLayout) obj;
return m_apriltags.equals(other.m_apriltags) && m_origin.equals(other.m_origin);
}
return false;
return obj instanceof AprilTagFieldLayout layout
&& m_apriltags.equals(layout.m_apriltags)
&& m_origin.equals(layout.m_origin);
}

@Override
Expand Down
8 changes: 2 additions & 6 deletions apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagPoseEstimator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -55,12 +55,8 @@ public int hashCode() {

@Override
public boolean equals(Object obj) {
if (!(obj instanceof Config)) {
return false;
}

Config other = (Config) obj;
return tagSize == other.tagSize
return obj instanceof Config other
&& tagSize == other.tagSize
&& fx == other.fx
&& fy == other.fy
&& cx == other.cx
Expand Down
241 changes: 107 additions & 134 deletions cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -94,24 +94,24 @@ private static final class PropertyPublisher implements AutoCloseable {

void update(VideoEvent event) {
switch (event.propertyKind) {
case kBoolean:
case kBoolean -> {
if (m_booleanValueEntry != null) {
m_booleanValueEntry.set(event.value != 0);
}
break;
case kInteger:
case kEnum:
}
case kInteger, kEnum -> {
if (m_integerValueEntry != null) {
m_integerValueEntry.set(event.value);
}
break;
case kString:
}
case kString -> {
if (m_stringValueEntry != null) {
m_stringValueEntry.set(event.valueStr);
}
break;
default:
break;
}
default -> {
// NOP
}
}
}

Expand Down Expand Up @@ -231,112 +231,93 @@ public void close() throws Exception {
event -> {
synchronized (CameraServer.class) {
switch (event.kind) {
case kSourceCreated:
{
// Create subtable for the camera
NetworkTable table = m_publishTable.getSubTable(event.name);
m_publishers.put(
event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
break;
}
case kSourceDestroyed:
{
SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
if (publisher != null) {
try {
publisher.close();
} catch (Exception e) {
// ignore (nothing we can do about it)
}
case kSourceCreated -> {
// Create subtable for the camera
NetworkTable table = m_publishTable.getSubTable(event.name);
m_publishers.put(
event.sourceHandle, new SourcePublisher(table, event.sourceHandle));
}
case kSourceDestroyed -> {
SourcePublisher publisher = m_publishers.remove(event.sourceHandle);
if (publisher != null) {
try {
publisher.close();
} catch (Exception e) {
// ignore (nothing we can do about it)
}
break;
}
case kSourceConnected:
{
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
// update the description too (as it may have changed)
publisher.m_descriptionPublisher.set(
CameraServerJNI.getSourceDescription(event.sourceHandle));
publisher.m_connectedPublisher.set(true);
}
break;
}
case kSourceConnected -> {
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
// update the description too (as it may have changed)
publisher.m_descriptionPublisher.set(
CameraServerJNI.getSourceDescription(event.sourceHandle));
publisher.m_connectedPublisher.set(true);
}
case kSourceDisconnected:
{
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_connectedPublisher.set(false);
}
break;
}
case kSourceDisconnected -> {
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_connectedPublisher.set(false);
}
case kSourceVideoModesUpdated:
{
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_modesPublisher.set(getSourceModeValues(event.sourceHandle));
}
break;
}
case kSourceVideoModesUpdated -> {
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_modesPublisher.set(getSourceModeValues(event.sourceHandle));
}
case kSourceVideoModeChanged:
{
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_modeEntry.set(videoModeToString(event.mode));
}
break;
}
case kSourceVideoModeChanged -> {
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_modeEntry.set(videoModeToString(event.mode));
}
case kSourcePropertyCreated:
{
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_properties.put(
event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
}
break;
}
case kSourcePropertyCreated -> {
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
publisher.m_properties.put(
event.propertyHandle, new PropertyPublisher(publisher.m_table, event));
}
case kSourcePropertyValueUpdated:
{
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
if (pp != null) {
pp.update(event);
}
}
case kSourcePropertyValueUpdated -> {
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
if (pp != null) {
pp.update(event);
}
break;
}
case kSourcePropertyChoicesUpdated:
{
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
if (pp != null && pp.m_choicesTopic != null) {
try {
String[] choices =
CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
if (pp.m_choicesPublisher == null) {
pp.m_choicesPublisher = pp.m_choicesTopic.publish();
}
pp.m_choicesPublisher.set(choices);
} catch (VideoException ignored) {
// ignore (just don't publish choices if we can't get them)
}
case kSourcePropertyChoicesUpdated -> {
SourcePublisher publisher = m_publishers.get(event.sourceHandle);
if (publisher != null) {
PropertyPublisher pp = publisher.m_properties.get(event.propertyHandle);
if (pp != null && pp.m_choicesTopic != null) {
try {
String[] choices =
CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
if (pp.m_choicesPublisher == null) {
pp.m_choicesPublisher = pp.m_choicesTopic.publish();
}
pp.m_choicesPublisher.set(choices);
} catch (VideoException ignored) {
// ignore (just don't publish choices if we can't get them)
}
}
break;
}
case kSinkSourceChanged:
case kSinkCreated:
case kSinkDestroyed:
case kNetworkInterfacesChanged:
{
m_addresses = CameraServerJNI.getNetworkInterfaces();
updateStreamValues();
break;
}
default:
break;
}
case kSinkSourceChanged,
kSinkCreated,
kSinkDestroyed,
kNetworkInterfacesChanged -> {
m_addresses = CameraServerJNI.getNetworkInterfaces();
updateStreamValues();
}
default -> {
// NOP
}
}
}
},
Expand All @@ -352,25 +333,20 @@ public void close() throws Exception {
* @param source Source index.
*/
private static String makeSourceValue(int source) {
switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
case kUsb:
return "usb:" + CameraServerJNI.getUsbCameraPath(source);
case kHttp:
{
String[] urls = CameraServerJNI.getHttpCameraUrls(source);
if (urls.length > 0) {
return "ip:" + urls[0];
} else {
return "ip:";
}
return switch (VideoSource.getKindFromInt(CameraServerJNI.getSourceKind(source))) {
case kUsb -> "usb:" + CameraServerJNI.getUsbCameraPath(source);
case kHttp -> {
String[] urls = CameraServerJNI.getHttpCameraUrls(source);
if (urls.length > 0) {
yield "ip:" + urls[0];
} else {
yield "ip:";
}
case kCv:
return "cv:";
case kRaw:
return "raw:";
default:
return "unknown:";
}
}
case kCv -> "cv:";
case kRaw -> "raw:";
case kUnknown -> "unknown:";
};
}

/**
Expand Down Expand Up @@ -504,20 +480,17 @@ private static synchronized void updateStreamValues() {

/** Provide string description of pixel format. */
private static String pixelFormatToString(PixelFormat pixelFormat) {
switch (pixelFormat) {
case kMJPEG:
return "MJPEG";
case kYUYV:
return "YUYV";
case kRGB565:
return "RGB565";
case kBGR:
return "BGR";
case kGray:
return "Gray";
default:
return "Unknown";
}
return switch (pixelFormat) {
case kMJPEG -> "MJPEG";
case kYUYV -> "YUYV";
case kRGB565 -> "RGB565";
case kBGR -> "BGR";
case kBGRA -> "BGRA";
case kGray -> "Gray";
case kY16 -> "Y16";
case kUYVY -> "UYVY";
case kUnknown -> "Unknown";
};
}

/**
Expand Down
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