2021 updates (#5)

* Updating to new wpilib

* Adding 2021 fields and widget

* Changing strings to double arrays

* Removing azure pipelines

* Styleguide, code review

* Another cleanup

.run/Install 2021.run.xml

@@ -0,0 +1,23 @@
+<component name="ProjectRunConfigurationManager">
+  <configuration default="false" name="Install 2021" type="GradleRunConfiguration" factoryName="Gradle">
+    <ExternalSystemSettings>
+      <option name="executionName" />
+      <option name="externalProjectPath" value="$PROJECT_DIR$/CoordinateGuiWidget2021" />
+      <option name="externalSystemIdString" value="GRADLE" />
+      <option name="scriptParameters" value="" />
+      <option name="taskDescriptions">
+        <list />
+      </option>
+      <option name="taskNames">
+        <list>
+          <option value="install_plugin" />
+        </list>
+      </option>
+      <option name="vmOptions" value="" />
+    </ExternalSystemSettings>
+    <ExternalSystemDebugServerProcess>true</ExternalSystemDebugServerProcess>
+    <ExternalSystemReattachDebugProcess>true</ExternalSystemReattachDebugProcess>
+    <DebugAllEnabled>false</DebugAllEnabled>
+    <method v="2" />
+  </configuration>
+</component>

CoordinateGuiCore/src/main/java/org/snobot/coordinate_gui/model/Distance.java

@@ -10,7 +10,7 @@ public enum Unit
         INCH, FEET, CENTIMETERS, METERS
     }
 
-    private static final Unit DEFAULT_UNIT = Unit.FEET;
+    private static final Unit DEFAULT_UNIT = Unit.METERS;
 
     private static double INCHES_PER_METER = 0.0254;
     private static double FEET_PER_METER = 0.3048;

CoordinateGuiCore/src/main/java/org/snobot/coordinate_gui/model/PixelConverter.java

@@ -16,6 +16,7 @@ public enum OriginPosition
     {
         CenterField,
         AlwaysIncreasing,
+        BottomLeft,
     }
 
     protected final Distance mXCenterFeet;
@@ -29,6 +30,7 @@ public enum OriginPosition
     protected Scale mScale;
 
     protected final Orientation mOrientation;
+    protected final OriginPosition mOriginPosition;
 
     /**
      * Constructor.
@@ -37,39 +39,55 @@ public enum OriginPosition
      * @param aOrientation The orientation
      * @param aOriginPosition Where the origin should be
      */
+    @SuppressWarnings("PMD.CyclomaticComplexity")
     public PixelConverter(Distance aDimension1, Distance aDimension2, Orientation aOrientation, OriginPosition aOriginPosition)
     {
         Distance aFieldShortDimension;
         Distance aFieldLongDimension;
         aFieldShortDimension = aDimension1.as(CONVERSION_UNIT) > aDimension2.as(CONVERSION_UNIT) ? aDimension2 : aDimension1;
         aFieldLongDimension = aDimension1.as(CONVERSION_UNIT) > aDimension2.as(CONVERSION_UNIT) ? aDimension1 : aDimension2;
         mOrientation = aOrientation;
+        mOriginPosition = aOriginPosition;
+
         if (aOrientation == Orientation.Landscape)
         {
-            mHeightMultiplier = -1;
-            if (aOriginPosition == OriginPosition.CenterField)
+            switch (aOriginPosition)
             {
+            case CenterField:
+                mHeightMultiplier = -1;
                 mXCenterFeet = Distance.divide(aFieldLongDimension, 2);
                 mYCenterFeet = Distance.divide(aFieldShortDimension, 2);
-            }
-            else
-            {
+                break;
+            case AlwaysIncreasing:
+                mHeightMultiplier = -1;
                 mXCenterFeet = aFieldLongDimension;
                 mYCenterFeet = aFieldShortDimension;
+                break;
+            case BottomLeft:
+                mHeightMultiplier = 1;
+                mXCenterFeet = aFieldLongDimension;
+                mYCenterFeet = Distance.mult(aFieldShortDimension, 1);
+                break;
+            default:
+                throw new IllegalArgumentException("Unknown origin " + aOriginPosition);
             }
         }
         else
         {
             mHeightMultiplier = 1;
-            if (aOriginPosition == OriginPosition.CenterField)
+            switch (aOriginPosition)
             {
+            case CenterField:
                 mXCenterFeet = Distance.divide(aFieldShortDimension, 2);
                 mYCenterFeet = Distance.divide(aFieldLongDimension, 2);
-            }
-            else
-            {
+                break;
+            case AlwaysIncreasing:
+            case BottomLeft:
                 mXCenterFeet = aFieldShortDimension;
                 mYCenterFeet = aFieldLongDimension;
+                break;
+            default:
+                throw new IllegalArgumentException("Unknown origin " + aOriginPosition);
             }
         }
 
@@ -92,7 +110,7 @@ public Position2dPixels convertDistanceToPixels(Position2dDistance aDistance)
         Distance relativeY = Distance.subtract(mYCenterFeet, aDistance.mY);
         double x = mWidthPixels - convertFeetToPixels(relativeX);
         double y;
-        if (mOrientation == Orientation.Portrait)
+        if (mOrientation == Orientation.Portrait || mOriginPosition == OriginPosition.BottomLeft)
         {
             y = convertFeetToPixels(relativeY);
         }

CoordinateGuiCore/src/main/resources/log4j2.xml

@@ -6,7 +6,7 @@
       <PatternLayout pattern="%highlight{%d{yyyy-MM-dd HH:mm:ss} %-5p %c:%L - %m%n}{FATAL=red blink, ERROR=red, WARN=yellow bold, INFO=black, DEBUG=green bold, TRACE=blue}"/>
     </Console>
 
-    <RollingFile name="SnobotSimRollingFile" fileName="${sys:user.home}/ShuffleBoard/snobot_sim/${date:yyyyMMdd_HHmmss}.log" filePattern="logs/snobot_sim/${date:yyyy-MMdd_HHmm}/app-%d{yyyy-MMdd_HHmm}-%i.log.gz">
+    <RollingFile name="SnobotSimRollingFile" fileName="${sys:user.home}/Shuffleboard/snobot_sim/${date:yyyyMMdd_HHmmss}.log" filePattern="logs/snobot_sim/${date:yyyy-MMdd_HHmm}/app-%d{yyyy-MMdd_HHmm}-%i.log.gz">
       <PatternLayout>
         <Pattern>%d{yyyy-MM-dd HH:mm:ss} %-5p %c{1}:%L - %m%n</Pattern>
       </PatternLayout>

CoordinateGuiCore2021/build.gradle

@@ -0,0 +1,17 @@
+
+apply plugin: "java"
+
+apply from: "$rootDir/shared_styleguide.gradle"
+
+dependencies {
+    compile project("$coordinateGuiBase:CoordinateGuiCore")
+
+    compile 'org.apache.logging.log4j:log4j-api:2.11.0'
+    compile 'org.apache.logging.log4j:log4j-core:2.11.0'
+
+    compile "org.openjfx:javafx-base:11:" + getJavaFxPlatform()
+    compile "org.openjfx:javafx-graphics:11:" + getJavaFxPlatform()
+    compile "org.openjfx:javafx-controls:11:" + getJavaFxPlatform()
+    compile "org.openjfx:javafx-fxml:11:" + getJavaFxPlatform()
+
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/BarrelPathController.java

@@ -0,0 +1,21 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import org.snobot.coordinate_gui.model.Distance;
+import org.snobot.coordinate_gui.model.PixelConverter;
+import org.snobot.coordinate_gui.ui.layers.BaseGuiController;
+
+public class BarrelPathController extends BaseGuiController
+{
+    private static final String FIELD_IMAGE_PATH = "/org/snobot/coordinate_gui/game/infinite_recharge_at_home/2021-barrel.png";
+
+    private static final Distance LONG_DIM = Distance.fromFeet(30);
+    private static final Distance SHORT_DIM = Distance.fromFeet(15);
+
+    /**
+     * Constructor.
+     */
+    public BarrelPathController()
+    {
+        super(FIELD_IMAGE_PATH, LONG_DIM, SHORT_DIM, RobotDims.ROBOT_WIDTH, RobotDims.ROBOT_HEIGHT, PixelConverter.Orientation.Landscape, PixelConverter.OriginPosition.BottomLeft);
+    }
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/BouncPathController.java

@@ -0,0 +1,21 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import org.snobot.coordinate_gui.model.Distance;
+import org.snobot.coordinate_gui.model.PixelConverter;
+import org.snobot.coordinate_gui.ui.layers.BaseGuiController;
+
+public class BouncPathController extends BaseGuiController
+{
+    private static final String FIELD_IMAGE_PATH = "/org/snobot/coordinate_gui/game/infinite_recharge_at_home/2021-bounce.png";
+
+    private static final Distance LONG_DIM = Distance.fromFeet(30);
+    private static final Distance SHORT_DIM = Distance.fromFeet(15);
+
+    /**
+     * Constructor.
+     */
+    public BouncPathController()
+    {
+        super(FIELD_IMAGE_PATH, LONG_DIM, SHORT_DIM, RobotDims.ROBOT_WIDTH, RobotDims.ROBOT_HEIGHT, PixelConverter.Orientation.Landscape, PixelConverter.OriginPosition.BottomLeft);
+    }
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/GalacticSearchAController.java

@@ -0,0 +1,21 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import org.snobot.coordinate_gui.model.Distance;
+import org.snobot.coordinate_gui.model.PixelConverter;
+import org.snobot.coordinate_gui.ui.layers.BaseGuiController;
+
+public class GalacticSearchAController extends BaseGuiController
+{
+    private static final String FIELD_IMAGE_PATH = "/org/snobot/coordinate_gui/game/infinite_recharge_at_home/2021-galacticsearcha.png";
+
+    private static final Distance LONG_DIM = Distance.fromFeet(30);
+    private static final Distance SHORT_DIM = Distance.fromFeet(15);
+
+    /**
+     * Constructor.
+     */
+    public GalacticSearchAController()
+    {
+        super(FIELD_IMAGE_PATH, LONG_DIM, SHORT_DIM, RobotDims.ROBOT_WIDTH, RobotDims.ROBOT_HEIGHT, PixelConverter.Orientation.Landscape, PixelConverter.OriginPosition.BottomLeft);
+    }
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/GalacticSearchBController.java

@@ -0,0 +1,21 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import org.snobot.coordinate_gui.model.Distance;
+import org.snobot.coordinate_gui.model.PixelConverter;
+import org.snobot.coordinate_gui.ui.layers.BaseGuiController;
+
+public class GalacticSearchBController extends BaseGuiController
+{
+    private static final String FIELD_IMAGE_PATH = "/org/snobot/coordinate_gui/game/infinite_recharge_at_home/2021-galacticsearchb.png";
+
+    private static final Distance LONG_DIM = Distance.fromFeet(30);
+    private static final Distance SHORT_DIM = Distance.fromFeet(15);
+
+    /**
+     * Constructor.
+     */
+    public GalacticSearchBController()
+    {
+        super(FIELD_IMAGE_PATH, LONG_DIM, SHORT_DIM, RobotDims.ROBOT_WIDTH, RobotDims.ROBOT_HEIGHT, PixelConverter.Orientation.Landscape, PixelConverter.OriginPosition.BottomLeft);
+    }
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/InfiniteRechargeAtHomeController.java

@@ -0,0 +1,24 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import org.snobot.coordinate_gui.model.Distance;
+import org.snobot.coordinate_gui.model.PixelConverter;
+import org.snobot.coordinate_gui.ui.layers.BaseGuiController;
+
+public class InfiniteRechargeAtHomeController extends BaseGuiController
+{
+    private static final String FIELD_IMAGE_PATH = "/org/snobot/coordinate_gui/game/infinite_recharge_at_home/2021-infinite-recharge.png";
+
+    private static final Distance LONG_DIM = Distance.fromFeet(52 + 5.25 / 12);
+    private static final Distance SHORT_DIM = Distance.fromFeet(26 + 11.25 / 12);
+
+    private static final Distance ROBOT_WIDTH = Distance.fromInches(36);
+    private static final Distance ROBOT_HEIGHT = Distance.fromInches(44);
+
+    /**
+     * Constructor.
+     */
+    public InfiniteRechargeAtHomeController()
+    {
+        super(FIELD_IMAGE_PATH, LONG_DIM, SHORT_DIM, ROBOT_WIDTH, ROBOT_HEIGHT, PixelConverter.Orientation.Landscape, PixelConverter.OriginPosition.BottomLeft);
+    }
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/RobotDims.java

@@ -0,0 +1,10 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import org.snobot.coordinate_gui.model.Distance;
+
+public class RobotDims
+{
+
+    public static final Distance ROBOT_WIDTH = Distance.fromInches(36);
+    public static final Distance ROBOT_HEIGHT = Distance.fromInches(44);
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/SlalomPathController.java

@@ -0,0 +1,21 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import org.snobot.coordinate_gui.model.Distance;
+import org.snobot.coordinate_gui.model.PixelConverter;
+import org.snobot.coordinate_gui.ui.layers.BaseGuiController;
+
+public class SlalomPathController extends BaseGuiController
+{
+    private static final String FIELD_IMAGE_PATH = "/org/snobot/coordinate_gui/game/infinite_recharge_at_home/2021-slalom.png";
+
+    private static final Distance LONG_DIM = Distance.fromFeet(30);
+    private static final Distance SHORT_DIM = Distance.fromFeet(15);
+
+    /**
+     * Constructor.
+     */
+    public SlalomPathController()
+    {
+        super(FIELD_IMAGE_PATH, LONG_DIM, SHORT_DIM, RobotDims.ROBOT_WIDTH, RobotDims.ROBOT_HEIGHT, PixelConverter.Orientation.Landscape, PixelConverter.OriginPosition.BottomLeft);
+    }
+}

CoordinateGuiCore2021/src/main/java/org/snobot/coordinate_gui/game/infinite_recharge_at_home/StandaloneMain.java

@@ -0,0 +1,67 @@
+package org.snobot.coordinate_gui.game.infinite_recharge_at_home;
+
+import javafx.application.Application;
+import javafx.fxml.FXMLLoader;
+import javafx.scene.Scene;
+import javafx.scene.layout.Pane;
+import javafx.stage.Stage;
+import org.snobot.coordinate_gui.model.Coordinate;
+import org.snobot.coordinate_gui.model.Distance;
+import org.snobot.coordinate_gui.model.Position2dDistance;
+import org.snobot.coordinate_gui.ui.layers.BaseGuiController;
+
+import java.io.IOException;
+
+public final class StandaloneMain
+{
+    public static class PseudoMain extends Application
+    {
+
+        @Override
+        public void start(Stage aPrimaryStage) throws IOException
+        {
+//            FXMLLoader loader = new FXMLLoader(getClass().getResource("barrel_roll_field.fxml"));
+//            FXMLLoader loader = new FXMLLoader(getClass().getResource("bounce_field.fxml"));
+//            FXMLLoader loader = new FXMLLoader(getClass().getResource("galactic_search_a.fxml"));
+//            FXMLLoader loader = new FXMLLoader(getClass().getResource("galactic_search_b.fxml"));
+//            FXMLLoader loader = new FXMLLoader(getClass().getResource("infinite_recharge_field.fxml"));
+            FXMLLoader loader = new FXMLLoader(getClass().getResource("slalom_field.fxml"));
+
+            Pane root = loader.load();
+            BaseGuiController robotController = loader.getController();
+
+            Scene scene = new Scene(root);
+            aPrimaryStage.setScene(scene);
+
+            aPrimaryStage.show();
+
+
+            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(0), Distance.fromFeet(0)), 0));
+            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(30), Distance.fromFeet(0)), 0));
+            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(30), Distance.fromFeet(15)), 0));
+            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(0), Distance.fromFeet(15)), 0));
+
+//            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(0), Distance.fromFeet(0)), 0));
+//            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(27), Distance.fromFeet(0)), 0));
+//            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(52), Distance.fromFeet(0)), 0));
+//            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(52), Distance.fromFeet(13.5)), 0));
+//            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(52), Distance.fromFeet(26)), 0));
+//            robotController.addRobotPosition(new Coordinate(new Position2dDistance(Distance.fromFeet(0), Distance.fromFeet(26)), 0));
+        }
+    }
+
+    private StandaloneMain()
+    {
+
+    }
+
+    @SuppressWarnings("JavadocMethod")
+    public static void main(String[] aArgs)
+    {
+        // JavaFX 11+ uses GTK3 by default, and has problems on some display
+        // servers
+        // This flag forces JavaFX to use GTK2
+        // System.setProperty("jdk.gtk.version", "2");
+        Application.launch(PseudoMain.class, aArgs);
+    }
+}

CoordinateGuiCore2021/src/main/resources/org/snobot/coordinate_gui/game/infinite_recharge_at_home/barrel_roll_field.fxml

@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<?import javafx.scene.Group?>
+<?import javafx.scene.layout.Pane?>
+
+<Pane fx:id="mTopPane"
+      maxHeight="-Infinity"
+      maxWidth="-Infinity"
+      prefHeight="768.0"
+      prefWidth="1024.0"
+      xmlns="http://javafx.com/javafx/10.0.1"
+      xmlns:fx="http://javafx.com/fxml/1"
+      fx:controller="org.snobot.coordinate_gui.game.infinite_recharge_at_home.BarrelPathController">
+    <children>
+        <Group fx:id="mLayers">
+            <fx:include fx:id="mField" source="/org/snobot/coordinate_gui/ui/layers/field_layer.fxml" />
+            <fx:include fx:id="mIdealTrajectoryCoordinates" source="/org/snobot/coordinate_gui/ui/layers/coordinate_layer.fxml" />
+            <fx:include fx:id="mIdealRamseteCoordinates" source="/org/snobot/coordinate_gui/ui/layers/coordinate_layer.fxml" />
+            <fx:include fx:id="mTrajectoryConfig" source="/org/snobot/coordinate_gui/ui/layers/trajectory_config_layer.fxml" />
+            <fx:include fx:id="mGoToPosition" source="/org/snobot/coordinate_gui/ui/layers/go_to_position_layer.fxml" />
+            <fx:include fx:id="mRobotPosition" source="/org/snobot/coordinate_gui/ui/layers/robot_position_layer.fxml"/>
+            <fx:include fx:id="mCameraLayer" source="/org/snobot/coordinate_gui/ui/layers/camera_ray_layer.fxml" />
+            <fx:include fx:id="mFadingCoordinates" source="/org/snobot/coordinate_gui/ui/layers/coordinate_layer.fxml" />
+            <fx:include fx:id="mPurePursuit" source="/org/snobot/coordinate_gui/ui/layers/pure_pursuit_layer.fxml" />
+        </Group>
+    </children>
+</Pane>