Move vision to its own package

.gitignore

@@ -164,3 +164,5 @@ build
 
 # Ignore auto-generated WPILib stuff.
 wpi_interface/src/main/java/frc/robot/BuildConstants.java
+
+**/BuildConstants.java

settings.gradle

@@ -11,4 +11,4 @@ plugins {
 }
 
 rootProject.name = 'coppercore'
-include('geometry', 'wpi_interface', 'math', 'controls', "parameter_tools")
+include('geometry', 'wpi_interface', 'math', 'controls', "parameter_tools", 'vision')

vision/build.gradle

@@ -0,0 +1,88 @@
+import java.text.SimpleDateFormat
+
+plugins {
+	id "java"
+	id "maven-publish"
+	id "edu.wpi.first.GradleRIO" version "2024.3.2"
+	id "com.peterabeles.gversion" version "1.10"
+	id "com.diffplug.spotless" version "6.24.0"
+}
+
+java {
+	sourceCompatibility = JavaVersion.VERSION_17
+	targetCompatibility = JavaVersion.VERSION_17
+}
+
+// Set this to true to enable desktop support.
+def includeDesktopSupport = true
+
+// Defining my dependencies. In this case, WPILib (+ friends), and vendor libraries.
+// Also defines JUnit 5.
+dependencies {
+	implementation 'edu.wpi.first.wpilibj:wpilibj-java:2024.3.2'
+	implementation 'edu.wpi.first.wpilibNewCommands:wpilibNewCommands-java:2024.3.2'
+
+	implementation wpi.java.deps.wpilib()
+	implementation wpi.java.vendor.java()
+
+	testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+	testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
+
+	implementation 'com.googlecode.json-simple:json-simple:1.1.1'
+}
+
+test {
+	useJUnitPlatform()
+	systemProperty 'junit.jupiter.extensions.autodetection.enabled', 'true'
+}
+
+// Configure string concat to always inline compile
+tasks.withType(JavaCompile) {
+	options.compilerArgs.add '-XDstringConcat=inline'
+}
+
+project.compileJava.dependsOn(createVersionFile)
+gversion {
+srcDir       = "src/main/java/"
+classPackage = "frc.robot"
+className    = "BuildConstants"
+dateFormat   = "yyyy-MM-dd HH:mm:ss z"
+timeZone     = "America/New_York"
+indent       = "  "
+}
+
+repositories {
+	mavenCentral()
+	mavenLocal()
+	maven {
+		url 'https://frcmaven.wpi.edu/artifactory/release/'
+	}
+	gradlePluginPortal()
+}
+
+spotless {
+// optional: limit format enforcement to just the files changed by this feature branch
+ratchetFrom 'origin/main'
+
+format 'misc', {
+	// define the files to apply `misc` to
+	target '*.gradle', '.gitattributes', '.gitignore'
+
+	// define the steps to apply to those files
+	trimTrailingWhitespace()
+	indentWithTabs() // or spaces. Takes an integer argument if you don't like 4
+	endWithNewline()
+}
+java {
+	// don't need to set target, it is inferred from java
+	// Allow ignoring certain parts in formatting.
+	toggleOffOn()
+	// apply a specific flavor of google-java-format
+	googleJavaFormat('1.19.2').aosp().reflowLongStrings()
+	// fix formatting of type annotations
+	formatAnnotations()
+}
+}
+
+// Automatically format code on build.
+compileJava.dependsOn 'spotlessApply'

wpi_interface/src/main/java/vision/CameraParams.java → vision/src/main/java/CameraParams.java

@@ -1,4 +1,4 @@
-package coppercore.wpilib_interface.vision;
+package coppercore.vision;
 
 import edu.wpi.first.math.geometry.Transform3d;
 import org.photonvision.PhotonCamera;

wpi_interface/src/main/java/vision/CameraWrapper.java → vision/src/main/java/CameraWrapper.java

@@ -1,4 +1,4 @@
-package coppercore.wpilib_interface.vision;
+package coppercore.vision;
 
 import org.photonvision.PhotonCamera;
 import org.photonvision.PhotonPoseEstimator;

wpi_interface/src/main/java/vision/VisionLocalizer.java → vision/src/main/java/VisionLocalizer.java

@@ -1,4 +1,4 @@
-package coppercore.wpilib_interface.vision;
+package coppercore.vision;
 
 import edu.wpi.first.apriltag.AprilTagFieldLayout;
 import edu.wpi.first.math.VecBuilder;
@@ -43,7 +43,9 @@ public void periodic() {
                 visionMeasurementConsumer.accept(
                         // TODO: Actual standard deviations (not zero)
                         new VisionMeasurement(
-                                pose.get().estimatedPose.toPose2d(), result.getTimestampSeconds(), VecBuilder.fill(0.0, 0.0, Double.MAX_VALUE)));
+                                pose.get().estimatedPose.toPose2d(),
+                                result.getTimestampSeconds(),
+                                VecBuilder.fill(0.0, 0.0, Double.MAX_VALUE)));
             }
         }
     }

wpi_interface/src/main/java/vision/VisionMeasurement.java → vision/src/main/java/VisionMeasurement.java

@@ -1,12 +1,12 @@
-package coppercore.wpilib_interface.vision;
+package coppercore.vision;
 
 import edu.wpi.first.math.Matrix;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.numbers.N1;
 import edu.wpi.first.math.numbers.N3;
 
 /**
- * A vision measurement so that the consumer can be typed as a Consumer<VisionMeasurement>
- * This is only necessary because java has no class for a consumer with 3 arguments.
+ * A vision measurement so that the consumer can be typed as a Consumer<VisionMeasurement> This is
+ * only necessary because java has no class for a consumer with 3 arguments.
  */
 public record VisionMeasurement(Pose2d pose, double timestamp, Matrix<N3, N1> stdDevs) {}

vision/vendordeps/WPILibNewCommands.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "WPILibNewCommands.json",
+    "name": "WPILib-New-Commands",
+    "version": "1.0.0",
+    "uuid": "111e20f7-815e-48f8-9dd6-e675ce75b266",
+    "frcYear": "2024",
+    "mavenUrls": [],
+    "jsonUrl": "",
+    "javaDependencies": [
+        {
+            "groupId": "edu.wpi.first.wpilibNewCommands",
+            "artifactId": "wpilibNewCommands-java",
+            "version": "wpilib"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "edu.wpi.first.wpilibNewCommands",
+            "artifactId": "wpilibNewCommands-cpp",
+            "version": "wpilib",
+            "libName": "wpilibNewCommands",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64",
+                "windowsx86-64",
+                "windowsx86",
+                "linuxx86-64",
+                "osxuniversal"
+            ]
+        }
+    ]
+}