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2025.0.10
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-Changed FieldSim to use regular setter
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@jonathandao0
jonathandao0 committed Feb 2, 2025
1 parent 1aca022 commit 00b1c5f
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Showing 28 changed files with 46 additions and 50 deletions.
2 changes: 1 addition & 1 deletion publish.gradle
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Expand Up @@ -5,7 +5,7 @@ apply plugin: 'maven-publish'

ext.licenseFile = files("$rootDir/LICENSE.txt")

def pubVersion = '2025.0.9'
def pubVersion = '2025.0.10'

def releasesRepoUrl = "$buildDir/../releases/repos"

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4 changes: 2 additions & 2 deletions releases/frc4201Codex.json
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@@ -1,7 +1,7 @@
{
"fileName": "frc4201Codex.json",
"name": "Codex-java",
"version": "2025.0.9",
"version": "2025.0.10",
"frcYear": "2025",
"uuid": "5db6a80c-246e-48c6-b629-798597b993e1",
"mavenUrls": [
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{
"groupId": "org.team4201",
"artifactId": "Codex-java",
"version": "2025.0.9"
"version": "2025.0.10"
}
],
"requires": [
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8 changes: 8 additions & 0 deletions releases/repos/org/team4201/Codex-java/2025.0.10/Codex-java-2025.0.10.pom
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<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 https://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<groupId>org.team4201</groupId>
<artifactId>Codex-java</artifactId>
<version>2025.0.10</version>
</project>
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7 changes: 4 additions & 3 deletions releases/repos/org/team4201/Codex-java/maven-metadata.xml
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Expand Up @@ -3,8 +3,8 @@
<groupId>org.team4201</groupId>
<artifactId>Codex-java</artifactId>
<versioning>
<latest>2025.0.9</latest>
<release>2025.0.9</release>
<latest>2025.0.10</latest>
<release>2025.0.10</release>
<versions>
<version>2025.0.1</version>
<version>2025.0.2</version>
Expand All @@ -15,7 +15,8 @@
<version>2025.0.7</version>
<version>2025.0.8</version>
<version>2025.0.9</version>
<version>2025.0.10</version>
</versions>
<lastUpdated>20250202060850</lastUpdated>
<lastUpdated>20250202062023</lastUpdated>
</versioning>
</metadata>
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51 changes: 11 additions & 40 deletions src/main/java/org/team4201/codex/simulation/FieldSim.java
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Expand Up @@ -9,14 +9,12 @@
import java.util.Arrays;
import java.util.HashMap;
import java.util.Map;
import java.util.function.Supplier;

/** Class to handle all updates to the Field2D widget */
public class FieldSim extends SubsystemBase implements AutoCloseable {
private final Field2d m_field2D = new Field2d();

private final Map<String, Pose2d[]> m_staticObjectPoses = new HashMap<>();
private final Map<String, Supplier<Pose2d[]>> m_dynamicObjectPoseFunctions = new HashMap<>();
private final Map<String, Pose2d[]> m_objectPoses = new HashMap<>();

private final String[] m_protectedKeys = {"robotPose", "modulePoses"};

Expand All @@ -31,42 +29,17 @@ public FieldSim() {
* @param key The name of the object (Must be unique)
* @param poses The poses corresponding to the object's position
*/
public void addStaticPoses(String key, Pose2d... poses) {
if (m_dynamicObjectPoseFunctions.containsKey(key))
throw new IllegalArgumentException("Key '" + key + "' is already used for a dynamic pose!");
m_staticObjectPoses.put(key, poses);
public void addPoses(String key, Pose2d... poses) {
m_objectPoses.put(key, poses);
m_field2D.getObject(key).setPoses(poses);
}

/**
* Add a pose to FieldSim to display
*
* @param key The name of the object (Must be unique)
* @param poses The poses corresponding to the object's position
*/
public void registerPoseFunction(String key, Supplier<Pose2d[]> poses) {
if (m_staticObjectPoses.containsKey(key))
throw new IllegalArgumentException("Key '" + key + "' is already used for a static pose!");
m_dynamicObjectPoseFunctions.put(key, poses);
}

/**
* Remove a pose from being displayed on FieldSim
*
* @param key The name of the object to remove
*/
public void unregisterPoseFunction(String key) {
m_staticObjectPoses.remove(key);
m_dynamicObjectPoseFunctions.remove(key);
m_field2D.getObject(key).close();
}

/** Remove all poses from being displayed on FieldSim */
public void clearAllPoses() {
for (var entry : m_dynamicObjectPoseFunctions.entrySet()) {
for (var entry : m_objectPoses.entrySet()) {
m_field2D.getObject(entry.getKey()).close();
}
m_dynamicObjectPoseFunctions.clear();
m_objectPoses.clear();
}

/**
Expand All @@ -79,21 +52,19 @@ public void addTrajectory(Trajectory trajectory) {
}

private void updateField2d() {
if (m_dynamicObjectPoseFunctions.containsKey("robotPose"))
m_field2D.setRobotPose(m_dynamicObjectPoseFunctions.get("robotPose").get()[0]);
if (m_objectPoses.containsKey("robotPose"))
m_field2D.setRobotPose(m_objectPoses.get("robotPose")[0]);

for (var entry : m_dynamicObjectPoseFunctions.entrySet()) {
for (var entry : m_objectPoses.entrySet()) {
if (Arrays.asList(m_protectedKeys).contains(entry.getKey())) {
continue;
}
m_field2D.getObject(entry.getKey()).setPoses(entry.getValue().get());
m_field2D.getObject(entry.getKey()).setPoses(entry.getValue());
}

if (RobotBase.isSimulation()) {
if (m_dynamicObjectPoseFunctions.containsKey("modulePoses"))
m_field2D
.getObject("Swerve Modules")
.setPoses(m_dynamicObjectPoseFunctions.get("modulePoses").get());
if (m_objectPoses.containsKey("modulePoses"))
m_field2D.getObject("Swerve Modules").setPoses(m_objectPoses.get("modulePoses"));
}
}

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