Upgrade to Gradle 7.2 and WPILib 2022 (#316)

photon-lib/src/main/native/cpp/photonlib/PhotonCamera.cpp

@@ -48,7 +48,7 @@ PhotonPipelineResult PhotonCamera::GetLatestResult() const {
   std::shared_ptr<nt::Value> ntvalue = rawBytesEntry.GetValue();
   if (!ntvalue) return result;
 
-  std::string value = ntvalue->GetRaw();
+  std::string value{ntvalue->GetRaw()};
   std::vector<char> bytes{value.begin(), value.end()};
 
   photonlib::Packet packet{bytes};

photon-lib/src/main/native/cpp/photonlib/PhotonPipelineResult.cpp

@@ -19,7 +19,7 @@
 
 namespace photonlib {
 PhotonPipelineResult::PhotonPipelineResult(
-    units::second_t latency, wpi::ArrayRef<PhotonTrackedTarget> targets)
+    units::second_t latency, wpi::span<const PhotonTrackedTarget> targets)
     : latency(latency),
       targets(targets.data(), targets.data() + targets.size()) {}
 
@@ -33,7 +33,7 @@ bool PhotonPipelineResult::operator!=(const PhotonPipelineResult& other) const {
 
 Packet& operator<<(Packet& packet, const PhotonPipelineResult& result) {
   // Encode latency and number of targets.
-  packet << result.latency.to<double>() * 1000
+  packet << result.latency.value() * 1000
          << static_cast<int8_t>(result.targets.size());
 
   // Encode the information of each target.

photon-lib/src/main/native/cpp/photonlib/PhotonTrackedTarget.cpp

@@ -39,9 +39,9 @@ bool PhotonTrackedTarget::operator!=(const PhotonTrackedTarget& other) const {
 
 Packet& operator<<(Packet& packet, const PhotonTrackedTarget& target) {
   return packet << target.yaw << target.pitch << target.area << target.skew
-                << target.cameraToTarget.Translation().X().to<double>()
-                << target.cameraToTarget.Translation().Y().to<double>()
-                << target.cameraToTarget.Rotation().Degrees().to<double>();
+                << target.cameraToTarget.Translation().X().value()
+                << target.cameraToTarget.Translation().Y().value()
+                << target.cameraToTarget.Rotation().Degrees().value();
 }
 
 Packet& operator>>(Packet& packet, PhotonTrackedTarget& target) {

photon-lib/src/main/native/cpp/photonlib/SimPhotonCamera.cpp

@@ -26,7 +26,7 @@ SimPhotonCamera::SimPhotonCamera(const std::string& cameraName)
     : PhotonCamera(cameraName) {}
 
 void SimPhotonCamera::SubmitProcessedFrame(
-    units::second_t latency, wpi::ArrayRef<PhotonTrackedTarget> tgtList) {
+    units::second_t latency, wpi::span<const PhotonTrackedTarget> tgtList) {
   if (!GetDriverMode()) {
     // Clear the current packet.
     simPacket.Clear();
@@ -34,8 +34,8 @@ void SimPhotonCamera::SubmitProcessedFrame(
     // Create the new result and pump it into the packet
     simPacket << PhotonPipelineResult(latency, tgtList);
 
-    rawBytesEntry.SetRaw(
-        wpi::StringRef(simPacket.GetData().data(), simPacket.GetData().size()));
+    rawBytesEntry.SetRaw(std::string_view{simPacket.GetData().data(),
+                                          simPacket.GetData().size()});
   }
 }
 

photon-lib/src/main/native/cpp/photonlib/SimVisionSystem.cpp

@@ -21,6 +21,7 @@
 
 #include <units/angle.h>
 #include <units/length.h>
+#include <wpi/span.h>
 
 namespace photonlib {
 
@@ -73,36 +74,34 @@ void SimVisionSystem::ProcessFrame(frc::Pose2d robotPose) {
     units::meter_t distHypot =
         units::math::hypot(distAlongGround, distVertical);
 
-    double area = tgt.tgtArea.to<double>() / GetM2PerPx(distAlongGround);
+    double area = tgt.tgtArea.value() / GetM2PerPx(distAlongGround);
 
     // 2D yaw mode considers the target as a point, and should ignore target
     // rotation.
     // Photon reports it in the correct robot reference frame.
     // IE: targets to the left of the image should report negative yaw.
-    units::degree_t yawAngle =
-        -1.0 * units::math::atan2(camToTargetTrans.Translation().Y(),
-                                  camToTargetTrans.Translation().X());
+    units::degree_t yawAngle = -units::math::atan2(
+        camToTargetTrans.Translation().Y(), camToTargetTrans.Translation().X());
     units::degree_t pitchAngle =
         units::math::atan2(distVertical, distAlongGround) - camPitch;
 
     if (CamCanSeeTarget(distHypot, yawAngle, pitchAngle, area)) {
-      PhotonTrackedTarget newTgt =
-          PhotonTrackedTarget(yawAngle.to<double>(), pitchAngle.to<double>(),
-                              area, 0.0, camToTargetTrans);
+      PhotonTrackedTarget newTgt = PhotonTrackedTarget(
+          yawAngle.value(), pitchAngle.value(), area, 0.0, camToTargetTrans);
       visibleTgtList.push_back(newTgt);
     }
   }
 
   units::second_t procDelay(0.0);  // Future - tie this to something meaningful
-  cam.SubmitProcessedFrame(
-      procDelay, wpi::MutableArrayRef<PhotonTrackedTarget>(visibleTgtList));
+  cam.SubmitProcessedFrame(procDelay,
+                           wpi::span<PhotonTrackedTarget>(visibleTgtList));
 }
 
 double SimVisionSystem::GetM2PerPx(units::meter_t dist) {
-  double heightMPerPx = 2 * dist.to<double>() *
-                        units::math::tan(camVertFOV / 2) / cameraResHeight;
-  double widthMPerPx = 2 * dist.to<double>() *
-                       units::math::tan(camHorizFOV / 2) / cameraResWidth;
+  double heightMPerPx =
+      2 * dist.value() * units::math::tan(camVertFOV / 2) / cameraResHeight;
+  double widthMPerPx =
+      2 * dist.value() * units::math::tan(camHorizFOV / 2) / cameraResWidth;
   return widthMPerPx * heightMPerPx;
 }
 

photon-lib/src/main/native/include/photonlib/PhotonPipelineResult.h

@@ -19,10 +19,10 @@
 
 #include <string>
 
-#include <frc/DriverStation.h>
+#include <frc/Errors.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
+#include <wpi/span.h>
 
 #include "photonlib/Packet.h"
 #include "photonlib/PhotonTrackedTarget.h"
@@ -44,7 +44,7 @@ class PhotonPipelineResult {
    * @param targets The list of targets identified by the pipeline.
    */
   PhotonPipelineResult(units::second_t latency,
-                       wpi::ArrayRef<PhotonTrackedTarget> targets);
+                       wpi::span<const PhotonTrackedTarget> targets);
 
   /**
    * Returns the best target in this pipeline result. If there are no targets,
@@ -55,7 +55,8 @@ class PhotonPipelineResult {
    */
   PhotonTrackedTarget GetBestTarget() const {
     if (!HasTargets() && !HAS_WARNED) {
-      ::frc::DriverStation::ReportError(
+      FRC_ReportError(
+          frc::warn::Warning, "{}",
           "This PhotonPipelineResult object has no targets associated with it! "
           "Please check HasTargets() before calling this method. For more "
           "information, please review the PhotonLib documentation at "
@@ -81,7 +82,7 @@ class PhotonPipelineResult {
    * Returns a reference to the vector of targets.
    * @return A reference to the vector of targets.
    */
-  const wpi::ArrayRef<PhotonTrackedTarget> GetTargets() const {
+  const wpi::span<const PhotonTrackedTarget> GetTargets() const {
     return targets;
   }
 

photon-lib/src/main/native/include/photonlib/SimPhotonCamera.h

@@ -21,8 +21,8 @@
 #include <string>
 
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
+#include <wpi/span.h>
 
 #include "photonlib/Packet.h"
 #include "photonlib/PhotonCamera.h"
@@ -56,7 +56,7 @@ class SimPhotonCamera : public PhotonCamera {
    * @param tgtList Set of targets detected
    */
   void SubmitProcessedFrame(units::second_t latency,
-                            wpi::ArrayRef<PhotonTrackedTarget> tgtList);
+                            wpi::span<const PhotonTrackedTarget> tgtList);
 
  private:
   mutable Packet simPacket;

photon-lib/src/main/native/include/photonlib/SimVisionSystem.h

@@ -25,7 +25,6 @@
 #include <units/area.h>
 #include <units/length.h>
 #include <units/time.h>
-#include <wpi/ArrayRef.h>
 #include <wpi/SmallVector.h>
 
 #include "photonlib/SimPhotonCamera.h"