Clean up C++ headers (#2402)

2026-07-01 02:41:42 +00:00 · 2026-03-19 02:10:04 -04:00
parent 12446a6c44
commit d4bfe643d5
45 changed files with 31 additions and 161 deletions
--- a/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
+++ b/photon-targeting/src/main/native/cpp/net/TimeSyncClient.cpp
@@ -17,20 +17,14 @@

 #include "net/TimeSyncClient.h"

-#include <atomic>
 #include <chrono>
 #include <cstdlib>
-#include <cstring>
-#include <ctime>
-#include <iostream>
 #include <mutex>
-#include <thread>

 #include <Eigen/Core>
 #include <wpi/Logger.h>
 #include <wpi/print.h>
 #include <wpi/struct/Struct.h>
-#include <wpinet/UDPClient.h>
 #include <wpinet/uv/util.h>

 #include "ntcore_cpp.h"
--- a/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
+++ b/photon-targeting/src/main/native/cpp/net/TimeSyncServer.cpp
@@ -17,22 +17,18 @@

 #include "net/TimeSyncServer.h"

-#include <atomic>
-#include <chrono>
 #include <cstdlib>
 #include <cstring>
 #include <ctime>
-#include <iostream>
-#include <mutex>
-#include <thread>

+#include <ntcore_cpp.h>
 #include <wpi/Logger.h>
 #include <wpi/print.h>
 #include <wpi/struct/Struct.h>
 #include <wpinet/UDPClient.h>
 #include <wpinet/uv/util.h>

-#include "ntcore_cpp.h"
+#include "net/TimeSyncStructs.h"

 static void ServerLoggerFunc(unsigned int level, const char* file,
                             unsigned int line, const char* msg) {
--- a/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/constrained_solvepnp/wrap/casadi_wrapper.cpp
@@ -17,11 +17,8 @@

 #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h"

-#include <chrono>
 #include <cstdio>
-#include <iostream>
 #include <optional>
-#include <vector>

 #include <Eigen/Cholesky>
 #include <Eigen/Core>
@@ -192,10 +189,10 @@ constrained_solvepnp::do_optimization(
    fmt::println("{} tags", nTags);
    // fmt::println("nstate {}", nState);

-    std::cout << "robot2camera:\n" << robot2camera << std::endl;
-    std::cout << "x guess:\n" << x_guess << std::endl;
-    std::cout << "field2pt:\n" << field2points << std::endl;
-    std::cout << "observations:\n" << point_observations << std::endl;
+    fmt::println("robot2camera:\n{}", robot2camera);
+    fmt::println("x guess:\n{}", x_guess);
+    fmt::println("field2pt:\n{}", field2points);
+    fmt::println("observations:\n{}", point_observations);
    fmt::println("---------^^^^^^^^---------");
  }

@@ -252,7 +249,7 @@ constrained_solvepnp::do_optimization(

    auto H_ldlt = H.ldlt();
    if (H_ldlt.info() != Eigen::Success) {
-      std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl;
+      fmt::println(stderr, "LDLT decomp failed! H=\n{}", H);
      return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
    }

@@ -276,7 +273,7 @@ constrained_solvepnp::do_optimization(
        H_ldlt = H_reg.ldlt();

        if (H_ldlt.info() != Eigen::Success) {
-          std::cerr << "LDLT decomp failed! H=" << std::endl << H << std::endl;
+          fmt::println(stderr, "LDLT decomp failed! H=\n{}", H);
          return wpi::unexpected{slp::ExitStatus::LOCALLY_INFEASIBLE};
        }

--- a/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/estimation/VisionEstimation.cpp
@@ -17,13 +17,10 @@

 #include "photon/estimation/VisionEstimation.h"

-#include <iostream>
-#include <utility>
 #include <vector>

 #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h"
 #include "photon/estimation/OpenCVHelp.h"
-#include "photon/targeting/MultiTargetPNPResult.h"

 namespace photon {
 namespace VisionEstimation {
--- a/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
+++ b/photon-targeting/src/main/native/cpp/photon/targeting/PhotonTrackedTarget.cpp
@@ -17,14 +17,4 @@

 #include "photon/targeting/PhotonTrackedTarget.h"

-#include <algorithm>
-#include <iostream>
-#include <utility>
-#include <vector>
-
-#include <frc/geometry/Translation2d.h>
-#include <wpi/SmallVector.h>
-
-static constexpr const uint8_t MAX_CORNERS = 8;
-
 namespace photon {}  // namespace photon
--- a/photon-targeting/src/main/native/include/net/TimeSyncClient.h
+++ b/photon-targeting/src/main/native/include/net/TimeSyncClient.h
@@ -17,31 +17,21 @@

 #pragma once

-#include <atomic>
 #include <chrono>
 #include <cstdlib>
-#include <cstring>
-#include <ctime>
 #include <functional>
-#include <iostream>
 #include <memory>
 #include <mutex>
 #include <string>
-#include <thread>

 #include <frc/filter/MedianFilter.h>
 #include <wpi/Logger.h>
-#include <wpi/print.h>
-#include <wpi/static_circular_buffer.h>
-#include <wpi/struct/Struct.h>
 #include <wpinet/EventLoopRunner.h>
-#include <wpinet/UDPClient.h>
 #include <wpinet/uv/Buffer.h>
 #include <wpinet/uv/Timer.h>
 #include <wpinet/uv/Udp.h>

 #include "TimeSyncStructs.h"
-#include "ntcore_cpp.h"

 namespace wpi {
 namespace tsp {
--- a/photon-targeting/src/main/native/include/net/TimeSyncServer.h
+++ b/photon-targeting/src/main/native/include/net/TimeSyncServer.h
@@ -17,30 +17,18 @@

 #pragma once

-#include <atomic>
-#include <chrono>
 #include <cstdlib>
 #include <cstring>
 #include <ctime>
 #include <functional>
-#include <iostream>
 #include <memory>
-#include <mutex>
-#include <string>
 #include <thread>

 #include <wpi/Logger.h>
-#include <wpi/print.h>
-#include <wpi/struct/Struct.h>
 #include <wpinet/EventLoopRunner.h>
-#include <wpinet/UDPClient.h>
 #include <wpinet/uv/Buffer.h>
-#include <wpinet/uv/Timer.h>
 #include <wpinet/uv/Udp.h>

-#include "TimeSyncStructs.h"
-#include "ntcore_cpp.h"
-
 namespace wpi {
 namespace tsp {

--- a/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
+++ b/photon-targeting/src/main/native/include/photon/dataflow/structures/Packet.h
@@ -17,17 +17,13 @@

 #pragma once

-#include <algorithm>
-#include <bit>
-#include <cstring>
-#include <iostream>
+#include <concepts>
+#include <cstdint>
 #include <optional>
 #include <span>
-#include <string>
+#include <string_view>
 #include <vector>

-#include <wpi/Demangle.h>
-#include <wpi/ct_string.h>
 #include <wpi/struct/Struct.h>

 namespace photon {
--- a/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
+++ b/photon-targeting/src/main/native/include/photon/estimation/OpenCVHelp.h
@@ -30,7 +30,6 @@
 #define OPENCV_DISABLE_EIGEN_TENSOR_SUPPORT
 #include <opencv2/core/eigen.hpp>

-#include "photon/targeting/MultiTargetPNPResult.h"
 #include "photon/targeting/PnpResult.h"
 #include "photon/targeting/TargetCorner.h"

--- a/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h
+++ b/photon-targeting/src/main/native/include/photon/networktables/NTTopicSet.h
@@ -102,7 +102,5 @@ class NTTopicSet {
    cameraDistortionPublisher =
        subTable->GetDoubleArrayTopic("cameraDistortion").Publish();
  }
-
- private:
 };
 }  // namespace photon
--- a/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/MultiTargetPNPResult.h
@@ -19,11 +19,6 @@

 #include <utility>

-#include <frc/geometry/Transform3d.h>
-#include <wpi/SmallVector.h>
-
-#include "PnpResult.h"
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/struct/MultiTargetPNPResultStruct.h"

 namespace photon {
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonPipelineResult.h
@@ -18,16 +18,13 @@
 #pragma once

 #include <span>
-#include <string>
 #include <utility>

 #include <units/time.h>
-#include <wpi/SmallVector.h>

 #include "MultiTargetPNPResult.h"
 #include "PhotonTrackedTarget.h"
 #include "fmt/base.h"
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/struct/PhotonPipelineResultStruct.h"

 namespace photon {
--- a/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PhotonTrackedTarget.h
@@ -17,13 +17,10 @@

 #pragma once

-#include <cstddef>
-#include <string>
 #include <utility>
 #include <vector>

 #include <frc/geometry/Transform3d.h>
-#include <wpi/SmallVector.h>

 #include "photon/struct/PhotonTrackedTargetStruct.h"

--- a/photon-targeting/src/main/native/include/photon/targeting/PnpResult.h
+++ b/photon-targeting/src/main/native/include/photon/targeting/PnpResult.h
@@ -19,9 +19,6 @@

 #include <utility>

-#include <frc/geometry/Transform3d.h>
-
-#include "photon/dataflow/structures/Packet.h"
 #include "photon/struct/PnpResultStruct.h"

 namespace photon {
--- a/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp
+++ b/photon-targeting/src/main/native/jni/ConstrainedSolvepnpJNI.cpp
@@ -15,13 +15,9 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-#include <iostream>
 #include <span>
 #include <vector>

-#include <fmt/core.h>
-#include <fmt/ranges.h>
-
 #include "org_photonvision_jni_ConstrainedSolvepnpJni.h"
 #include "photon/constrained_solvepnp/wrap/casadi_wrapper.h"

@@ -72,18 +68,6 @@ Java_org_photonvision_jni_ConstrainedSolvepnpJni_do_1optimization
      pointObservationsMat(pointObservationsVec.data(), 2,
                           pointObservationsVec.size() / 2);

-#if 0
-  fmt::println("======================================================");
-  fmt::println("Got robot2camera raw {}", robot2cameraVec);
-  fmt::println("Camera cal {} {} {} {}", cameraCal_.fx, cameraCal_.fy,
-               cameraCal_.cx, cameraCal_.cy);
-  fmt::println("{} tags", nTags);
-  std::cout << "robot2camera:\n" << robot2cameraMat << std::endl;
-  std::cout << "x guess:\n" << xGuessMat << std::endl;
-  std::cout << "field2pt:\n" << field2pointsMat << std::endl;
-  std::cout << "observations:\n" << pointObservationsMat << std::endl;
-#endif
-
  wpi::expected<constrained_solvepnp::RobotStateMat, slp::ExitStatus> result =
      constrained_solvepnp::do_optimization(
          headingFree, nTags, cameraCal_, robot2cameraMat, xGuessMat,
--- a/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp
+++ b/photon-targeting/src/main/native/jni/TimeSyncServerJNI.cpp
@@ -15,8 +15,6 @@
 * along with this program.  If not, see <https://www.gnu.org/licenses/>.
 */

-#include <cstdio>
-
 #include <org_photonvision_jni_TimeSyncClient.h>
 #include <org_photonvision_jni_TimeSyncServer.h>