SCRIPT Move subprojects

fields/src/main/java/edu/wpi/first/fields/FieldConfig.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.fields;
+
+import com.fasterxml.jackson.annotation.JsonProperty;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.net.URL;
+import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.nio.file.Path;
+
+public class FieldConfig {
+  public static class Corners {
+    @JsonProperty("top-left")
+    public double[] m_topLeft;
+
+    @JsonProperty("bottom-right")
+    public double[] m_bottomRight;
+  }
+
+  @JsonProperty("game")
+  public String m_game;
+
+  @JsonProperty("field-image")
+  public String m_fieldImage;
+
+  @JsonProperty("field-corners")
+  public Corners m_fieldCorners;
+
+  @JsonProperty("field-size")
+  public double[] m_fieldSize;
+
+  @JsonProperty("field-unit")
+  public String m_fieldUnit;
+
+  public FieldConfig() {}
+
+  public URL getImageUrl() {
+    return getClass().getResource(Fields.kBaseResourceDir + m_fieldImage);
+  }
+
+  public InputStream getImageAsStream() {
+    return getClass().getResourceAsStream(Fields.kBaseResourceDir + m_fieldImage);
+  }
+
+  /**
+   * Loads a predefined field configuration from a resource file.
+   *
+   * @param field The predefined field
+   * @return The field configuration
+   * @throws IOException Throws if the file could not be loaded
+   */
+  public static FieldConfig loadField(Fields field) throws IOException {
+    return loadFromResource(field.m_resourceFile);
+  }
+
+  /**
+   * Loads a field configuration from a file on disk.
+   *
+   * @param file The json file to load
+   * @return The field configuration
+   * @throws IOException Throws if the file could not be loaded
+   */
+  public static FieldConfig loadFromFile(Path file) throws IOException {
+    try (BufferedReader reader = Files.newBufferedReader(file)) {
+      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+    }
+  }
+
+  /**
+   * Loads a field configuration from a resource file located inside the programs jar file.
+   *
+   * @param resourcePath The path to the resource file
+   * @return The field configuration
+   * @throws IOException Throws if the resource could not be loaded
+   */
+  public static FieldConfig loadFromResource(String resourcePath) throws IOException {
+    try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath);
+        InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8)) {
+      return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
+    }
+  }
+}

fields/src/main/java/edu/wpi/first/fields/Fields.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.fields;
+
+public enum Fields {
+  k2018PowerUp("2018-powerup.json"),
+  k2019DeepSpace("2019-deepspace.json"),
+  k2020InfiniteRecharge("2020-infiniterecharge.json"),
+  k2021InfiniteRecharge("2021-infiniterecharge.json"),
+  k2021Barrel("2021-barrelracingpath.json"),
+  k2021Bounce("2021-bouncepath.json"),
+  k2021GalacticSearchA("2021-galacticsearcha.json"),
+  k2021GalacticSearchB("2021-galacticsearchb.json"),
+  k2021Slalom("2021-slalompath.json"),
+  k2022RapidReact("2022-rapidreact.json"),
+  k2023ChargedUp("2023-chargedup.json"),
+  k2024Crescendo("2024-crescendo.json"),
+  k2025Reefscape("2025-reefscape.json");
+
+  public static final String kBaseResourceDir = "/edu/wpi/first/fields/";
+
+  /** Alias to the current game. */
+  public static final Fields kDefaultField = k2025Reefscape;
+
+  public final String m_resourceFile;
+
+  Fields(String resourceFile) {
+    m_resourceFile = kBaseResourceDir + resourceFile;
+  }
+}

fields/src/main/native/cpp/fields.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "fields/fields.h"
+
+#include "fields/2018-powerup.h"
+#include "fields/2019-deepspace.h"
+#include "fields/2020-infiniterecharge.h"
+#include "fields/2021-barrel.h"
+#include "fields/2021-bounce.h"
+#include "fields/2021-galacticsearcha.h"
+#include "fields/2021-galacticsearchb.h"
+#include "fields/2021-infiniterecharge.h"
+#include "fields/2021-slalom.h"
+#include "fields/2022-rapidreact.h"
+#include "fields/2023-chargedup.h"
+#include "fields/2024-crescendo.h"
+#include "fields/2025-reefscape.h"
+
+using namespace fields;
+
+static const Field kFields[] = {
+    {"2025 Reefscape", GetResource_2025_reefscape_json,
+     GetResource_2025_field_png},
+    {"2024 Crescendo", GetResource_2024_crescendo_json,
+     GetResource_2024_field_png},
+    {"2023 Charged Up", GetResource_2023_chargedup_json,
+     GetResource_2023_field_png},
+    {"2022 Rapid React", GetResource_2022_rapidreact_json,
+     GetResource_2022_field_png},
+    {"2021 Barrel Racing Path", GetResource_2021_barrelracingpath_json,
+     GetResource_2021_barrel_png},
+    {"2021 Bounce Path", GetResource_2021_bouncepath_json,
+     GetResource_2021_bounce_png},
+    {"2021 Galactic Search A", GetResource_2021_galacticsearcha_json,
+     GetResource_2021_galacticsearcha_png},
+    {"2021 Galactic Search B", GetResource_2021_galacticsearchb_json,
+     GetResource_2021_galacticsearchb_png},
+    {"2021 Infinite Recharge", GetResource_2021_infiniterecharge_json,
+     GetResource_2021_field_png},
+    {"2021 Slalom Path", GetResource_2021_slalompath_json,
+     GetResource_2021_slalom_png},
+    {"2020 Infinite Recharge", GetResource_2020_infiniterecharge_json,
+     GetResource_2020_field_png},
+    {"2019 Destination: Deep Space", GetResource_2019_deepspace_json,
+     GetResource_2019_field_jpg},
+    {"2018 Power Up", GetResource_2018_powerup_json,
+     GetResource_2018_field_jpg},
+};
+
+std::span<const Field> fields::GetFields() {
+  return kFields;
+}

fields/src/main/native/include/fields/2018-powerup.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2018_powerup_json();
+std::string_view GetResource_2018_field_jpg();
+}  // namespace fields

fields/src/main/native/include/fields/2019-deepspace.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2019_deepspace_json();
+std::string_view GetResource_2019_field_jpg();
+}  // namespace fields

fields/src/main/native/include/fields/2020-infiniterecharge.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2020_infiniterecharge_json();
+std::string_view GetResource_2020_field_png();
+}  // namespace fields

fields/src/main/native/include/fields/2021-barrel.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_barrelracingpath_json();
+std::string_view GetResource_2021_barrel_png();
+}  // namespace fields

fields/src/main/native/include/fields/2021-bounce.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_bouncepath_json();
+std::string_view GetResource_2021_bounce_png();
+}  // namespace fields

fields/src/main/native/include/fields/2021-galacticsearcha.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearcha_json();
+std::string_view GetResource_2021_galacticsearcha_png();
+}  // namespace fields

fields/src/main/native/include/fields/2021-galacticsearchb.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_galacticsearchb_json();
+std::string_view GetResource_2021_galacticsearchb_png();
+}  // namespace fields

fields/src/main/native/include/fields/2021-infiniterecharge.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_field_png();
+std::string_view GetResource_2021_infiniterecharge_json();
+}  // namespace fields

fields/src/main/native/include/fields/2021-slalom.h

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2021_slalompath_json();
+std::string_view GetResource_2021_slalom_png();
+}  // namespace fields

fields/src/main/native/include/fields/2022-rapidreact.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2022_rapidreact_json();
+std::string_view GetResource_2022_field_png();
+}  // namespace fields

fields/src/main/native/include/fields/2023-chargedup.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2023_chargedup_json();
+std::string_view GetResource_2023_field_png();
+}  // namespace fields

fields/src/main/native/include/fields/2024-crescendo.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2024_crescendo_json();
+std::string_view GetResource_2024_field_png();
+}  // namespace fields

fields/src/main/native/include/fields/2025-reefscape.h

@@ -0,0 +1,12 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <string_view>
+
+namespace fields {
+std::string_view GetResource_2025_reefscape_json();
+std::string_view GetResource_2025_field_png();
+}  // namespace fields

fields/src/main/native/include/fields/fields.h

@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <span>
+#include <string_view>
+
+namespace fields {
+
+struct Field {
+  const char* name;
+  std::string_view (*getJson)();
+  std::string_view (*getImage)();
+};
+
+std::span<const Field> GetFields();
+
+}  // namespace fields

fields/src/main/native/resources/edu/wpi/first/fields/2018-powerup.json

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+{
+  "game": "FIRST Power Up",
+  "field-image": "2018-field.jpg",
+  "field-corners": {
+    "top-left": [
+      125,
+      20
+    ],
+    "bottom-right": [
+      827,
+      370
+    ]
+  },
+  "field-size": [
+    54,
+    27
+  ],
+  "field-unit": "feet"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2019-deepspace.json

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+{
+  "game": "Destination: Deep Space",
+  "field-image": "2019-field.jpg",
+  "field-corners": {
+    "top-left": [
+      217,
+      40
+    ],
+    "bottom-right": [
+      1372,
+      615
+    ]
+  },
+  "field-size": [
+    54,
+    27
+  ],
+  "field-unit": "foot"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2020-infiniterecharge.json

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+{
+  "game": "Infinite Recharge",
+  "field-image": "2020-field.png",
+  "field-corners": {
+    "top-left": [
+      96,
+      25
+    ],
+    "bottom-right": [
+      1040,
+      514
+    ]
+  },
+  "field-size": [
+    52.4375,
+    26.9375
+  ],
+  "field-unit": "foot"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2021-barrelracingpath.json

@@ -0,0 +1,19 @@
+{
+  "game": "Barrel Racing Path",
+  "field-image": "2021-barrel.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2021-bouncepath.json

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+{
+  "game": "Bounce Path",
+  "field-image": "2021-bounce.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearcha.json

@@ -0,0 +1,19 @@
+{
+  "game": "Galactic Search A",
+  "field-image": "2021-galacticsearcha.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2021-galacticsearchb.json

@@ -0,0 +1,19 @@
+{
+  "game": "Galactic Search B",
+  "field-image": "2021-galacticsearchb.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2021-infiniterecharge.json

@@ -0,0 +1,19 @@
+{
+  "game": "Infinite Recharge 2021",
+  "field-image": "2021-field.png",
+  "field-corners": {
+    "top-left": [
+      127,
+      34
+    ],
+    "bottom-right": [
+      1323,
+      649
+    ]
+  },
+  "field-size": [
+    52.4375,
+    26.9375
+  ],
+  "field-unit": "foot"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2021-slalompath.json

@@ -0,0 +1,19 @@
+{
+  "game": "Slalom Path",
+  "field-image": "2021-slalom.png",
+  "field-corners": {
+    "top-left": [
+      20,
+      20
+    ],
+    "bottom-right": [
+      780,
+      400
+    ]
+  },
+  "field-size": [
+    30,
+    15
+  ],
+  "field-unit": "feet"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2022-rapidreact.json

@@ -0,0 +1,19 @@
+{
+  "game": "Rapid React",
+  "field-image": "2022-field.png",
+  "field-corners": {
+    "top-left": [
+      74,
+      50
+    ],
+    "bottom-right": [
+      1774,
+      900
+    ]
+  },
+  "field-size": [
+    54,
+    27
+  ],
+  "field-unit": "foot"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2023-chargedup.json

@@ -0,0 +1,19 @@
+{
+  "game": "Charged Up",
+  "field-image": "2023-field.png",
+  "field-corners": {
+    "top-left": [
+      46,
+      36
+    ],
+    "bottom-right": [
+      1088,
+      544
+    ]
+  },
+  "field-size": [
+    54.27083,
+    26.2916
+  ],
+  "field-unit": "foot"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2024-crescendo.json

@@ -0,0 +1,19 @@
+{
+  "game": "Crescendo",
+  "field-image": "2024-field.png",
+  "field-corners": {
+    "top-left": [
+      150,
+      79
+    ],
+    "bottom-right": [
+      2961,
+      1476
+    ]
+  },
+  "field-size": [
+    54.27083,
+    26.9375
+  ],
+  "field-unit": "foot"
+}

fields/src/main/native/resources/edu/wpi/first/fields/2025-reefscape.json

@@ -0,0 +1,19 @@
+{
+  "game": "Reefscape",
+  "field-image": "2025-field.png",
+  "field-corners": {
+    "top-left": [
+      534,
+      291
+    ],
+    "bottom-right": [
+      3466,
+      1638
+    ]
+  },
+  "field-size": [
+    57.573,
+    26.417
+  ],
+  "field-unit": "foot"
+}

fields/src/test/java/edu/wpi/first/fields/LoadConfigTest.java

@@ -0,0 +1,19 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.fields;
+
+import org.junit.jupiter.api.Assertions;
+import org.junit.jupiter.params.ParameterizedTest;
+import org.junit.jupiter.params.provider.EnumSource;
+
+class LoadConfigTest {
+  @ParameterizedTest
+  @EnumSource(Fields.class)
+  void testLoad(Fields field) {
+    FieldConfig config = Assertions.assertDoesNotThrow(() -> FieldConfig.loadField(field));
+
+    Assertions.assertNotNull(config.getImageUrl());
+  }
+}