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Geometry classes: remove explicit serializers/deserializers (#2312)

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Jackson can do this with much less code overhead.
This commit is contained in:
Oblarg
2020-03-15 01:15:15 -04:00
committed by GitHub
parent 84e300739c
commit a732606e55
3 changed files with 35 additions and 144 deletions
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61
wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Pose2d.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,25 +7,18 @@
package edu.wpi.first.wpilibj.geometry;
import java.io.IOException;
import java.util.Objects;
import com.fasterxml.jackson.core.JsonGenerator;
import com.fasterxml.jackson.core.JsonParser;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.DeserializationContext;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.SerializerProvider;
import com.fasterxml.jackson.databind.annotation.JsonDeserialize;
import com.fasterxml.jackson.databind.annotation.JsonSerialize;
import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
import com.fasterxml.jackson.databind.ser.std.StdSerializer;
import com.fasterxml.jackson.annotation.JsonAutoDetect;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
/**
* Represents a 2d pose containing translational and rotational elements.
*/
@JsonSerialize(using = Pose2d.PoseSerializer.class)
@JsonDeserialize(using = Pose2d.PoseDeserializer.class)
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Pose2d {
private final Translation2d m_translation;
private final Rotation2d m_rotation;
@@ -45,7 +38,9 @@ public class Pose2d {
* @param translation The translational component of the pose.
* @param rotation The rotational component of the pose.
*/
public Pose2d(Translation2d translation, Rotation2d rotation) {
@JsonCreator
public Pose2d(@JsonProperty(required = true, value = "translation") Translation2d translation,
@JsonProperty(required = true, value = "rotation") Rotation2d rotation) {
m_translation = translation;
m_rotation = rotation;
}
@@ -96,6 +91,7 @@ public class Pose2d {
*
* @return The translational component of the pose.
*/
@JsonProperty
public Translation2d getTranslation() {
return m_translation;
}
@@ -105,6 +101,7 @@ public class Pose2d {
*
* @return The rotational component of the pose.
*/
@JsonProperty
public Rotation2d getRotation() {
return m_rotation;
}
@@ -234,38 +231,4 @@ public class Pose2d {
public int hashCode() {
return Objects.hash(m_translation, m_rotation);
}
static class PoseSerializer extends StdSerializer<Pose2d> {
PoseSerializer() {
super(Pose2d.class);
}
@Override
public void serialize(
Pose2d value, JsonGenerator jgen, SerializerProvider provider)
throws IOException, JsonProcessingException {
jgen.writeStartObject();
jgen.writeObjectField("translation", value.m_translation);
jgen.writeObjectField("rotation", value.m_rotation);
jgen.writeEndObject();
}
}
static class PoseDeserializer extends StdDeserializer<Pose2d> {
PoseDeserializer() {
super(Pose2d.class);
}
@Override
public Pose2d deserialize(JsonParser jp, DeserializationContext ctxt)
throws IOException, JsonProcessingException {
JsonNode node = jp.getCodec().readTree(jp);
Translation2d translation =
jp.getCodec().treeToValue(node.get("translation"), Translation2d.class);
Rotation2d rotation = jp.getCodec().treeToValue(node.get("rotation"), Rotation2d.class);
return new Pose2d(translation, rotation);
}
}
}

58
wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Rotation2d.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,26 +7,19 @@
package edu.wpi.first.wpilibj.geometry;
import java.io.IOException;
import java.util.Objects;
import com.fasterxml.jackson.core.JsonGenerator;
import com.fasterxml.jackson.core.JsonParser;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.DeserializationContext;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.SerializerProvider;
import com.fasterxml.jackson.databind.annotation.JsonDeserialize;
import com.fasterxml.jackson.databind.annotation.JsonSerialize;
import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
import com.fasterxml.jackson.databind.ser.std.StdSerializer;
import com.fasterxml.jackson.annotation.JsonAutoDetect;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
/**
* A rotation in a 2d coordinate frame represented a point on the unit circle
* (cosine and sine).
*/
@JsonSerialize(using = Rotation2d.RotationSerializer.class)
@JsonDeserialize(using = Rotation2d.RotationDeserializer.class)
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Rotation2d {
private final double m_value;
private final double m_cos;
@@ -47,7 +40,8 @@ public class Rotation2d {
*
* @param value The value of the angle in radians.
*/
public Rotation2d(double value) {
@JsonCreator
public Rotation2d(@JsonProperty(required = true, value = "radians") double value) {
m_value = value;
m_cos = Math.cos(value);
m_sin = Math.sin(value);
@@ -149,11 +143,12 @@ public class Rotation2d {
);
}
/*
/**
* Returns the radian value of the rotation.
*
* @return The radian value of the rotation.
*/
@JsonProperty
public double getRadians() {
return m_value;
}
@@ -217,35 +212,4 @@ public class Rotation2d {
public int hashCode() {
return Objects.hash(m_value);
}
static class RotationSerializer extends StdSerializer<Rotation2d> {
RotationSerializer() {
super(Rotation2d.class);
}
@Override
public void serialize(
Rotation2d value, JsonGenerator jgen, SerializerProvider provider)
throws IOException, JsonProcessingException {
jgen.writeStartObject();
jgen.writeNumberField("radians", value.m_value);
jgen.writeEndObject();
}
}
static class RotationDeserializer extends StdDeserializer<Rotation2d> {
RotationDeserializer() {
super(Rotation2d.class);
}
@Override
public Rotation2d deserialize(JsonParser jp, DeserializationContext ctxt)
throws IOException, JsonProcessingException {
JsonNode node = jp.getCodec().readTree(jp);
double radians = node.get("radians").numberValue().doubleValue();
return new Rotation2d(radians);
}
}
}

60
wpilibj/src/main/java/edu/wpi/first/wpilibj/geometry/Translation2d.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,19 +7,12 @@
package edu.wpi.first.wpilibj.geometry;
import java.io.IOException;
import java.util.Objects;
import com.fasterxml.jackson.core.JsonGenerator;
import com.fasterxml.jackson.core.JsonParser;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.databind.DeserializationContext;
import com.fasterxml.jackson.databind.JsonNode;
import com.fasterxml.jackson.databind.SerializerProvider;
import com.fasterxml.jackson.databind.annotation.JsonDeserialize;
import com.fasterxml.jackson.databind.annotation.JsonSerialize;
import com.fasterxml.jackson.databind.deser.std.StdDeserializer;
import com.fasterxml.jackson.databind.ser.std.StdSerializer;
import com.fasterxml.jackson.annotation.JsonAutoDetect;
import com.fasterxml.jackson.annotation.JsonCreator;
import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
import com.fasterxml.jackson.annotation.JsonProperty;
/**
* Represents a translation in 2d space.
@@ -29,9 +22,9 @@ import com.fasterxml.jackson.databind.ser.std.StdSerializer;
* When the robot is placed on the origin, facing toward the X direction,
* moving forward increases the X, whereas moving to the left increases the Y.
*/
@JsonSerialize(using = Translation2d.TranslationSerializer.class)
@JsonDeserialize(using = Translation2d.TranslationDeserializer.class)
@SuppressWarnings({"ParameterName", "MemberName"})
@JsonIgnoreProperties(ignoreUnknown = true)
@JsonAutoDetect(getterVisibility = JsonAutoDetect.Visibility.NONE)
public class Translation2d {
private final double m_x;
private final double m_y;
@@ -50,7 +43,9 @@ public class Translation2d {
* @param x The x component of the translation.
* @param y The y component of the translation.
*/
public Translation2d(double x, double y) {
@JsonCreator
public Translation2d(@JsonProperty(required = true, value = "x") double x,
@JsonProperty(required = true, value = "y") double y) {
m_x = x;
m_y = y;
}
@@ -73,6 +68,7 @@ public class Translation2d {
*
* @return The x component of the translation.
*/
@JsonProperty
public double getX() {
return m_x;
}
@@ -82,6 +78,7 @@ public class Translation2d {
*
* @return The y component of the translation.
*/
@JsonProperty
public double getY() {
return m_y;
}
@@ -203,37 +200,4 @@ public class Translation2d {
public int hashCode() {
return Objects.hash(m_x, m_y);
}
static class TranslationSerializer extends StdSerializer<Translation2d> {
TranslationSerializer() {
super(Translation2d.class);
}
@Override
public void serialize(
Translation2d value, JsonGenerator jgen, SerializerProvider provider)
throws IOException, JsonProcessingException {
jgen.writeStartObject();
jgen.writeNumberField("x", value.m_x);
jgen.writeNumberField("y", value.m_y);
jgen.writeEndObject();
}
}
static class TranslationDeserializer extends StdDeserializer<Translation2d> {
TranslationDeserializer() {
super(Translation2d.class);
}
@Override
public Translation2d deserialize(JsonParser jp, DeserializationContext ctxt)
throws IOException, JsonProcessingException {
JsonNode node = jp.getCodec().readTree(jp);
double xval = node.get("x").numberValue().doubleValue();
double yval = node.get("y").numberValue().doubleValue();
return new Translation2d(xval, yval);
}
}
}