[wpimath] Remove PathWeaver support (#7813)

Also rename file load type in glass to "Field Image JSON".

.github/workflows/gradle.yml

@@ -283,7 +283,7 @@ jobs:
     needs: [combine]
     strategy:
       matrix:
-        repo: ['SmartDashboard', 'PathWeaver', 'Shuffleboard', 'RobotBuilder']
+        repo: ["SmartDashboard", "Shuffleboard", "RobotBuilder"]
     runs-on: ubuntu-24.04
     steps:
       - uses: peter-evans/repository-dispatch@v3

.github/workflows/tools.yml

@@ -42,32 +42,3 @@ jobs:
           path: |
             development
           retention-days: 1
-
-  # PathWeaver:
-  #   name: "Build - PathWeaver"
-  #   needs: [build-artifacts]
-  #   runs-on: ubuntu-24.04
-  #   steps:
-  #     - uses: actions/checkout@v4
-  #       with:
-  #         repository: wpilibsuite/PathWeaver
-  #         fetch-depth: 0
-  #     - name: Patch PathWeaver to use local development
-  #       run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
-  #     - uses: actions/download-artifact@v4
-  #       with:
-  #         name: MavenArtifacts
-  #     - uses: actions/setup-java@v4
-  #       with:
-  #         java-version: 17
-  #         distribution: 'temurin'
-  #     - name: Move artifacts
-  #       run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-  #     - name: Build with Gradle
-  #       run: ./gradlew build
-  #     - uses: actions/upload-artifact@v4
-  #       with:
-  #         name: PathWeaver Build
-  #         path: |
-  #           build/allOutputs/
-  #         retention-days: 7

glass/src/lib/native/cpp/other/Field2D.cpp

@@ -376,7 +376,8 @@ void FieldInfo::DisplaySettings() {
   if (m_builtin.empty() && ImGui::Button("Load JSON/image...")) {
     m_fileOpener = std::make_unique<pfd::open_file>(
         "Choose field JSON/image", "",
-        std::vector<std::string>{"PathWeaver JSON File", "*.json", "Image File",
+        std::vector<std::string>{"Field Image JSON File", "*.json",
+                                 "Image File",
                                  "*.jpg *.jpeg *.png *.bmp *.psd *.tga *.gif "
                                  "*.hdr *.pic *.ppm *.pgm"});
   }

wpimath/CMakeLists.txt

@@ -14,7 +14,6 @@ file(
     src/main/native/cpp/jni/Exceptions.cpp
     src/main/native/cpp/jni/Pose3dJNI.cpp
     src/main/native/cpp/jni/StateSpaceUtilJNI.cpp
-    src/main/native/cpp/jni/TrajectoryUtilJNI.cpp
 )
 
 # Java bindings

wpimath/src/main/java/edu/wpi/first/math/jni/TrajectoryUtilJNI.java

@@ -1,47 +0,0 @@
-// 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.math.jni;
-
-import java.io.IOException;
-
-/** TrajectoryUtil JNI. */
-public final class TrajectoryUtilJNI extends WPIMathJNI {
-  /**
-   * Loads a Pathweaver JSON.
-   *
-   * @param path The path to the JSON.
-   * @return A double array with the trajectory states from the JSON.
-   * @throws IOException if the JSON could not be read.
-   */
-  public static native double[] fromPathweaverJson(String path) throws IOException;
-
-  /**
-   * Converts a trajectory into a Pathweaver JSON and saves it.
-   *
-   * @param elements The elements of the trajectory.
-   * @param path The location to save the JSON to.
-   * @throws IOException if the JSON could not be written.
-   */
-  public static native void toPathweaverJson(double[] elements, String path) throws IOException;
-
-  /**
-   * Deserializes a trajectory JSON into a double[] of trajectory elements.
-   *
-   * @param json The JSON containing the serialized trajectory.
-   * @return A double array with the trajectory states.
-   */
-  public static native double[] deserializeTrajectory(String json);
-
-  /**
-   * Serializes the trajectory into a JSON string.
-   *
-   * @param elements The elements of the trajectory.
-   * @return A JSON containing the serialized trajectory.
-   */
-  public static native String serializeTrajectory(double[] elements);
-
-  /** Utility class. */
-  private TrajectoryUtilJNI() {}
-}

wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryUtil.java

@@ -1,131 +0,0 @@
-// 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.math.trajectory;
-
-import edu.wpi.first.math.MathSharedStore;
-import edu.wpi.first.math.geometry.Pose2d;
-import edu.wpi.first.math.geometry.Rotation2d;
-import edu.wpi.first.math.jni.TrajectoryUtilJNI;
-import java.io.IOException;
-import java.nio.file.Path;
-import java.util.ArrayList;
-import java.util.List;
-
-/** Trajectory utilities. */
-public final class TrajectoryUtil {
-  private TrajectoryUtil() {
-    throw new UnsupportedOperationException("This is a utility class!");
-  }
-
-  /**
-   * Creates a trajectory from a double[] of elements.
-   *
-   * @param elements A double[] containing the raw elements of the trajectory.
-   * @return A trajectory created from the elements.
-   */
-  private static Trajectory createTrajectoryFromElements(double[] elements) {
-    // Make sure that the elements have the correct length.
-    if (elements.length % 7 != 0) {
-      throw new TrajectorySerializationException(
-          "An error occurred when converting trajectory elements into a trajectory.");
-    }
-
-    // Create a list of states from the elements.
-    List<Trajectory.State> states = new ArrayList<>();
-    for (int i = 0; i < elements.length; i += 7) {
-      states.add(
-          new Trajectory.State(
-              elements[i],
-              elements[i + 1],
-              elements[i + 2],
-              new Pose2d(elements[i + 3], elements[i + 4], new Rotation2d(elements[i + 5])),
-              elements[i + 6]));
-    }
-    return new Trajectory(states);
-  }
-
-  /**
-   * Returns a double[] of elements from the given trajectory.
-   *
-   * @param trajectory The trajectory to retrieve raw elements from.
-   * @return A double[] of elements from the given trajectory.
-   */
-  private static double[] getElementsFromTrajectory(Trajectory trajectory) {
-    // Create a double[] of elements and fill it from the trajectory states.
-    double[] elements = new double[trajectory.getStates().size() * 7];
-
-    for (int i = 0; i < trajectory.getStates().size() * 7; i += 7) {
-      var state = trajectory.getStates().get(i / 7);
-      elements[i] = state.time;
-      elements[i + 1] = state.velocity;
-      elements[i + 2] = state.acceleration;
-      elements[i + 3] = state.pose.getX();
-      elements[i + 4] = state.pose.getY();
-      elements[i + 5] = state.pose.getRotation().getRadians();
-      elements[i + 6] = state.curvature;
-    }
-    return elements;
-  }
-
-  private static int pathWeaverTrajectoryInstances;
-
-  /**
-   * Imports a Trajectory from a JSON file exported from PathWeaver.
-   *
-   * @param path The path of the json file to import from
-   * @return The trajectory represented by the file.
-   * @throws IOException if reading from the file fails.
-   */
-  public static Trajectory fromPathweaverJson(Path path) throws IOException {
-    MathSharedStore.reportUsage(
-        "Trajectory.PathWeaver", String.valueOf(++pathWeaverTrajectoryInstances));
-    return createTrajectoryFromElements(TrajectoryUtilJNI.fromPathweaverJson(path.toString()));
-  }
-
-  /**
-   * Exports a Trajectory to a PathWeaver-style JSON file.
-   *
-   * @param trajectory The trajectory to export
-   * @param path The path of the file to export to
-   * @throws IOException if writing to the file fails.
-   */
-  public static void toPathweaverJson(Trajectory trajectory, Path path) throws IOException {
-    TrajectoryUtilJNI.toPathweaverJson(getElementsFromTrajectory(trajectory), path.toString());
-  }
-
-  /**
-   * Deserializes a Trajectory from JSON exported from PathWeaver.
-   *
-   * @param json The string containing the serialized JSON
-   * @return the trajectory represented by the JSON
-   * @throws TrajectorySerializationException if deserialization of the string fails.
-   */
-  public static Trajectory deserializeTrajectory(String json) {
-    return createTrajectoryFromElements(TrajectoryUtilJNI.deserializeTrajectory(json));
-  }
-
-  /**
-   * Serializes a Trajectory to PathWeaver-style JSON.
-   *
-   * @param trajectory The trajectory to export
-   * @return The string containing the serialized JSON
-   * @throws TrajectorySerializationException if serialization of the trajectory fails.
-   */
-  public static String serializeTrajectory(Trajectory trajectory) {
-    return TrajectoryUtilJNI.serializeTrajectory(getElementsFromTrajectory(trajectory));
-  }
-
-  /** Exception for trajectory serialization failure. */
-  public static class TrajectorySerializationException extends RuntimeException {
-    /**
-     * Constructs a TrajectorySerializationException.
-     *
-     * @param message The exception message.
-     */
-    public TrajectorySerializationException(String message) {
-      super(message);
-    }
-  }
-}

wpimath/src/main/native/cpp/jni/Exceptions.cpp

@@ -18,10 +18,7 @@ JException trajectorySerializationEx;
 
 static const JExceptionInit exceptions[] = {
     {"java/lang/IllegalArgumentException", &illegalArgEx},
-    {"java/io/IOException", &ioEx},
+    {"java/io/IOException", &ioEx}};
-    {"edu/wpi/first/math/trajectory/"
-     "TrajectoryUtil$TrajectorySerializationException",
-     &trajectorySerializationEx}};
 
 extern "C" {
 

wpimath/src/main/native/cpp/jni/TrajectoryUtilJNI.cpp

@@ -1,139 +0,0 @@
-// 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 <jni.h>
-
-#include <exception>
-#include <vector>
-
-#include <wpi/jni_util.h>
-
-#include "Exceptions.h"
-#include "edu_wpi_first_math_jni_TrajectoryUtilJNI.h"
-#include "frc/trajectory/TrajectoryUtil.h"
-
-using namespace wpi::java;
-
-std::vector<double> GetElementsFromTrajectory(
-    const frc::Trajectory& trajectory) {
-  std::vector<double> elements;
-  elements.reserve(trajectory.States().size() * 7);
-
-  for (auto&& state : trajectory.States()) {
-    elements.push_back(state.t.value());
-    elements.push_back(state.velocity.value());
-    elements.push_back(state.acceleration.value());
-    elements.push_back(state.pose.X().value());
-    elements.push_back(state.pose.Y().value());
-    elements.push_back(state.pose.Rotation().Radians().value());
-    elements.push_back(state.curvature.value());
-  }
-
-  return elements;
-}
-
-frc::Trajectory CreateTrajectoryFromElements(std::span<const double> elements) {
-  // Make sure that the elements have the correct length.
-  assert(elements.size() % 7 == 0);
-
-  // Create a vector of states from the elements.
-  std::vector<frc::Trajectory::State> states;
-  states.reserve(elements.size() / 7);
-
-  for (size_t i = 0; i < elements.size(); i += 7) {
-    states.emplace_back(frc::Trajectory::State{
-        units::second_t{elements[i]},
-        units::meters_per_second_t{elements[i + 1]},
-        units::meters_per_second_squared_t{elements[i + 2]},
-        frc::Pose2d{units::meter_t{elements[i + 3]},
-                    units::meter_t{elements[i + 4]},
-                    units::radian_t{elements[i + 5]}},
-        units::curvature_t{elements[i + 6]}});
-  }
-
-  return frc::Trajectory(states);
-}
-
-extern "C" {
-
-/*
- * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
- * Method:    fromPathweaverJson
- * Signature: (Ljava/lang/String;)[D
- */
-JNIEXPORT jdoubleArray JNICALL
-Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_fromPathweaverJson
-  (JNIEnv* env, jclass, jstring path)
-{
-  try {
-    auto trajectory =
-        frc::TrajectoryUtil::FromPathweaverJson(JStringRef{env, path}.c_str());
-    std::vector<double> elements = GetElementsFromTrajectory(trajectory);
-    return MakeJDoubleArray(env, elements);
-  } catch (std::exception& e) {
-    ioEx.Throw(env, e.what());
-    return nullptr;
-  }
-}
-
-/*
- * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
- * Method:    toPathweaverJson
- * Signature: ([DLjava/lang/String;)V
- */
-JNIEXPORT void JNICALL
-Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_toPathweaverJson
-  (JNIEnv* env, jclass, jdoubleArray elements, jstring path)
-{
-  try {
-    auto trajectory =
-        CreateTrajectoryFromElements(JSpan<const jdouble>{env, elements});
-    frc::TrajectoryUtil::ToPathweaverJson(trajectory,
-                                          JStringRef{env, path}.c_str());
-  } catch (std::exception& e) {
-    ioEx.Throw(env, e.what());
-  }
-}
-
-/*
- * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
- * Method:    deserializeTrajectory
- * Signature: (Ljava/lang/String;)[D
- */
-JNIEXPORT jdoubleArray JNICALL
-Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_deserializeTrajectory
-  (JNIEnv* env, jclass, jstring json)
-{
-  try {
-    auto trajectory = frc::TrajectoryUtil::DeserializeTrajectory(
-        JStringRef{env, json}.c_str());
-    std::vector<double> elements = GetElementsFromTrajectory(trajectory);
-    return MakeJDoubleArray(env, elements);
-  } catch (std::exception& e) {
-    trajectorySerializationEx.Throw(env, e.what());
-    return nullptr;
-  }
-}
-
-/*
- * Class:     edu_wpi_first_math_jni_TrajectoryUtilJNI
- * Method:    serializeTrajectory
- * Signature: ([D)Ljava/lang/String;
- */
-JNIEXPORT jstring JNICALL
-Java_edu_wpi_first_math_jni_TrajectoryUtilJNI_serializeTrajectory
-  (JNIEnv* env, jclass, jdoubleArray elements)
-{
-  try {
-    auto trajectory =
-        CreateTrajectoryFromElements(JSpan<const jdouble>{env, elements});
-    return MakeJString(env,
-                       frc::TrajectoryUtil::SerializeTrajectory(trajectory));
-  } catch (std::exception& e) {
-    trajectorySerializationEx.Throw(env, e.what());
-    return nullptr;
-  }
-}
-
-}  // extern "C"

wpimath/src/main/native/cpp/trajectory/TrajectoryUtil.cpp

@@ -1,53 +0,0 @@
-// 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 "frc/trajectory/TrajectoryUtil.h"
-
-#include <string>
-#include <system_error>
-
-#include <fmt/format.h>
-#include <wpi/MemoryBuffer.h>
-#include <wpi/json.h>
-#include <wpi/raw_ostream.h>
-
-using namespace frc;
-
-void TrajectoryUtil::ToPathweaverJson(const Trajectory& trajectory,
-                                      std::string_view path) {
-  std::error_code error_code;
-
-  wpi::raw_fd_ostream output{path, error_code};
-  if (error_code) {
-    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
-  }
-
-  wpi::json json = trajectory.States();
-  output << json;
-  output.flush();
-}
-
-Trajectory TrajectoryUtil::FromPathweaverJson(std::string_view path) {
-  auto fileBuffer = wpi::MemoryBuffer::GetFile(path);
-  if (!fileBuffer) {
-    throw std::runtime_error(fmt::format("Cannot open file: {}", path));
-  }
-
-  wpi::json json = wpi::json::parse(fileBuffer.value()->GetCharBuffer());
-
-  wpi::math::MathSharedStore::ReportUsage(
-      "Trajectory.PathWeaver", std::to_string(++pathWeaverTrajectoryInstances));
-
-  return Trajectory{json.get<std::vector<Trajectory::State>>()};
-}
-
-std::string TrajectoryUtil::SerializeTrajectory(const Trajectory& trajectory) {
-  wpi::json json = trajectory.States();
-  return json.dump();
-}
-
-Trajectory TrajectoryUtil::DeserializeTrajectory(std::string_view jsonStr) {
-  wpi::json json = wpi::json::parse(jsonStr);
-  return Trajectory{json.get<std::vector<Trajectory::State>>()};
-}

wpimath/src/main/native/include/frc/trajectory/TrajectoryUtil.h

@@ -1,61 +0,0 @@
-// 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>
-#include <string_view>
-
-#include <wpi/SymbolExports.h>
-
-#include "frc/trajectory/Trajectory.h"
-
-namespace frc {
-/**
- * Trajectory utilities.
- */
-class WPILIB_DLLEXPORT TrajectoryUtil {
- public:
-  TrajectoryUtil() = delete;
-
-  /**
-   * Exports a Trajectory to a PathWeaver-style JSON file.
-   *
-   * @param trajectory the trajectory to export
-   * @param path the path of the file to export to
-   */
-  static void ToPathweaverJson(const Trajectory& trajectory,
-                               std::string_view path);
-  /**
-   * Imports a Trajectory from a JSON file exported from PathWeaver.
-   *
-   * @param path The path of the json file to import from.
-   *
-   * @return The trajectory represented by the file.
-   */
-  static Trajectory FromPathweaverJson(std::string_view path);
-
-  /**
-   * Deserializes a Trajectory from JSON exported from PathWeaver.
-   *
-   * @param trajectory the trajectory to export
-   *
-   * @return the string containing the serialized JSON
-   */
-  static std::string SerializeTrajectory(const Trajectory& trajectory);
-
-  /**
-   * Serializes a Trajectory to PathWeaver-style JSON.
-   *
-   * @param jsonStr the string containing the serialized JSON
-   *
-   * @return the trajectory represented by the JSON
-   */
-  static Trajectory DeserializeTrajectory(std::string_view jsonStr);
-
- private:
-  // Usage reporting for PathWeaver Trajectory instances
-  inline static int pathWeaverTrajectoryInstances = 0;
-};
-}  // namespace frc

wpimath/src/test/java/edu/wpi/first/math/jni/TrajectoryUtilJNITest.java

@@ -1,16 +0,0 @@
-// 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.math.jni;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-
-import org.junit.jupiter.api.Test;
-
-public class TrajectoryUtilJNITest {
-  @Test
-  public void testLink() {
-    assertDoesNotThrow(TrajectoryUtilJNI::forceLoad);
-  }
-}

wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java

@@ -1,30 +0,0 @@
-// 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.math.trajectory;
-
-import static org.junit.jupiter.api.Assertions.assertDoesNotThrow;
-import static org.junit.jupiter.api.Assertions.assertEquals;
-
-import edu.wpi.first.math.kinematics.DifferentialDriveKinematics;
-import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConstraint;
-import java.util.List;
-import org.junit.jupiter.api.Test;
-
-class TrajectoryJsonTest {
-  @Test
-  void deserializeMatches() {
-    var config =
-        List.of(new DifferentialDriveKinematicsConstraint(new DifferentialDriveKinematics(0.5), 3));
-    var trajectory = TrajectoryGeneratorTest.getTrajectory(config);
-
-    var deserialized =
-        assertDoesNotThrow(
-            () ->
-                TrajectoryUtil.deserializeTrajectory(
-                    TrajectoryUtil.serializeTrajectory(trajectory)));
-
-    assertEquals(trajectory.getStates(), deserialized.getStates());
-  }
-}

wpimath/src/test/native/cpp/trajectory/TrajectoryJsonTest.cpp

@@ -1,21 +0,0 @@
-// 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 <gtest/gtest.h>
-
-#include "frc/trajectory/TrajectoryConfig.h"
-#include "frc/trajectory/TrajectoryUtil.h"
-#include "trajectory/TestTrajectory.h"
-
-using namespace frc;
-
-TEST(TrajectoryJsonTest, DeserializeMatches) {
-  TrajectoryConfig config{12_fps, 12_fps_sq};
-  auto trajectory = TestTrajectory::GetTrajectory(config);
-
-  Trajectory deserialized;
-  EXPECT_NO_THROW(deserialized = TrajectoryUtil::DeserializeTrajectory(
-                      TrajectoryUtil::SerializeTrajectory(trajectory)));
-  EXPECT_EQ(trajectory.States(), deserialized.States());
-}