This is increasingly difficult to maintain, and has very limited
benefit. Modern coprocessors with enough horsepower to run Java
applications can use the Gradle or Bazel build systems instead.
Use [pattern matching switch
expressions](https://docs.oracle.com/en/java/javase/17/language/pattern-matching-switch.html)
where possible. This is a JVM 21+ feature which wasn't available until
recently.
If you look at the Java bytecode, this improves performance from an O(n)
runtime check of literally each of the `if (x instanceof y)` checks to
instead be an O(1) tableswitch.
---------
Signed-off-by: Jonah Snider <jonah@jonahsnider.com>
As discussed in the discord. lb-in^2 is the common imperial MOI unit,
e.g. Onshape uses it.
Also, improved the Java docstring for `KilogramMetersSquaredPerSecond`
to explain what it represents.
---------
Co-authored-by: Benjamin Hall <bhall@ctr-electronics.com>
There were complaints about no patch files being created from CI when
the examples pre-gen fails for people who don't build with bazel. This
adds a new action step to run just the non-robotpy pregen.
I also added an argument to the diff tests to make it a unified diff,
which might make it easier to hand fix.
```
CMake Warning (dev) at /usr/share/cmake/Modules/UseJava.cmake:716 (cmake_parse_arguments):
The OUTPUT_DIR keyword was followed by an empty string or no value at all.
Policy CMP0174 is not set, so cmake_parse_arguments() will unset the
_add_jar_OUTPUT_DIR variable rather than setting it to an empty string.
Call Stack (most recent call first):
cmake/modules/CreateSourceJar.cmake:29:EVAL:1 (add_jar)
cmake/modules/CreateSourceJar.cmake:29 (cmake_language)
wpiannotations/CMakeLists.txt:29 (add_source_jar)
This warning is for project developers. Use -Wno-dev to suppress it.
CMake Warning (dev) at /usr/share/cmake/Modules/UseJava.cmake:716 (cmake_parse_arguments):
The OUTPUT_DIR keyword was followed by an empty string or no value at all.
Policy CMP0174 is not set, so cmake_parse_arguments() will unset the
_add_jar_OUTPUT_DIR variable rather than setting it to an empty string.
Call Stack (most recent call first):
cmake/modules/CreateSourceJar.cmake:29:EVAL:1 (add_jar)
cmake/modules/CreateSourceJar.cmake:29 (cmake_language)
wpiunits/CMakeLists.txt:25 (add_source_jar)
This warning is for project developers. Use -Wno-dev to suppress it.
```
I left "free speed" alone since that's the technical term for it. In
general, velocity is a vector quantity, and speed is a magnitude (i.e.,
a strictly positive value).
This PR also replaces the speed verbiage in MotorController with duty
cycle.
Fixes#8423.
Currently the only name for this unit is `RPM`. This caused a bit of
confusion for a couple of my team members when we failed to find an RPM
unit, assuming it would be named `RotationsPerMinute` as is the standard
for almost all other units, such as `RotationsPerSecond`.
No corresponding changes have been made to wpilibc as it seems to
already work this way, with `rpm` being the abbreviation for
`revolutions_per_minute`.
I upgraded all plugins I could see except org.ysb33r.doxygen. 2.0 made
breaking changes, and I couldn't figure out how to migrate.
Most of the changes are for suppressing new linter purification rites.
This reverts commit 3dee19a435.
This was merged without sufficient review or discussion as to whether these units are value-add for the Java units library.
Instead of only providing per(TimeUnit)
Useful for making conversion factors easier, eg `Inches.of(10).per(Rotation)` vs `Inches.of(10).per(Rotation.one())`
Update VelocityUnit.one() and VelocityUnit.zero() to return Velocity objects instead of generic Measure<? extends VelocityUnit<D>>; VelocityUnit is final, so the wildcard generic is unnecessary, and this makes the generated `per` functions possible for this type
Java generics are too limited to do what we need. This refactors generic code previously in Unit and Measure into unit-specific classes that can have unit-safe math operations (notably, times and divide) that can return values in known units instead of a wildcarded Measure<?>.
Unit-specific measure implementations are automatically generated by ./wpiunits/generate_units.py, which generates generic interfaces and mutable and immutable implementations of those interfaces. These make up the bulk of the diff of this PR (approximately 9300 LOC).
This also adds units for angular and linear velocities, accelerations, and momenta; moment of inertia; and torque.
Explicitly list required components when using FindJava and FindJNI
Consolidate find_package calls for Java, JNI, and OpenCV into the root CMakeLists.txt file
Remove references to main_lib_dest
Install missing generated headers
Flatten some if statements
Use LinkMacOSGUI macro instead of hand rolling it
Stop installing OpenCV libraries and an extra ntcorejni library; OpenCV JAR will still be installed to make it easy to use
Only print platform version on Windows
Prevent GUI modules from being built when wpimath is off, which would otherwise cause a build failure
Simplify build configuration checks
Clean up fieldImages JAR creation
Place built JARs in the same subdir as installed JARs
Remove unnecessary JAR includes
Remove extra directories in target_include_directories
Improve CMake docs
