Merge remote-tracking branch 'upstream/main'

Author: spderman3333

.idea/codeStyles/Project.xml

@@ -1,3 +1,5 @@
+//file:noinspection GroovyAssignabilityCheck
+//file:noinspection DependencyNotationArgument
 plugins {
     id 'java'
     id 'edu.wpi.first.GradleRIO' version '2025.3.1'
@@ -139,6 +141,7 @@ dependencies {
     testImplementation 'junit:junit:4.13.2'
     testImplementation 'org.mockito:mockito-core:5.14.2'
     testImplementation 'com.google.truth:truth:1.4.4'
+    testImplementation 'com.team2813:testing'
 
     implementation 'com.team2813:lib2813'
     implementation 'com.team2813:limelight'
@@ -152,7 +155,9 @@ test {
 // Simulation configuration (e.g. environment variables).
 wpi.sim.addGui().defaultEnabled = true
 wpi.sim.addDriverstation()
+
 downloadDepsPreemptively.dependsOn gradle.includedBuild('lib2813').task(':lib:jar')
+downloadDepsPreemptively.dependsOn gradle.includedBuild('lib2813').task(':testing:jar')
 downloadDepsPreemptively.dependsOn gradle.includedBuild('lib2813').task(':limelight:jar')
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

build.gradle

@@ -33,5 +33,6 @@ includeBuild('lib2813') {
     dependencySubstitution {
         substitute module('com.team2813:lib2813') using project(':lib')
         substitute module('com.team2813:limelight') using project(':limelight')
+        substitute module('com.team2813:testing') using project(':testing')
     }
 }

lib2813

@@ -1,6 +1,7 @@
 package com.team2813;
 
 import edu.wpi.first.wpilibj.Preferences;
+import java.util.List;
 import java.util.Map;
 import java.util.Set;
 
@@ -24,23 +25,64 @@ class AllPreferences {
   private static final Set<String> REMOVED_PREFERENCES =
       Set.of("USE_LIMELIGHT_LOCATION", "DRIVE_ADD_LIMELIGHT_MEASUREMENT");
 
+  public static final List<String> DRIVE_BOOLEAN_PREFERENCE_KEYS =
+      List.of(
+          "addLimelightMeasurement", "usePhotonVisionLocation", "usePnpDistanceTrigSolveStrategy");
+  public static final List<String> DRIVE_DOUBLE_PREFERENCE_KEYS =
+      List.of(
+          "maxLimelightDifferenceMeters", "maxRotationsPerSecond", "maxVelocityInMetersPerSecond");
+
+  /** Migrate Preferences stored on the robot from older keys to current keys. */
   static synchronized void migrateLegacyPreferences() {
     for (var entry : LEGACY_BOOLEAN_PREFERENCES.entrySet()) {
       String oldKey = entry.getKey().name();
       String newKey = entry.getValue();
-      if (Preferences.containsKey(oldKey)) {
-        if (!Preferences.containsKey(newKey)) {
-          boolean value = Preferences.getBoolean(oldKey, false);
-          Preferences.initBoolean(newKey, value);
-        }
-        Preferences.remove(oldKey);
-      }
+      migratePreference(oldKey, newKey, AllPreferences::booleanPreferenceMigrator);
     }
+
     for (var key : REMOVED_PREFERENCES) {
       if (Preferences.containsKey(key)) {
         Preferences.remove(key);
       }
     }
+
+    migrateDrivePreferences(
+        DRIVE_BOOLEAN_PREFERENCE_KEYS, AllPreferences::booleanPreferenceMigrator);
+    migrateDrivePreferences(DRIVE_DOUBLE_PREFERENCE_KEYS, AllPreferences::doublePreferenceMigrator);
+  }
+
+  @FunctionalInterface
+  private interface PreferenceMigrator {
+    void migrate(String oldKey, String newKey);
+  }
+
+  private static void migrateDrivePreferences(List<String> keys, PreferenceMigrator migrator) {
+    for (String key : keys) {
+      String oldKey = "subsystems.Drive.DriveConfiguration." + key;
+      String newKey = "Drive/" + key;
+      migratePreference(oldKey, newKey, migrator);
+    }
+  }
+
+  private static void booleanPreferenceMigrator(String oldKey, String newKey) {
+    boolean value = Preferences.getBoolean(oldKey, false);
+    Preferences.initBoolean(newKey, value);
+  }
+
+  private static void doublePreferenceMigrator(String oldKey, String newKey) {
+    double value = Preferences.getDouble(oldKey, -1);
+    if (value > 0) {
+      Preferences.initDouble(newKey, value);
+    }
+  }
+
+  private static void migratePreference(String oldKey, String newKey, PreferenceMigrator migrator) {
+    if (Preferences.containsKey(oldKey)) {
+      if (!Preferences.containsKey(newKey)) {
+        migrator.migrate(oldKey, newKey);
+      }
+      Preferences.remove(oldKey);
+    }
   }
 
   private enum Key {

settings.gradle

@@ -5,6 +5,7 @@
 package com.team2813;
 
 import com.ctre.phoenix6.SignalLogger;
+import com.team2813.lib2813.util.BuildConstantsPublisher;
 import edu.wpi.first.cameraserver.CameraServer;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -16,8 +17,6 @@
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 
 public class Robot extends TimedRobot {
-  private static final BuildConstantsPublisher m_buildConstantsPublisher =
-      new BuildConstantsPublisher(NetworkTableInstance.getDefault());
   private Command m_autonomousCommand;
 
   private final RobotContainer m_robotContainer;
@@ -41,8 +40,10 @@ public void robotInit() {
     }
     CameraServer.startAutomaticCapture();
     // Publish build constants to the Metadata table on NetworkTables and print them in system log.
-    m_buildConstantsPublisher.publish();
-    m_buildConstantsPublisher.log();
+    BuildConstantsPublisher buildConstantsPublisher =
+        new BuildConstantsPublisher(BuildConstants.class);
+    buildConstantsPublisher.publish(NetworkTableInstance.getDefault());
+    buildConstantsPublisher.log();
   }
 
   @Override

src/main/java/com/team2813/AllPreferences.java

@@ -347,33 +347,20 @@ private void configureBindings(RobotLocalization localization) {
 
     // Every subsystem should be in the set; we don't know what subsystem will be controlled, so
     // assume we control all of them
+    // TODO: Reimplement with photonvision.
     AUTO_ALIGN_LEFT.onTrue(
-        new SequentialCommandGroup(
-            new InstantCommand(
-                () ->
-                    Limelight.getDefaultLimelight()
-                        .getLocationalData()
-                        .getBotpose()
-                        .map(Pose3d::toPose2d)
-                        .map(RobotContainer::toBotposeBlue)
-                        .ifPresent(drive::setPose)),
-            new WaitCommand(0.02),
-            new DeferredCommand(
-                () -> localization.getLeftAutoAlignCommand(drive::getPose), Set.of(drive))));
-
+        new InstantCommand(
+            () ->
+                DriverStation.reportWarning(
+                    "Attempted to auto align left, but there is no limelight implementation.",
+                    false)));
+    // TODO: Reimplement with photonvision.
     AUTO_ALIGN_RIGHT.onTrue(
-        new SequentialCommandGroup(
-            new InstantCommand(
-                () ->
-                    Limelight.getDefaultLimelight()
-                        .getLocationalData()
-                        .getBotpose()
-                        .map(Pose3d::toPose2d)
-                        .map(RobotContainer::toBotposeBlue)
-                        .ifPresent(drive::setPose)),
-            new WaitCommand(0.02),
-            new DeferredCommand(
-                () -> localization.getRightAutoAlignCommand(drive::getPose), Set.of(drive))));
+        new InstantCommand(
+            () ->
+                DriverStation.reportWarning(
+                    "Attempted to auto align right, but there is no limelight implementation.",
+                    false)));
 
     SYSID_RUN.whileTrue(
         new DeferredCommand(