Wpi field images (#6)

* Delete field configurations

* Add WPI field image files

* Refactor field image files

* Changed extra field images to use WPILib format

* Refactor DefaultFieldImages with new WPILib fields

* Fixed DefaultFieldImage

* WPILib fields fully integrated

Author: jlbabilino

app/build.gradle.kts

@@ -20,10 +20,10 @@ repositories {
         url = uri("https://jitpack.io")
     }
     maven {
-        url = uri("https://maven.pkg.github.com/jlbabilino/HelixTrajectory")
+        url = uri("https://maven.pkg.github.com/SleipnirGroup/TrajoptLib")
         credentials {
             username = "jlbabilino"
-            password = "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"
+            password = "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"
         }
     }
 }

app/src/main/java/org/team2363/helixnavigator/document/field/configuration/HDefaultFieldConfiguration.java

@@ -2,73 +2,90 @@
 
 import java.io.InputStream;
 
+import javax.measure.Quantity;
+import javax.measure.quantity.Length;
+
+import org.team2363.helixnavigator.global.DefaultFieldImages;
+
 import com.jlbabilino.json.DeserializedJSONConstructor;
 import com.jlbabilino.json.DeserializedJSONObjectValue;
 import com.jlbabilino.json.JSONDeserializable;
+import com.jlbabilino.json.JSONEntry.JSONType;
 import com.jlbabilino.json.JSONSerializable;
 import com.jlbabilino.json.SerializedJSONObjectValue;
-import com.jlbabilino.json.JSONEntry.JSONType;
-
-import org.team2363.helixnavigator.global.DefaultFieldImages;
 
 import javafx.scene.image.Image;
+import si.uom.SI;
+import tech.units.indriya.quantity.Quantities;
 
 @JSONSerializable(JSONType.OBJECT)
 @JSONDeserializable({JSONType.OBJECT})
 public class HDefaultFieldImage implements HFieldImage {
 
-    private final String name;
+    @SerializedJSONObjectValue(key = "game")
+    public final String game;
+    @SerializedJSONObjectValue(key = "field-image")
+    public final String fieldImage;
+    @SerializedJSONObjectValue(key = "field-corners")
+    public final HFieldCorners fieldCorners;
+    @SerializedJSONObjectValue(key = "field-size")
+    public final HFieldSize fieldSize;
+    @SerializedJSONObjectValue(key = "field-unit")
+    public final HFieldUnit fieldUnit;
+
+    private final Image image;
     private final double imageRes;
     private final double imageCenterX;
     private final double imageCenterY;
-    private final String fileName;
-    private final Image image;
 
     @DeserializedJSONConstructor
     public HDefaultFieldImage(
-            @DeserializedJSONObjectValue(key = "name") String name, 
-            @DeserializedJSONObjectValue(key = "image_res") double imageRes,
-            @DeserializedJSONObjectValue(key = "image_center_x") double imageCenterX,
-            @DeserializedJSONObjectValue(key = "image_center_y") double imageCenterY,
-            @DeserializedJSONObjectValue(key = "file_name") String fileName) {
-        this.name = name;
-        this.imageRes = imageRes;
-        this.imageCenterX = imageCenterX;
-        this.imageCenterY = imageCenterY;
-        this.fileName = fileName;
-        InputStream imageStream = DefaultFieldImages.class.getResourceAsStream(this.fileName);
-        image = new Image(imageStream);
+            @DeserializedJSONObjectValue(key = "game") String game,
+            @DeserializedJSONObjectValue(key = "field-image") String fieldImage,
+            @DeserializedJSONObjectValue(key = "field-corners") HFieldCorners fieldCorners,
+            @DeserializedJSONObjectValue(key = "field-size") HFieldSize fieldSize,
+            @DeserializedJSONObjectValue(key = "field-unit") HFieldUnit fieldUnit) {
+        this.game = game;
+        this.fieldImage = fieldImage;
+        this.fieldCorners = fieldCorners;
+        this.fieldSize = fieldSize;
+        this.fieldUnit = fieldUnit;
+
+        InputStream imageStream = DefaultFieldImages.class.getResourceAsStream("wpifieldimages/" + this.fieldImage);
+        if (imageStream == null) {
+            imageStream = DefaultFieldImages.class.getResourceAsStream("extrafieldimages/" + this.fieldImage);
+        }
+        this.image = new Image(imageStream);
+        
+        // Assume the image scales proportionally on both axes
+        double fieldAreaWidthPx = fieldCorners.bottomRightCorner.x - fieldCorners.topLeftCorner.x;
+        Quantity<Length> fieldAreaWidthUnits = Quantities.getQuantity(fieldSize.width, fieldUnit.unit);
+        this.imageRes = fieldAreaWidthUnits.to(SI.METRE).getValue().doubleValue() / fieldAreaWidthPx;
+
+        this.imageCenterX = fieldCorners.topLeftCorner.x * imageRes;
+        this.imageCenterY = fieldCorners.bottomRightCorner.y * imageRes;
     }
 
-    @SerializedJSONObjectValue(key = "name")
     @Override
     public String getName() {
-        return name;
+        return game;
     }
 
-    @SerializedJSONObjectValue(key = "image_res")
     @Override
     public double getImageRes() {
         return imageRes;
     }
 
-    @SerializedJSONObjectValue(key = "image_center_x")
     @Override
     public double getImageCenterX() {
         return imageCenterX;
     }
 
-    @SerializedJSONObjectValue(key = "image_center_y")
     @Override
     public double getImageCenterY() {
         return imageCenterY;
     }
 
-    @SerializedJSONObjectValue(key = "file_name")
-    public String getFileName() {
-        return fileName;
-    }
-
     @Override
     public Image getImage() {
         return image;

app/src/main/java/org/team2363/helixnavigator/document/field/configuration/HFieldConfiguration.java

@@ -0,0 +1,26 @@
+package org.team2363.helixnavigator.document.field.image;
+
+import com.jlbabilino.json.DeserializedJSONArrayItem;
+import com.jlbabilino.json.DeserializedJSONConstructor;
+import com.jlbabilino.json.JSONDeserializable;
+import com.jlbabilino.json.JSONSerializable;
+import com.jlbabilino.json.SerializedJSONArrayItem;
+import com.jlbabilino.json.JSONEntry.JSONType;
+
+@JSONSerializable(JSONType.ARRAY)
+@JSONDeserializable({JSONType.ARRAY})
+public class HFieldCorner {
+
+    @SerializedJSONArrayItem(index = 0)
+    public final double x;
+    @SerializedJSONArrayItem(index = 1)
+    public final double y;
+
+    @DeserializedJSONConstructor
+    public HFieldCorner(
+            @DeserializedJSONArrayItem(index = 0) double x,
+            @DeserializedJSONArrayItem(index = 1) double y) {
+        this.x = x;
+        this.y = y;
+    }
+}

app/src/main/java/org/team2363/helixnavigator/document/field/configuration/HReferenceFieldConfiguration.java

@@ -0,0 +1,26 @@
+package org.team2363.helixnavigator.document.field.image;
+
+import com.jlbabilino.json.DeserializedJSONConstructor;
+import com.jlbabilino.json.DeserializedJSONObjectValue;
+import com.jlbabilino.json.JSONDeserializable;
+import com.jlbabilino.json.JSONSerializable;
+import com.jlbabilino.json.SerializedJSONObjectValue;
+import com.jlbabilino.json.JSONEntry.JSONType;
+
+@JSONSerializable(JSONType.OBJECT)
+@JSONDeserializable({JSONType.OBJECT})
+public class HFieldCorners {
+    
+    @SerializedJSONObjectValue(key = "top-left")
+    public final HFieldCorner topLeftCorner;
+    @SerializedJSONObjectValue(key = "bottom-right")
+    public final HFieldCorner bottomRightCorner;
+
+    @DeserializedJSONConstructor
+    public HFieldCorners(
+            @DeserializedJSONObjectValue(key = "top-left") HFieldCorner topLeftCorner,
+            @DeserializedJSONObjectValue(key = "bottom-right") HFieldCorner bottomRightCorner) {
+        this.topLeftCorner = topLeftCorner;
+        this.bottomRightCorner = bottomRightCorner;
+    }
+}

app/src/main/java/org/team2363/helixnavigator/document/field/image/HDefaultFieldImage.java

@@ -12,10 +12,26 @@
 @JSONDeserializable({JSONType.OBJECT})
 public interface HFieldImage {
 
+    /**
+     * @return the name of the field image
+     */
     public String getName();
+
+    /**
+     * @return the resolution of image, in meters per pixel
+     */
     public double getImageRes();
+    /**
+     * @return the center x-coordinate of the image, in meters
+     */
     public double getImageCenterX();
+    /**
+     * @return the center y-coordinate of
+     */
     public double getImageCenterY();
+    /**
+     * @return the processed javafx image of the field
+     */
     public Image getImage();
 
     @DeserializedJSONDeterminer

app/src/main/java/org/team2363/helixnavigator/document/field/image/HFieldCorner.java

@@ -0,0 +1,26 @@
+package org.team2363.helixnavigator.document.field.image;
+
+import com.jlbabilino.json.DeserializedJSONArrayItem;
+import com.jlbabilino.json.DeserializedJSONConstructor;
+import com.jlbabilino.json.JSONDeserializable;
+import com.jlbabilino.json.JSONSerializable;
+import com.jlbabilino.json.SerializedJSONArrayItem;
+import com.jlbabilino.json.JSONEntry.JSONType;
+
+@JSONSerializable(JSONType.ARRAY)
+@JSONDeserializable({JSONType.ARRAY})
+public class HFieldSize {
+
+    @SerializedJSONArrayItem(index = 0)
+    public final double width;
+    @SerializedJSONArrayItem(index = 1)
+    public final double height;
+
+    @DeserializedJSONConstructor
+    public HFieldSize(
+            @DeserializedJSONArrayItem(index = 0) double width,
+            @DeserializedJSONArrayItem(index = 1) double height) {
+        this.width = width;
+        this.height = height;
+    }
+}