Annotate SwerveModuleVelocity with NoDiscard

Author: Gold856

CMakeLists.txt

@@ -287,6 +287,10 @@ set(WPIUNITS_DEP_REPLACE_IMPL "find_dependency(wpiunits)")
 set(WPIANNOTATIONS_DEP_REPLACE_IMPL "find_dependency(wpiannotations)")
 set(WPIUTIL_DEP_REPLACE "find_dependency(wpiutil)")
 set(DATALOG_DEP_REPLACE "find_dependency(datalog)")
+if(WITH_JAVA)
+    add_subdirectory(wpiannotations)
+endif()
+
 add_subdirectory(wpiutil)
 
 add_subdirectory(datalog)
@@ -307,10 +311,6 @@ if(WITH_WPIMATH)
     add_subdirectory(wpimath)
 endif()
 
-if(WITH_JAVA)
-    add_subdirectory(wpiannotations)
-endif()
-
 if(WITH_WPIUNITS AND NOT WITH_WPIMATH)
     # In case of building wpiunits standalone
     set(WPIUNITS_DEP_REPLACE ${WPIUNITS_DEP_REPLACE_IMPL})

wpimath/BUILD.bazel

@@ -236,13 +236,15 @@ wpilib_cc_shared_library(
 wpilib_jni_java_library(
     name = "wpimath-java",
     srcs = [":generated_java"] + glob(["src/main/java/**/*.java"]),
+    exported_plugins = ["//javacPlugin:plugin"],
     maven_artifact_name = "wpimath-java",
     maven_group_id = "org.wpilib.wpimath",
     native_libs = [":wpimathjni"],
     resource_strip_prefix = "wpimath/src/main/proto",
     resources = glob(["src/main/proto/**"]),
     visibility = ["//visibility:public"],
     deps = [
+        "//wpiannotations",
         "//wpiunits:wpiunits-java",
         "//wpiutil:wpiutil-java",
         "@maven//:com_fasterxml_jackson_core_jackson_annotations",

wpimath/CMakeLists.txt

@@ -70,7 +70,13 @@ if(WITH_JAVA)
     add_jar(
         wpimath_jar
         ${JAVA_SOURCES}
-        INCLUDE_JARS wpiutil_jar wpiunits_jar ${EJML_JARS} ${JACKSON_JARS} ${QUICKBUF_JAR}
+        INCLUDE_JARS
+            wpiutil_jar
+            wpiunits_jar
+            wpiannotations_jar
+            ${EJML_JARS}
+            ${JACKSON_JARS}
+            ${QUICKBUF_JAR}
         OUTPUT_NAME wpimath
         OUTPUT_DIR ${WPILIB_BINARY_DIR}/${java_lib_dest}
         GENERATE_NATIVE_HEADERS wpimath_jni_headers

wpimath/build.gradle

@@ -92,6 +92,9 @@ dependencies {
     api libs.bundles.ejml
     api libs.bundles.jackson
     api libs.quickbuf.runtime
+    implementation project(":wpiannotations")
+    annotationProcessor project(':javacPlugin')
+    testAnnotationProcessor project(':javacPlugin')
 }
 
 sourceSets.main.java.srcDir "${projectDir}/src/generated/main/java"

wpimath/src/main/java/org/wpilib/math/kinematics/SwerveModuleVelocity.java

@@ -7,6 +7,7 @@
 import static org.wpilib.units.Units.MetersPerSecond;
 
 import java.util.Objects;
+import org.wpilib.annotation.NoDiscard;
 import org.wpilib.math.geometry.Rotation2d;
 import org.wpilib.math.interpolation.Interpolatable;
 import org.wpilib.math.kinematics.proto.SwerveModuleVelocityProto;
@@ -16,6 +17,7 @@
 import org.wpilib.util.struct.StructSerializable;
 
 /** Represents the velocity of one swerve module. */
+@NoDiscard
 public class SwerveModuleVelocity
     implements Interpolatable<SwerveModuleVelocity>,
         Comparable<SwerveModuleVelocity>,