Initial switch from Pathfinder to WPILib splines (#147)

* Massive PathWeaver refactor - intended for initial review

What is not done:
-Comments or documentation

What is changed:
-The Spline interface has been refined, and an AbstractSpline class has been added to aid implementors
-SplineSegment aids drag and drop, a benefit of the old intrusive spline system
-One spline is now created for each trajectory (path the robot follows), instead of a Spline being created between every 2 Waypoints
-Waypoints no longer stores any references to Path or Spline
-Waypoints are held in an ArrayList instead of an intrusive linked list
-GitHub issues #140 and #142 are closed, with around 10 more issues being resolved or being able to be resolved with these changes
-Pathfinder has been superseded by WpiLib splines, but may be reimplemented if interest exists
-The faster rendering nature of WpiLib splines allows for an accurate spline to be continuously rendered, instead of swapping to a fake spline (aided by the skipping of time parameterization)
-Various code-quality/modularity improvements

To-Do:
-Fully evaluate the new series of abstract classes in regards to an spline implementation backend by writing some implementations
-Currently, the tangent lines exposed in PathWeaver are being set as the control vectors manually (see @gftabor), this should be replaced with WpiLib methods when those are complete
-Path serialization currently only serializes waypoints - we are blocking on further allwpilib work as well as bikeshedding

* Fix bugs found in inital refactor

What is changed:
-Removal of square scaling for tangent lines
-Refactor the angle heading optimization out from Path into Wpilib Path
and PathUtil
-Fixing out of bounds bugs

To-Do:
-Work on getting the square root scaling working with the tangent path optimization
-Get a proper change-log and to-do list up

* Add JavaDoc to pertinent files

What is changed:
-Javadoc is added to pertinent user-facing classes and important internal ones
-Gradle now errors on JavaDoc errors, and all existing errors have been fixed

* Really fix #142

What is changed:
-Actually show the alert box, as well as add error-handling to the right class. Also made alert boxes always on top.

* Dummy commit to rerun builds

.gitignore

@@ -6,7 +6,6 @@ out/
 # Important that this is above the inclusion of the gradle-wrapper.jar
 *.jar
 
-!Pathfinder-Java.jar
 !gradle-wrapper.jar
 
 # Ignore Gradle GUI config

README.md

@@ -1,7 +1,7 @@
 [![Build Status](https://dev.azure.com/wpilib/DesktopTools/_apis/build/status/wpilibsuite.PathWeaver)](https://dev.azure.com/wpilib/DesktopTools/_build/latest?definitionId=10)
 # PathWeaver
 
-PathWeaver is a front end motion planning program. It is primarily designed for FRC teams using [Pathfinder](https://github.com/JacisNonsense/Pathfinder). For more instructions on using PathWeaver, refer to the [WPILib instructions](https://wpilib.screenstepslive.com/s/currentCS/m/84338).
+PathWeaver is a front end motion planning program. It is primarily designed for FRC teams using WPILib's trajectories and splines. For more instructions on using PathWeaver, refer to the [WPILib instructions](https://wpilib.screenstepslive.com/s/currentCS/m/84338).
 
 ## Commenting
 For bugs or feature suggestions, make a github issue.

build.gradle.kts

@@ -1,4 +1,3 @@
-import org.gradle.api.Project
 import org.gradle.api.publish.maven.MavenPublication
 import org.gradle.jvm.tasks.Jar
 import org.gradle.testing.jacoco.tasks.JacocoReport
@@ -17,22 +16,21 @@ plugins {
     `maven-publish`
     jacoco
     java
-    checkstyle
-    application
     pmd
+    application
     id("edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin") version "4.0.1"
     id("edu.wpi.first.wpilib.repositories.WPILibRepositoriesPlugin") version "2020.1"
     id("com.jfrog.artifactory") version "4.9.8"
     id("com.github.johnrengelman.shadow") version "4.0.3"
-    id("com.diffplug.gradle.spotless") version "3.13.0"
+    id("com.diffplug.gradle.spotless") version "3.25.0"
 }
 
 if (hasProperty("buildServer")) {
-    wpilibVersioning.setBuildServerMode(true)
+    wpilibVersioning.isBuildServerMode = true
 }
 
 if (hasProperty("releaseMode")) {
-    wpilibVersioning.setReleaseMode(true)
+    wpilibVersioning.isReleaseMode = true
 }
 
 repositories {
@@ -49,10 +47,13 @@ repositories {
     maven {
         url = uri("https://dev.imjac.in/maven/")
     }
+    maven {
+        url = uri("https://first.wpi.edu/FRC/roborio/maven/release/")
+    }
 }
 
-wpilibVersioning.getVersion().finalizeValue()
-version = wpilibVersioning.getVersion().get()
+wpilibVersioning.version.finalizeValue()
+version = wpilibVersioning.version.get()
 
 if (System.getenv()["RUN_AZURE_ARTIFACTORY_RELEASE"] != null) {
     artifactory {
@@ -72,7 +73,7 @@ if (System.getenv()["RUN_AZURE_ARTIFACTORY_RELEASE"] != null) {
                 invokeMethod("publications", "app")
             })
         })
-        clientConfig.info.setBuildName("PathWeaver")
+        clientConfig.info.buildName = "PathWeaver"
     }
 
     tasks.named("publish") {
@@ -96,8 +97,11 @@ application {
 
 // Spotless is used to lint and reformat source files.
 spotless {
+    java {
+        removeUnusedImports()
+    }
     kotlinGradle {
-        ktlint("0.24.0")
+        ktlint("0.33.0")
         trimTrailingWhitespace()
         indentWithSpaces()
         endWithNewline()
@@ -113,24 +117,22 @@ spotless {
 createNativeConfigurations()
 
 dependencies {
-    // JavaFX dependencies
-    javafx("base")
-    javafx("controls")
-    javafx("fxml")
-    javafx("graphics")
-
-    compile("org.apache.commons", "commons-csv", "1.5")
-    compile("javax.measure", "unit-api", "1.0")
-    compile("si.uom", "si-units", "0.9")
-    compile("systems.uom", "systems-common", "0.8")
-    compile("com.google.code.gson", "gson", "2.8.5")
+    javafx(name = "base")
+    javafx(name = "controls")
+    javafx(name = "fxml")
+    javafx(name = "graphics")
     compile(group = "org.fxmisc.easybind", name = "easybind", version = "1.0.3")
-    compile("jaci.pathfinder", "Pathfinder-Java", "2019.1.10")
-    compile("jaci.jniloader", "JNILoader", "1.0.1")
-    forEachPlatform {
-        add(it, "jaci.pathfinder:Pathfinder-JNI:2019.1.10:${wpilibClassifier(it)}")
-        add(it, "jaci.pathfinder:Pathfinder-CoreJNI:2019.1.10:${wpilibClassifier(it)}")
-    }
+
+    compile(group = "javax.measure", name = "unit-api", version = "1.0")
+    compile(group = "si.uom", name = "si-units", version = "0.9")
+    compile(group = "systems.uom", name = "systems-common", version = "0.8")
+
+    compile(group = "com.google.code.gson", name = "gson", version = "2.8.5")
+    compile(group = "org.apache.commons", name = "commons-csv", version = "1.5")
+
+    compile(group = "org.ejml", name = "ejml-simple", version = "0.38")
+    compile(group = "edu.wpi.first.wpiutil", name = "wpiutil-java", version = "2020.+")
+    compile(group = "edu.wpi.first.wpilibj", name = "wpilibj-java", version = "2020.+")
 
     fun junitJupiter(name: String, version: String = "5.2.0") =
         create(group = "org.junit.jupiter", name = name, version = version)
@@ -148,18 +150,6 @@ dependencies {
     testRuntime(group = "org.junit.platform", name = "junit-platform-launcher", version = "1.0.0")
 }
 
-checkstyle {
-    toolVersion = "8.12"
-}
-
-pmd {
-    toolVersion = "6.8.0"
-    isConsoleOutput = true
-    reportsDir = file("${project.buildDir}/reports/pmd")
-    ruleSetFiles = files(file("$rootDir/pmd-ruleset.xml"))
-    ruleSets = emptyList()
-}
-
 tasks.withType<JavaCompile>().configureEach {
     // UTF-8 characters are used in menus
     options.encoding = "UTF-8"
@@ -171,6 +161,14 @@ jacoco {
     toolVersion = "0.8.2"
 }
 
+extensions.getByType<PmdExtension>().apply {
+    toolVersion = "6.8.0"
+    isConsoleOutput = true
+    reportsDir = file("${project.buildDir}/reports/pmd")
+    ruleSetFiles = files(file("$rootDir/pmd-ruleset.xml"))
+    ruleSets = emptyList()
+}
+
 tasks.withType<JacocoReport>().configureEach {
     reports {
         xml.isEnabled = true
@@ -188,10 +186,6 @@ tasks.withType<Test>().configureEach {
     }
 }
 
-tasks.withType<Javadoc>().configureEach {
-    isFailOnError = false
-}
-
 val nativeShadowTasks = NativePlatforms.values().map { platform ->
     tasks.create<ShadowJar>("shadowJar-${platform.platformName}") {
         classifier = platform.platformName
@@ -233,36 +227,3 @@ publishing {
 tasks.withType<Wrapper>().configureEach {
     gradleVersion = "5.0"
 }
-
-/**
- * Retrieves the [java][org.gradle.api.plugins.JavaPluginConvention] project convention.
- */
-val Project.`java`: org.gradle.api.plugins.JavaPluginConvention
-    get() =
-        convention.getPluginByName("java")
-
-/**
- * Retrieves the [checkstyle][org.gradle.api.plugins.quality.CheckstyleExtension] project extension.
- */
-val Project.`checkstyle`: org.gradle.api.plugins.quality.CheckstyleExtension
-    get() =
-        extensions.getByName("checkstyle") as org.gradle.api.plugins.quality.CheckstyleExtension
-
-/**
- * Configures the [checkstyle][org.gradle.api.plugins.quality.CheckstyleExtension] project extension.
- */
-fun Project.`checkstyle`(configure: org.gradle.api.plugins.quality.CheckstyleExtension.() -> Unit) =
-        extensions.configure("checkstyle", configure)
-
-/**
- * Retrieves the [pmd][org.gradle.api.plugins.quality.PmdExtension] project extension.
- */
-val Project.`pmd`: org.gradle.api.plugins.quality.PmdExtension
-    get() =
-        extensions.getByName("pmd") as org.gradle.api.plugins.quality.PmdExtension
-
-/**
- * Configures the [pmd][org.gradle.api.plugins.quality.PmdExtension] project extension.
- */
-fun Project.`pmd`(configure: org.gradle.api.plugins.quality.PmdExtension.() -> Unit) =
-        extensions.configure("pmd", configure)