Java 17

docs/source/docs/installation/sw_install/linux-pc.md

@@ -8,10 +8,10 @@ You do not need to install PhotonVision on a Windows PC in order to access the w
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. JDK 11 is needed (different versions will not work). If you don't have JDK 11 already, run the following to install it:
+PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). If you don't have JDK 17 already, run the following to install it:
 
 ```
-$ sudo apt-get install openjdk-11-jdk
+$ sudo apt-get install openjdk-17-jdk
 ```
 
 :::{warning}

docs/source/docs/installation/sw_install/mac-os.md

@@ -12,10 +12,10 @@ VERY Limited macOS support is available.
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. JDK 11 is needed (different versions will not work). You may already have this if you have installed WPILib. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=11).
+PhotonVision requires a JDK installed and on the system path. JDK 17 is needed (different versions will not work). You may already have this if you have installed WPILib. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=17).
 
 :::{warning}
-Using a JDK other than JDK11 will cause issues when running PhotonVision and is not supported.
+Using a JDK other than JDK17 will cause issues when running PhotonVision and is not supported.
 :::
 
 ## Downloading the Latest Stable Release of PhotonVision

docs/source/docs/installation/sw_install/windows-pc.md

@@ -12,7 +12,7 @@ Bonjour provides more stable networking when using Windows PCs. Install [Bonjour
 
 ## Installing Java
 
-PhotonVision requires a JDK installed and on the system path. **JDK 11 is needed** (different versions will not work). You may already have this if you have installed WPILib, but ensure that running `java -version` shows JDK 11. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=11) and ensure that the new JDK is being used.
+PhotonVision requires a JDK installed and on the system path. **JDK 17 is needed** (different versions will not work). You may already have this if you have installed WPILib, but ensure that running `java -version` shows JDK 17. If not, [download and install it from here](https://adoptium.net/temurin/releases?version=17) and ensure that the new JDK is being used.
 
 :::{warning}
 Using a JDK other than JDK11 will cause issues when running PhotonVision and is not supported.

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -70,16 +70,12 @@ public static ConfigManager getInstance() {
         if (INSTANCE == null) {
             Path rootFolder = PathManager.getInstance().getRootFolder();
             switch (m_saveStrat) {
-                case SQL:
-                    INSTANCE = new ConfigManager(rootFolder, new SqlConfigProvider(rootFolder));
-                    break;
-                case LEGACY:
-                    INSTANCE = new ConfigManager(rootFolder, new LegacyConfigProvider(rootFolder));
-                    break;
-                case ATOMIC_ZIP:
-                    // not yet done, fall through
-                default:
-                    break;
+                case SQL -> INSTANCE = new ConfigManager(rootFolder, new SqlConfigProvider(rootFolder));
+                case LEGACY ->
+                        INSTANCE = new ConfigManager(rootFolder, new LegacyConfigProvider(rootFolder));
+                case ATOMIC_ZIP -> {
+                    // TODO: Not done yet
+                }
             }
         }
         return INSTANCE;

photon-core/src/main/java/org/photonvision/common/configuration/NeuralNetworkModelManager.java

@@ -205,13 +205,11 @@ private void loadModel(File model) {
 
         try {
             switch (backend.get()) {
-                case RKNN:
+                case RKNN -> {
                     models.get(backend.get()).add(new RknnModel(model, labels));
                     logger.info(
                             "Loaded model " + model.getName() + " for backend " + backend.get().toString());
-                    break;
-                default:
-                    break;
+                }
             }
         } catch (IllegalArgumentException e) {
             logger.error("Failed to load model " + model.getName(), e);

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -599,9 +599,9 @@ private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn)
                                 result.getString(Columns.CAM_PIPELINE_JSONS), dummyList.getClass());
 
                 List<CVPipelineSettings> loadedSettings = new ArrayList<>();
-                for (var str : pipelineSettings) {
-                    if (str instanceof String) {
-                        loadedSettings.add(JacksonUtils.deserialize((String) str, CVPipelineSettings.class));
+                for (var setting : pipelineSettings) {
+                    if (setting instanceof String str) {
+                        loadedSettings.add(JacksonUtils.deserialize(str, CVPipelineSettings.class));
                     }
                 }
 

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java

@@ -242,22 +242,7 @@ public void generateAndSendWaveform(int pulseTimeMillis, int blinks, int... pins
                 waveSendOnce(waveformId);
             }
         } else {
-            String error = "";
-            switch (waveformId) {
-                case PI_EMPTY_WAVEFORM:
-                    error = "Waveform empty";
-                    break;
-                case PI_TOO_MANY_CBS:
-                    error = "Too many CBS";
-                    break;
-                case PI_TOO_MANY_OOL:
-                    error = "Too many OOL";
-                    break;
-                case PI_NO_WAVEFORM_ID:
-                    error = "No waveform ID";
-                    break;
-            }
-            logger.error("Failed to send wave: " + error);
+            logger.error("Failed to send wave: " + getMessageForError(waveformId));
         }
     }
 

photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java

@@ -134,25 +134,17 @@ void onLedModeChange(NetworkTableEvent entryNotification) {
         var newLedModeRaw = (int) entryNotification.valueData.value.getInteger();
         logger.debug("Got LED mode " + newLedModeRaw);
         if (newLedModeRaw != currentLedMode.value) {
-            VisionLEDMode newLedMode;
-            switch (newLedModeRaw) {
-                case -1:
-                    newLedMode = VisionLEDMode.kDefault;
-                    break;
-                case 0:
-                    newLedMode = VisionLEDMode.kOff;
-                    break;
-                case 1:
-                    newLedMode = VisionLEDMode.kOn;
-                    break;
-                case 2:
-                    newLedMode = VisionLEDMode.kBlink;
-                    break;
-                default:
-                    logger.warn("User supplied invalid LED mode, falling back to Default");
-                    newLedMode = VisionLEDMode.kDefault;
-                    break;
-            }
+            VisionLEDMode newLedMode =
+                    switch (newLedModeRaw) {
+                        case -1 -> newLedMode = VisionLEDMode.kDefault;
+                        case 0 -> newLedMode = VisionLEDMode.kOff;
+                        case 1 -> newLedMode = VisionLEDMode.kOn;
+                        case 2 -> newLedMode = VisionLEDMode.kBlink;
+                        default -> {
+                            logger.warn("User supplied invalid LED mode, falling back to Default");
+                            yield VisionLEDMode.kDefault;
+                        }
+                    };
             setInternal(newLedMode, true);
 
             if (modeConsumer != null) modeConsumer.accept(newLedMode.value);
@@ -164,37 +156,21 @@ private void setInternal(VisionLEDMode newLedMode, boolean fromNT) {
 
         if (fromNT) {
             switch (newLedMode) {
-                case kDefault:
-                    setStateImpl(pipelineModeSupplier.getAsBoolean());
-                    break;
-                case kOff:
-                    setStateImpl(false);
-                    break;
-                case kOn:
-                    setStateImpl(true);
-                    break;
-                case kBlink:
-                    blinkImpl(85, -1);
-                    break;
+                case kDefault -> setStateImpl(pipelineModeSupplier.getAsBoolean());
+                case kOff -> setStateImpl(false);
+                case kOn -> setStateImpl(true);
+                case kBlink -> blinkImpl(85, -1);
             }
             currentLedMode = newLedMode;
             logger.info(
                     "Changing LED mode from \"" + lastLedMode.toString() + "\" to \"" + newLedMode + "\"");
         } else {
             if (currentLedMode == VisionLEDMode.kDefault) {
                 switch (newLedMode) {
-                    case kDefault:
-                        setStateImpl(pipelineModeSupplier.getAsBoolean());
-                        break;
-                    case kOff:
-                        setStateImpl(false);
-                        break;
-                    case kOn:
-                        setStateImpl(true);
-                        break;
-                    case kBlink:
-                        blinkImpl(85, -1);
-                        break;
+                    case kDefault -> setStateImpl(pipelineModeSupplier.getAsBoolean());
+                    case kOff -> setStateImpl(false);
+                    case kOn -> setStateImpl(true);
+                    case kBlink -> blinkImpl(85, -1);
                 }
             }
             logger.info("Changing LED internal state to " + newLedMode.toString());

photon-core/src/main/java/org/photonvision/common/util/numbers/NumberCouple.java

@@ -51,16 +51,9 @@ public void set(T first, T second) {
 
     @Override
     public boolean equals(Object obj) {
-        if (!(obj instanceof NumberCouple)) {
-            return false;
-        }
-
-        var couple = (NumberCouple) obj;
-        if (!couple.first.equals(first)) {
-            return false;
-        }
-
-        return couple.second.equals(second);
+        return obj instanceof NumberCouple<?> couple
+                && couple.first.equals(first)
+                && couple.second.equals(second);
     }
 
     @JsonIgnore

photon-core/src/main/java/org/photonvision/vision/frame/consumer/MJPGFrameConsumer.java

@@ -135,20 +135,14 @@ private static String videoModeToString(VideoMode mode) {
     }
 
     private static String pixelFormatToString(PixelFormat pixelFormat) {
-        switch (pixelFormat) {
-            case kMJPEG:
-                return "MJPEG";
-            case kYUYV:
-                return "YUYV";
-            case kRGB565:
-                return "RGB565";
-            case kBGR:
-                return "BGR";
-            case kGray:
-                return "Gray";
-            default:
-                return "Unknown";
-        }
+        return switch (pixelFormat) {
+            case kMJPEG -> "MJPEG";
+            case kYUYV -> "YUYV";
+            case kRGB565 -> "RGB565";
+            case kBGR -> "BGR";
+            case kGray -> "Gray";
+            case kUYVY, kUnknown, kY16 -> "Unknown";
+        };
     }
 
     @Override

photon-core/src/main/java/org/photonvision/vision/opencv/Contour.java

@@ -158,18 +158,19 @@ public boolean isIntersecting(
                 double massX = (x0A + x0B) / 2;
                 double massY = (y0A + y0B) / 2;
                 switch (intersectionDirection) {
-                    case Up:
+                    case None -> {}
+                    case Up -> {
                         if (intersectionY < massY) isIntersecting = true;
-                        break;
-                    case Down:
+                    }
+                    case Down -> {
                         if (intersectionY > massY) isIntersecting = true;
-                        break;
-                    case Left:
+                    }
+                    case Left -> {
                         if (intersectionX < massX) isIntersecting = true;
-                        break;
-                    case Right:
+                    }
+                    case Right -> {
                         if (intersectionX > massX) isIntersecting = true;
-                        break;
+                    }
                 }
                 intersectMatA.release();
                 intersectMatB.release();

photon-core/src/main/java/org/photonvision/vision/opencv/ContourShape.java

@@ -17,9 +17,6 @@
 
 package org.photonvision.vision.opencv;
 
-import java.util.EnumSet;
-import java.util.HashMap;
-
 public enum ContourShape {
     Circle(0),
     Custom(-1),
@@ -32,15 +29,12 @@ public enum ContourShape {
         this.sides = sides;
     }
 
-    private static final HashMap<Integer, ContourShape> sidesToValueMap = new HashMap<>();
-
-    static {
-        for (var value : EnumSet.allOf(ContourShape.class)) {
-            sidesToValueMap.put(value.sides, value);
-        }
-    }
-
     public static ContourShape fromSides(int sides) {
-        return sidesToValueMap.get(sides);
+        return switch (sides) {
+            case 0 -> Circle;
+            case 3 -> Triangle;
+            case 4 -> Quadrilateral;
+            default -> Custom;
+        };
     }
 }

photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw2dCrosshairPipe.java

@@ -48,13 +48,14 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
             double scale = params.frameStaticProperties.imageWidth / (double) params.divisor.value / 32.0;
 
             switch (params.robotOffsetPointMode) {
-                case Single:
+                case None -> {}
+                case Single -> {
                     if (params.singleOffsetPoint.x != 0 && params.singleOffsetPoint.y != 0) {
                         x = params.singleOffsetPoint.x;
                         y = params.singleOffsetPoint.y;
                     }
-                    break;
-                case Dual:
+                }
+                case Dual -> {
                     if (!in.getRight().isEmpty()) {
                         var target = in.getRight().get(0);
                         if (target != null) {
@@ -65,7 +66,7 @@ protected Void process(Pair<Mat, List<TrackedTarget>> in) {
                             y = offsetCrosshair.y;
                         }
                     }
-                    break;
+                }
             }
 
             x /= (double) params.divisor.value;

photon-core/src/main/java/org/photonvision/vision/pipe/impl/FindPolygonPipe.java

@@ -50,23 +50,7 @@ protected List<CVShape> process(List<Contour> in) {
 
     private CVShape getShape(Contour in) {
         int corners = getCorners(in);
-
-        /*The contourShape enum has predefined shapes for Circles, Triangles, and Quads
-        meaning any shape not fitting in those predefined shapes must be a custom shape.
-        */
-        if (ContourShape.fromSides(corners) == null) {
-            return new CVShape(in, ContourShape.Custom);
-        }
-        switch (ContourShape.fromSides(corners)) {
-            case Circle:
-                return new CVShape(in, ContourShape.Circle);
-            case Triangle:
-                return new CVShape(in, ContourShape.Triangle);
-            case Quadrilateral:
-                return new CVShape(in, ContourShape.Quadrilateral);
-        }
-
-        return new CVShape(in, ContourShape.Custom);
+        return new CVShape(in, ContourShape.fromSides(corners));
     }
 
     private int getCorners(Contour contour) {

photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java

@@ -85,19 +85,29 @@ protected void setPipeParamsImpl() {
         // 2023/other: best guess is 6in
         double tagWidth = Units.inchesToMeters(6);
         TargetModel tagModel = TargetModel.kAprilTag16h5;
-        switch (settings.tagFamily) {
-            case kTag36h11:
-                // 2024 tag, 6.5in
-                params.tagFamily = Objdetect.DICT_APRILTAG_36h11;
-                tagWidth = Units.inchesToMeters(6.5);
-                tagModel = TargetModel.kAprilTag36h11;
-                break;
-            case kTag25h9:
-                params.tagFamily = Objdetect.DICT_APRILTAG_25h9;
-                break;
-            default:
-                params.tagFamily = Objdetect.DICT_APRILTAG_16h5;
-        }
+
+        params.tagFamily =
+                switch (settings.tagFamily) {
+                    case kTag36h11 -> {
+                        // 2024 tag, 6.5in
+                        tagWidth = Units.inchesToMeters(6.5);
+                        tagModel = TargetModel.kAprilTag36h11;
+                        yield Objdetect.DICT_APRILTAG_36h11;
+                    }
+                    case kTag25h9 -> Objdetect.DICT_APRILTAG_25h9;
+                        // TODO: explicitly drop support for these
+                    case kTag16h5,
+                            kTagCircle21h7,
+                            kTagCircle49h12,
+                            kTagCustom48h11,
+                            kTagStandard41h12,
+                            kTagStandard52h13 -> {
+                        // 2024 tag, 6.5in
+                        tagWidth = Units.inchesToMeters(6.5);
+                        tagModel = TargetModel.kAprilTag36h11;
+                        yield Objdetect.DICT_APRILTAG_36h11;
+                    }
+                };
 
         int threshMinSize = Math.max(3, settings.threshWinSizes.getFirst());
         settings.threshWinSizes.setFirst(threshMinSize);