Remove custom struct handling

`SwerveModuleState` and `Trajectory` are included in WPILib 2024.1.1-beta-4
Mechanical-Advantage · Dec 15, 2023 · c4ab50f · c4ab50f
1 parent e575b87
commit c4ab50f
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diff --git a/junction/core/src/org/littletonrobotics/junction/AutoLogOutputManager.java b/junction/core/src/org/littletonrobotics/junction/AutoLogOutputManager.java
@@ -13,8 +13,6 @@
 
 package org.littletonrobotics.junction;
 
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.proto.Trajectory;
 import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
 import edu.wpi.first.units.Measure;
 import java.lang.reflect.Field;
@@ -329,13 +327,6 @@ private static void registerField(String key, Class<?> type, Supplier<?> supplie
               if (value != null)
                 Logger.recordOutput(key, (String[]) value);
             });
-      } else if (componentType.equals(SwerveModuleState.class)) {
-        callbacks.add(
-            () -> {
-              Object value = supplier.get();
-              if (value != null)
-                Logger.recordOutput(key, (SwerveModuleState[]) value);
-            });
       } else {
         callbacks.add(
             () -> {
@@ -403,13 +394,6 @@ private static void registerField(String key, Class<?> type, Supplier<?> supplie
               if (value != null)
                 Logger.recordOutput(key, (Measure<?>) value);
             });
-      } else if (type.equals(Trajectory.class)) {
-        callbacks.add(
-            () -> {
-              Object value = supplier.get();
-              if (value != null)
-                Logger.recordOutput(key, (Trajectory) value);
-            });
       } else if (type.equals(Mechanism2d.class)) {
         callbacks.add(
             () -> {

diff --git a/junction/core/src/org/littletonrobotics/junction/CustomStructs.java b/junction/core/src/org/littletonrobotics/junction/CustomStructs.java
diff --git a/junction/core/src/org/littletonrobotics/junction/Logger.java b/junction/core/src/org/littletonrobotics/junction/Logger.java
@@ -39,8 +39,6 @@
 import edu.wpi.first.math.MathShared;
 import edu.wpi.first.math.MathSharedStore;
 import edu.wpi.first.math.MathUsageId;
-import edu.wpi.first.math.kinematics.SwerveModuleState;
-import edu.wpi.first.math.trajectory.Trajectory;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.wpilibj.DriverStation;
@@ -719,32 +717,6 @@ public static <T> void recordOutput(String key, T... value) {
     }
   }
 
-  /**
-   * Records a single output field for easy access when viewing the log. On the
-   * simulator, use this method to record extra data based on the original inputs.
-   * 
-   * The trajectory is logged as a series of poses.
-   * 
-   * @param key   The name of the field to record. It will be stored under
-   *              "/RealOutputs" or "/ReplayOutputs"
-   * @param value The value of the field.
-   */
-  public static void recordOutput(String key, Trajectory value) {
-    recordOutput(key, Pose2d.struct, value.getStates().stream().map(state -> state.poseMeters).toArray(Pose2d[]::new));
-  }
-
-  /**
-   * Records a single output field for easy access when viewing the log. On the
-   * simulator, use this method to record extra data based on the original inputs.
-   * 
-   * @param key   The name of the field to record. It will be stored under
-   *              "/RealOutputs" or "/ReplayOutputs"
-   * @param value The value of the field.
-   */
-  public static void recordOutput(String key, SwerveModuleState... value) {
-    recordOutput(key, CustomStructs.swerveModuleState, value);
-  }
-
   /**
    * Records a single output field for easy access when viewing the log. On the
    * simulator, use this method to record extra data based on the original inputs.