Remove deprecated APIs in Limelight code

limelight/src/main/java/com/team2813/lib2813/limelight/AprilTagMapPoseHelper.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -69,7 +69,7 @@ public List<Pose3d> getVisibleTagPoses(Set<Integer> ids) {
       return List.of();
     }
     return retriever.getFiducialMap().values().stream()
-        .filter(fidicual -> ids.contains(fidicual.getId()))
+        .filter(fiducial -> ids.contains(fiducial.getId()))
         .map(Fiducial::getPosition)
         .toList();
   }

limelight/src/main/java/com/team2813/lib2813/limelight/BotPoseEstimate.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -25,10 +25,5 @@
  * @param timestampSeconds The timestamp, in seconds, using the drivetrain clock
  * @param visibleAprilTags All April Tags that are visible from the vision source.
  */
-public record BotPoseEstimate(Pose2d pose, double timestampSeconds, Set<Integer> visibleAprilTags) {
-
-  @Deprecated
-  public BotPoseEstimate(Pose2d pose, double timestampSeconds) {
-    this(pose, timestampSeconds, Set.of());
-  }
-}
+public record BotPoseEstimate(
+    Pose2d pose, double timestampSeconds, Set<Integer> visibleAprilTags) {}

limelight/src/main/java/com/team2813/lib2813/limelight/DataCollection.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2024-2025 Prospect Robotics SWENext Club
+Copyright 2024-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -60,9 +60,7 @@ public BodySubscriber<Result> apply(ResponseInfo responseInfo) {
 
       return BodySubscribers.mapping(
           BodyHandlers.ofString(Charset.defaultCharset()).apply(responseInfo),
-          body -> {
-            return new Result(new JSONObject(body), responseTimestamp);
-          });
+          body -> new Result(new JSONObject(body), responseTimestamp));
     }
   }
 

limelight/src/main/java/com/team2813/lib2813/limelight/Limelight.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2024-2025 Prospect Robotics SWENext Club
+Copyright 2024-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -15,14 +15,11 @@
 */
 package com.team2813.lib2813.limelight;
 
-import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.wpilibj.Filesystem;
-import java.io.*;
-import java.util.List;
-import java.util.Optional;
-import java.util.OptionalDouble;
-import java.util.Set;
-import org.json.JSONObject;
+import java.io.File;
+import java.io.FileInputStream;
+import java.io.IOException;
+import java.io.InputStream;
 
 public interface Limelight {
 
@@ -35,20 +32,6 @@ static Limelight getDefaultLimelight() {
     return RestLimelight.getDefaultLimelight();
   }
 
-  /**
-   * @deprecated use methods in {@link LocationalData} that return a {@link BotPoseEstimate}.
-   */
-  @Deprecated
-  OptionalDouble getTimestamp();
-
-  /**
-   * Returns {@code true} if the limelight has identified a target.
-   *
-   * @deprecated use {@link LocationalData#hasTarget()}
-   */
-  @Deprecated
-  boolean hasTarget();
-
   /** Gets an object for getting locational data. */
   LocationalData getLocationalData();
 
@@ -59,7 +42,7 @@ static Limelight getDefaultLimelight() {
    * may also upload the field map to the Limelight if desired. This will likely be a slow
    * operation, and should not be regularly called.
    *
-   * @param filepath The path to the file from the deploy directory (using UNIX file seperators)
+   * @param filepath The path to the file from the deploy directory (using UNIX file separators)
    * @param updateLimelight If the limelight should be updated with this field map
    * @throws IOException If the given filepath does not exist in the deploy directory or could not
    *     be read
@@ -70,26 +53,4 @@ default void setFieldMap(String filepath, boolean updateLimelight) throws IOExce
       setFieldMap(stream, updateLimelight);
     }
   }
-
-  /**
-   * Gets the locations of the given AprilTags.
-   *
-   * @deprecated use {@link LocationalData#getVisibleAprilTagPoses()}
-   */
-  @Deprecated
-  List<Pose3d> getLocatedAprilTags(Set<Integer> visibleTags);
-
-  /**
-   * @deprecated use {@link LocationalData#getCaptureLatency()}
-   */
-  @Deprecated
-  OptionalDouble getCaptureLatency();
-
-  /**
-   * Gets the most recent JSON from the Limelight. Does not work for all implementations.
-   *
-   * @deprecated use {@link LocationalData#isValid()}.
-   */
-  @Deprecated
-  Optional<JSONObject> getJsonDump();
 }

limelight/src/main/java/com/team2813/lib2813/limelight/LimelightHelpers.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -919,16 +919,10 @@ public static String[] getLimelightNTStringArray(String tableName, String entryN
     return getLimelightNTTableEntry(tableName, entryName).getStringArray(new String[0]);
   }
 
-  public static URL getLimelightURLString(String tableName, String request) {
+  public static URL getLimelightURLString(String tableName, String request)
+      throws MalformedURLException {
     String urlString = "http://" + sanitizeName(tableName) + ".local:5807/" + request;
-    URL url;
-    try {
-      url = new URL(urlString);
-      return url;
-    } catch (MalformedURLException e) {
-      System.err.println("bad LL URL");
-    }
-    return null;
+    return new URL(urlString);
   }
 
   /////
@@ -1658,8 +1652,8 @@ public static CompletableFuture<Boolean> takeSnapshot(String tableName, String s
   }
 
   private static boolean SYNCH_TAKESNAPSHOT(String tableName, String snapshotName) {
-    URL url = getLimelightURLString(tableName, "capturesnapshot");
     try {
+      URL url = getLimelightURLString(tableName, "capturesnapshot");
       HttpURLConnection connection = (HttpURLConnection) url.openConnection();
       connection.setRequestMethod("GET");
       if (snapshotName != null && !snapshotName.isEmpty()) {
@@ -1672,6 +1666,8 @@ private static boolean SYNCH_TAKESNAPSHOT(String tableName, String snapshotName)
       } else {
         System.err.println("Bad LL Request");
       }
+    } catch (MalformedURLException e) {
+      System.err.println("bad Limelight URL: " + e.getMessage());
     } catch (IOException e) {
       System.err.println(e.getMessage());
     }

limelight/src/main/java/com/team2813/lib2813/limelight/LocationalData.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2024-2025 Prospect Robotics SWENext Club
+Copyright 2024-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -19,7 +19,6 @@
 import java.util.Map;
 import java.util.Optional;
 import java.util.OptionalDouble;
-import java.util.Set;
 
 /**
  * Get positional data from limelight
@@ -69,47 +68,16 @@ public interface LocationalData {
    *
    * <p>Per the Limelight docs, this is the time between the end of the exposure of the middle row
    * to the beginning of the tracking loop.
-   *
-   * @deprecated Use {@link #getBotPoseEstimateBlue()} or {@link #getBotPoseEstimateRed()}
    */
-  @Deprecated
   OptionalDouble getCaptureLatency();
 
   /**
    * Targeting latency in milliseconds.
    *
    * <p>Per the Limelight docs, this is the time consumed by the tracking loop this frame.
-   *
-   * @deprecated Use {@link #getBotPoseEstimateBlue()} or {@link #getBotPoseEstimateRed()}
    */
-  @Deprecated
   OptionalDouble getTargetingLatency();
 
-  /**
-   * @deprecated use methods that return a {@link BotPoseEstimate}.
-   */
-  @Deprecated
-  OptionalDouble getTimestamp();
-
-  @Deprecated
-  default OptionalDouble lastMSDelay() {
-    OptionalDouble a = getCaptureLatency();
-    OptionalDouble b = getTargetingLatency();
-    if (a.isPresent() && b.isPresent()) {
-      return OptionalDouble.of(a.getAsDouble() + b.getAsDouble());
-    }
-    return OptionalDouble.empty();
-  }
-
-  /**
-   * Gets the set of all visible tags
-   *
-   * @return The visible tags
-   * @deprecated use {@link #getVisibleAprilTagPoses()}
-   */
-  @Deprecated
-  Set<Integer> getVisibleTags();
-
   /** Gets the visible AprilTags as a map from ID to position. */
   Map<Integer, Pose3d> getVisibleAprilTagPoses();
 }

limelight/src/main/java/com/team2813/lib2813/limelight/NetworkTablesLimelight.java

@@ -1,5 +1,5 @@
 /*
-Copyright 2025 Prospect Robotics SWENext Club
+Copyright 2025-2026 Prospect Robotics SWENext Club
 
 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
@@ -23,12 +23,12 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import java.io.IOException;
 import java.io.InputStream;
-import java.util.*;
 import java.util.Arrays;
+import java.util.HashMap;
+import java.util.Map;
 import java.util.Optional;
 import java.util.OptionalDouble;
-import java.util.stream.Collectors;
-import org.json.JSONObject;
+import java.util.Set;
 
 class NetworkTablesLimelight implements Limelight {
   private static final double[] ZEROS = new double[6];
@@ -40,38 +40,13 @@ class NetworkTablesLimelight implements Limelight {
     aprilTagMapPoseHelper = new AprilTagMapPoseHelper(new LimelightClient(limelightName));
   }
 
-  @Override
-  public OptionalDouble getTimestamp() {
-    return getLocationalData().getTimestamp();
-  }
-
-  @Override
-  public boolean hasTarget() {
-    return getLocationalData().hasTarget();
-  }
-
   @Override
   public void setFieldMap(InputStream stream, boolean updateLimelight) throws IOException {
     // The updateLimelight assumes we have the hostname of the limelight, which we don't. For now,
     // this won't update the limelight.
     aprilTagMapPoseHelper.setFieldMap(stream, false);
   }
 
-  @Override
-  public List<Pose3d> getLocatedAprilTags(Set<Integer> visibleTags) {
-    return aprilTagMapPoseHelper.getVisibleTagPoses(visibleTags);
-  }
-
-  @Override
-  public Optional<JSONObject> getJsonDump() {
-    return Optional.empty();
-  }
-
-  @Override
-  public OptionalDouble getCaptureLatency() {
-    return getLocationalData().getCaptureLatency();
-  }
-
   @Override
   public LocationalData getLocationalData() {
     LimelightHelpers.LimelightResults results = LimelightHelpers.getLatestResults(limelightName);
@@ -109,7 +84,7 @@ private Map<Integer, Pose3d> getVisibleAprilTagPoses(LimelightResults results) {
     return unmodifiableMap(map);
   }
 
-  private class NTLocationalData implements LocationalData {
+  private static class NTLocationalData implements LocationalData {
     private final LimelightResults results;
     private final Optional<BotPoseEstimate> poseEstimate;
     private final Optional<BotPoseEstimate> redPoseEstimate;
@@ -179,18 +154,6 @@ public OptionalDouble getTargetingLatency() {
       return OptionalDouble.of(results.latency_pipeline);
     }
 
-    @Override
-    public OptionalDouble getTimestamp() {
-      return OptionalDouble.of(results.timestamp_LIMELIGHT_publish);
-    }
-
-    @Override
-    public Set<Integer> getVisibleTags() {
-      return Arrays.stream(results.targets_Fiducials)
-          .map(fiducial -> (int) fiducial.fiducialID)
-          .collect(Collectors.toUnmodifiableSet());
-    }
-
     @Override
     public Map<Integer, Pose3d> getVisibleAprilTagPoses() {
       return aprilTags;