Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-02 02:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Clean up Java style (#5990)

Browse Source 
Also make equivalent changes in C++ where applicable.

Co-authored-by: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
This commit is contained in:
Tyler Veness
2023-12-03 16:21:32 -08:00
committed by GitHub
parent 66172ab288
commit 2bb1409b82
113 changed files with 426 additions and 617 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View File

@@ -108,9 +108,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
_32s(10),
_64s(11);
private int value;
private final int value;
private CalibrationTime(int value) {
CalibrationTime(int value) {
this.value = value;
}
}
@@ -130,9 +130,9 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
private IMUAxis m_yaw_axis;
/* Offset data storage */
private double m_offset_data_gyro_rate_x[];
private double m_offset_data_gyro_rate_y[];
private double m_offset_data_gyro_rate_z[];
private double[] m_offset_data_gyro_rate_x;
private double[] m_offset_data_gyro_rate_y;
private double[] m_offset_data_gyro_rate_z;
/* Instant raw output variables */
private double m_gyro_rate_x = 0.0;
@@ -199,7 +199,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
private SimDouble m_simAccelZ;
/* CRC-16 Look-Up Table */
int adiscrc[] =
int[] adiscrc =
new int[] {
0x0000, 0x17CE, 0x0FDF, 0x1811, 0x1FBE, 0x0870, 0x1061, 0x07AF,
0x1F3F, 0x08F1, 0x10E0, 0x072E, 0x0081, 0x174F, 0x0F5E, 0x1890,
@@ -358,7 +358,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
/** */
private static int toShort(int... buf) {
return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF)));
}
/** */
@@ -481,7 +481,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
}
public int configDecRate(int m_decRate) {
int writeValue = m_decRate;
int writeValue;
int readbackValue;
if (!switchToStandardSPI()) {
DriverStation.reportError("Failed to configure/reconfigure standard SPI.", false);

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -193,9 +193,9 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
_32s(10),
_64s(11);
private int value;
private final int value;
private CalibrationTime(int value) {
CalibrationTime(int value) {
this.value = value;
}
}
@@ -396,7 +396,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return
*/
private static int toShort(int... buf) {
return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF) << 0));
return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF)));
}
/**
@@ -593,7 +593,6 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
if (!switchToAutoSPI()) {
DriverStation.reportError("Failed to configure/reconfigure auto SPI.", false);
}
;
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -239,6 +239,7 @@ public final class DriverStation {
for (int i = 0; i < count; i++) {
if (axes.m_axes[i] != m_prevAxes.m_axes[i]) {
needToLog = true;
break;
}
}
}
@@ -255,6 +256,7 @@ public final class DriverStation {
for (int i = 0; i < count; i++) {
if (povs.m_povs[i] != m_prevPOVs.m_povs[i]) {
needToLog = true;
break;
}
}
}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
View File

@@ -369,7 +369,7 @@ public class I2C implements AutoCloseable {
byte[] deviceData = new byte[4];
for (int i = 0; i < count; i += 4) {
int toRead = count - i < 4 ? count - i : 4;
int toRead = Math.min(count - i, 4);
// Read the chunk of data. Return false if the sensor does not
// respond.
dataToSend[0] = (byte) (registerAddress + i);

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/MotorSafety.java
View File

@@ -66,7 +66,7 @@ public abstract class MotorSafety {
synchronized (m_listMutex) {
m_instanceList.add(this);
if (m_safetyThread == null) {
m_safetyThread = new Thread(() -> threadMain(), "MotorSafety Thread");
m_safetyThread = new Thread(MotorSafety::threadMain, "MotorSafety Thread");
m_safetyThread.setDaemon(true);
m_safetyThread.start();
}

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java
View File

@@ -113,7 +113,7 @@ public class Notifier implements AutoCloseable {
updateAlarm();
} else {
// Need to update the alarm to cause it to wait again
updateAlarm((long) -1);
updateAlarm(-1);
}
} finally {
m_processLock.unlock();
@@ -134,7 +134,7 @@ public class Notifier implements AutoCloseable {
error = cause;
}
DriverStation.reportError(
"Unhandled exception in Notifier thread: " + error.toString(), error.getStackTrace());
"Unhandled exception in Notifier thread: " + error, error.getStackTrace());
DriverStation.reportError(
"The Runnable for this Notifier (or methods called by it) should have handled "
+ "the exception above.\n"

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
View File

@@ -59,8 +59,7 @@ public class PneumaticHub implements PneumaticsBase {
output.write(("currentVersion=" + fwVersion).getBytes(StandardCharsets.UTF_8));
}
} catch (IOException ex) {
DriverStation.reportError(
"Could not write " + fileName + ": " + ex.toString(), ex.getStackTrace());
DriverStation.reportError("Could not write " + fileName + ": " + ex, ex.getStackTrace());
}
}
@@ -115,14 +114,12 @@ public class PneumaticHub implements PneumaticsBase {
/** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
private static double voltsToPsi(double sensorVoltage, double supplyVoltage) {
double pressure = 250 * (sensorVoltage / supplyVoltage) - 25;
return pressure;
return 250 * (sensorVoltage / supplyVoltage) - 25;
}
/** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
private static double psiToVolts(double pressure, double supplyVoltage) {
double voltage = supplyVoltage * (0.004 * pressure + 0.1);
return voltage;
return supplyVoltage * (0.004 * pressure + 0.1);
}
private final DataStore m_dataStore;

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsModuleType.java
View File

@@ -6,5 +6,5 @@ package edu.wpi.first.wpilibj;
public enum PneumaticsModuleType {
CTREPCM,
REVPH;
REVPH
}

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
View File

@@ -101,9 +101,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
* @return The current of the channel in Amperes
*/
public double getCurrent(int channel) {
double current = PowerDistributionJNI.getChannelCurrent(m_handle, channel);
return current;
return PowerDistributionJNI.getChannelCurrent(m_handle, channel);
}
/**

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -321,8 +321,7 @@ public abstract class RobotBase implements AutoCloseable {
robotName = elements[0].getClassName();
}
DriverStation.reportError(
"Unhandled exception instantiating robot " + robotName + " " + throwable.toString(),
elements);
"Unhandled exception instantiating robot " + robotName + " " + throwable, elements);
DriverStation.reportError(
"The robot program quit unexpectedly."
+ " This is usually due to a code error.\n"
@@ -353,8 +352,7 @@ public abstract class RobotBase implements AutoCloseable {
output.write(WPILibVersion.Version.getBytes(StandardCharsets.UTF_8));
}
} catch (IOException ex) {
DriverStation.reportError(
"Could not write FRC_Lib_Version.ini: " + ex.toString(), ex.getStackTrace());
DriverStation.reportError("Could not write FRC_Lib_Version.ini: " + ex, ex.getStackTrace());
}
}
@@ -366,8 +364,7 @@ public abstract class RobotBase implements AutoCloseable {
if (cause != null) {
throwable = cause;
}
DriverStation.reportError(
"Unhandled exception: " + throwable.toString(), throwable.getStackTrace());
DriverStation.reportError("Unhandled exception: " + throwable, throwable.getStackTrace());
errorOnExit = true;
} finally {
m_runMutex.lock();

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
View File

@@ -33,7 +33,7 @@ public final class RobotController {
* @return FPGA Revision number.
*/
public static long getFPGARevision() {
return (long) HALUtil.getFPGARevision();
return HALUtil.getFPGARevision();
}
/**

60
wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
View File

@@ -59,12 +59,12 @@ public final class SensorUtil {
*/
public static void checkDigitalChannel(final int channel) {
if (!DIOJNI.checkDIOChannel(channel)) {
StringBuilder buf = new StringBuilder();
buf.append("Requested DIO channel is out of range. Minimum: 0, Maximum: ")
.append(kDigitalChannels)
.append(", Requested: ")
.append(channel);
throw new IllegalArgumentException(buf.toString());
String buf =
"Requested DIO channel is out of range. Minimum: 0, Maximum: "
+ kDigitalChannels
+ ", Requested: "
+ channel;
throw new IllegalArgumentException(buf);
}
}
@@ -76,12 +76,12 @@ public final class SensorUtil {
*/
public static void checkRelayChannel(final int channel) {
if (!RelayJNI.checkRelayChannel(channel)) {
StringBuilder buf = new StringBuilder();
buf.append("Requested relay channel is out of range. Minimum: 0, Maximum: ")
.append(kRelayChannels)
.append(", Requested: ")
.append(channel);
throw new IllegalArgumentException(buf.toString());
String buf =
"Requested relay channel is out of range. Minimum: 0, Maximum: "
+ kRelayChannels
+ ", Requested: "
+ channel;
throw new IllegalArgumentException(buf);
}
}
@@ -93,12 +93,12 @@ public final class SensorUtil {
*/
public static void checkPWMChannel(final int channel) {
if (!PWMJNI.checkPWMChannel(channel)) {
StringBuilder buf = new StringBuilder();
buf.append("Requested PWM channel is out of range. Minimum: 0, Maximum: ")
.append(kPwmChannels)
.append(", Requested: ")
.append(channel);
throw new IllegalArgumentException(buf.toString());
String buf =
"Requested PWM channel is out of range. Minimum: 0, Maximum: "
+ kPwmChannels
+ ", Requested: "
+ channel;
throw new IllegalArgumentException(buf);
}
}
@@ -110,12 +110,12 @@ public final class SensorUtil {
*/
public static void checkAnalogInputChannel(final int channel) {
if (!AnalogJNI.checkAnalogInputChannel(channel)) {
StringBuilder buf = new StringBuilder();
buf.append("Requested analog input channel is out of range. Minimum: 0, Maximum: ")
.append(kAnalogInputChannels)
.append(", Requested: ")
.append(channel);
throw new IllegalArgumentException(buf.toString());
String buf =
"Requested analog input channel is out of range. Minimum: 0, Maximum: "
+ kAnalogInputChannels
+ ", Requested: "
+ channel;
throw new IllegalArgumentException(buf);
}
}
@@ -127,12 +127,12 @@ public final class SensorUtil {
*/
public static void checkAnalogOutputChannel(final int channel) {
if (!AnalogJNI.checkAnalogOutputChannel(channel)) {
StringBuilder buf = new StringBuilder();
buf.append("Requested analog output channel is out of range. Minimum: 0, Maximum: ")
.append(kAnalogOutputChannels)
.append(", Requested: ")
.append(channel);
throw new IllegalArgumentException(buf.toString());
String buf =
"Requested analog output channel is out of range. Minimum: 0, Maximum: "
+ kAnalogOutputChannels
+ ", Requested: "
+ channel;
throw new IllegalArgumentException(buf);
}
}

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
View File

@@ -216,7 +216,7 @@ public class SerialPort implements AutoCloseable {
*/
public String readString(int count) {
byte[] out = read(count);
return new String(out, 0, out.length, StandardCharsets.US_ASCII);
return new String(out, StandardCharsets.US_ASCII);
}
/**

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/Tracer.java
View File

@@ -75,9 +75,7 @@ public class Tracer {
StringBuilder sb = new StringBuilder();
m_lastEpochsPrintTime = now;
m_epochs.forEach(
(key, value) -> {
sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6));
});
(key, value) -> sb.append(String.format("\t%s: %.6fs\n", key, value / 1.0e6)));
if (sb.length() > 0) {
output.accept(sb.toString());
}

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
View File

@@ -209,7 +209,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
}
private static void updateAlarm() {
if (m_watchdogs.size() == 0) {
if (m_watchdogs.isEmpty()) {
NotifierJNI.cancelNotifierAlarm(m_notifier);
} else {
NotifierJNI.updateNotifierAlarm(
@@ -233,7 +233,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
m_queueMutex.lock();
try {
if (m_watchdogs.size() == 0) {
if (m_watchdogs.isEmpty()) {
continue;
}

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java
View File

@@ -50,7 +50,7 @@ public final class LiveWindow {
private static Runnable disabledListener;
static {
SendableRegistry.setLiveWindowBuilderFactory(() -> new SendableBuilderImpl());
SendableRegistry.setLiveWindowBuilderFactory(SendableBuilderImpl::new);
enabledPub.set(false);
}
@@ -105,10 +105,7 @@ public final class LiveWindow {
} else {
System.out.println("stopping live window mode.");
SendableRegistry.foreachLiveWindow(
dataHandle,
cbdata -> {
((SendableBuilderImpl) cbdata.builder).stopLiveWindowMode();
});
dataHandle, cbdata -> ((SendableBuilderImpl) cbdata.builder).stopLiveWindowMode());
if (disabledListener != null) {
disabledListener.run();
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java
View File

@@ -17,7 +17,8 @@ import edu.wpi.first.wpilibj.PWM;
* 884 controllers also but if users experience issues such as asymmetric behavior around the
* deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the Victor 884 User Manual available from VEX Robotics:
* http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf
* <a
* href="http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf">http://content.vexrobotics.com/docs/ifi-v884-users-manual-9-25-06.pdf</a>
*
* <ul>
* <li>2.027ms = full "forward"

19
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DifferentialDrivetrainSim.java
View File

@@ -236,12 +236,9 @@ public class DifferentialDrivetrainSim {
* @return the drivetrain's left side current draw, in amps
*/
public double getLeftCurrentDrawAmps() {
var loadIleft =
m_motor.getCurrent(
getState(State.kLeftVelocity) * m_currentGearing / m_wheelRadiusMeters,
m_u.get(0, 0))
* Math.signum(m_u.get(0, 0));
return loadIleft;
return m_motor.getCurrent(
getState(State.kLeftVelocity) * m_currentGearing / m_wheelRadiusMeters, m_u.get(0, 0))
* Math.signum(m_u.get(0, 0));
}
/**
@@ -250,13 +247,9 @@ public class DifferentialDrivetrainSim {
* @return the drivetrain's right side current draw, in amps
*/
public double getRightCurrentDrawAmps() {
var loadIright =
m_motor.getCurrent(
getState(State.kRightVelocity) * m_currentGearing / m_wheelRadiusMeters,
m_u.get(1, 0))
* Math.signum(m_u.get(1, 0));
return loadIright;
return m_motor.getCurrent(
getState(State.kRightVelocity) * m_currentGearing / m_wheelRadiusMeters, m_u.get(1, 0))
* Math.signum(m_u.get(1, 0));
}
/**

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/GenericHIDSim.java
View File

@@ -135,7 +135,7 @@ public class GenericHIDSim {
*/
public boolean getOutput(int outputNumber) {
long outputs = getOutputs();
return (outputs & (1 << (outputNumber - 1))) != 0;
return (outputs & (1L << (outputNumber - 1))) != 0;
}
/**

13
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/FieldObject2d.java
View File

@@ -10,6 +10,7 @@ import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.trajectory.Trajectory;
import edu.wpi.first.networktables.DoubleArrayEntry;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
/** Game field object on a Field2d. */
@@ -70,9 +71,7 @@ public class FieldObject2d implements AutoCloseable {
*/
public synchronized void setPoses(List<Pose2d> poses) {
m_poses.clear();
for (Pose2d pose : poses) {
m_poses.add(pose);
}
m_poses.addAll(poses);
updateEntry();
}
@@ -83,9 +82,7 @@ public class FieldObject2d implements AutoCloseable {
*/
public synchronized void setPoses(Pose2d... poses) {
m_poses.clear();
for (Pose2d pose : poses) {
m_poses.add(pose);
}
Collections.addAll(m_poses, poses);
updateEntry();
}
@@ -109,7 +106,7 @@ public class FieldObject2d implements AutoCloseable {
*/
public synchronized List<Pose2d> getPoses() {
updateFromEntry();
return new ArrayList<Pose2d>(m_poses);
return new ArrayList<>(m_poses);
}
void updateEntry() {
@@ -143,7 +140,7 @@ public class FieldObject2d implements AutoCloseable {
return;
}
double[] arr = m_entry.get((double[]) null);
double[] arr = m_entry.get(null);
if (arr != null) {
if ((arr.length % 3) != 0) {
return;

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/ListenerExecutor.java
View File

@@ -31,9 +31,9 @@ class ListenerExecutor implements Executor {
/** Runs all posted tasks. Called periodically from main thread. */
public void runListenerTasks() {
// Locally copy tasks from internal list; minimizes blocking time
Collection<Runnable> tasks = new ArrayList<>();
Collection<Runnable> tasks;
synchronized (m_lock) {
tasks.addAll(m_tasks);
tasks = new ArrayList<>(m_tasks);
m_tasks.clear();
}

55
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimedRobotTest.java
View File

@@ -144,11 +144,7 @@ class TimedRobotTest {
void disabledModeTest() {
MockRobot robot = new MockRobot();
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
DriverStationSim.setEnabled(false);
@@ -231,11 +227,7 @@ class TimedRobotTest {
void autonomousModeTest() {
MockRobot robot = new MockRobot();
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
DriverStationSim.setEnabled(true);
@@ -320,11 +312,7 @@ class TimedRobotTest {
void teleopModeTest() {
MockRobot robot = new MockRobot();
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
DriverStationSim.setEnabled(true);
@@ -411,11 +399,7 @@ class TimedRobotTest {
MockRobot robot = new MockRobot();
robot.enableLiveWindowInTest(isLW);
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
DriverStationSim.setEnabled(true);
@@ -531,11 +515,7 @@ class TimedRobotTest {
void modeChangeTest() {
MockRobot robot = new MockRobot();
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
// Start in disabled
@@ -655,17 +635,9 @@ class TimedRobotTest {
MockRobot robot = new MockRobot();
final AtomicInteger callbackCount = new AtomicInteger(0);
robot.addPeriodic(
() -> {
callbackCount.addAndGet(1);
},
kPeriod / 2.0);
robot.addPeriodic(() -> callbackCount.addAndGet(1), kPeriod / 2.0);
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
DriverStationSim.setEnabled(false);
@@ -704,12 +676,7 @@ class TimedRobotTest {
MockRobot robot = new MockRobot();
final AtomicInteger callbackCount = new AtomicInteger(0);
robot.addPeriodic(
() -> {
callbackCount.addAndGet(1);
},
kPeriod / 2.0,
kPeriod / 4.0);
robot.addPeriodic(() -> callbackCount.addAndGet(1), kPeriod / 2.0, kPeriod / 4.0);
// Expirations in this test (ms)
//
@@ -720,11 +687,7 @@ class TimedRobotTest {
// p | 0.75p
// 2p | 1.25p
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
DriverStationSim.setEnabled(false);

18
wpilibj/src/test/java/edu/wpi/first/wpilibj/TimesliceRobotTest.java
View File

@@ -54,22 +54,10 @@ class TimesliceRobotTest {
// | RobotPeriodic() | 0 | 2 |
// | Callback 1 | 2 | 0.5 |
// | Callback 2 | 2.5 | 1 |
robot.schedule(
() -> {
callbackCount1.addAndGet(1);
},
0.0005);
robot.schedule(
() -> {
callbackCount2.addAndGet(1);
},
0.001);
robot.schedule(() -> callbackCount1.addAndGet(1), 0.0005);
robot.schedule(() -> callbackCount2.addAndGet(1), 0.001);
Thread robotThread =
new Thread(
() -> {
robot.startCompetition();
});
Thread robotThread = new Thread(robot::startCompetition);
robotThread.start();
DriverStationSim.setEnabled(false);

42
wpilibj/src/test/java/edu/wpi/first/wpilibj/WatchdogTest.java
View File

@@ -33,12 +33,7 @@ class WatchdogTest {
void enableDisableTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
try (Watchdog watchdog =
new Watchdog(
0.4,
() -> {
watchdogCounter.addAndGet(1);
})) {
try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
// Run 1
watchdog.enable();
SimHooks.stepTiming(0.2);
@@ -71,12 +66,7 @@ class WatchdogTest {
void resetTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
try (Watchdog watchdog =
new Watchdog(
0.4,
() -> {
watchdogCounter.addAndGet(1);
})) {
try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
watchdog.enable();
SimHooks.stepTiming(0.2);
watchdog.reset();
@@ -92,12 +82,7 @@ class WatchdogTest {
void setTimeoutTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
try (Watchdog watchdog =
new Watchdog(
1.0,
() -> {
watchdogCounter.addAndGet(1);
})) {
try (Watchdog watchdog = new Watchdog(1.0, () -> watchdogCounter.addAndGet(1))) {
watchdog.enable();
SimHooks.stepTiming(0.2);
watchdog.setTimeout(0.2);
@@ -137,12 +122,7 @@ class WatchdogTest {
void epochsTest() {
final AtomicInteger watchdogCounter = new AtomicInteger(0);
try (Watchdog watchdog =
new Watchdog(
0.4,
() -> {
watchdogCounter.addAndGet(1);
})) {
try (Watchdog watchdog = new Watchdog(0.4, () -> watchdogCounter.addAndGet(1))) {
// Run 1
watchdog.enable();
watchdog.addEpoch("Epoch 1");
@@ -173,18 +153,8 @@ class WatchdogTest {
final AtomicInteger watchdogCounter1 = new AtomicInteger(0);
final AtomicInteger watchdogCounter2 = new AtomicInteger(0);
try (Watchdog watchdog1 =
new Watchdog(
0.2,
() -> {
watchdogCounter1.addAndGet(1);
});
Watchdog watchdog2 =
new Watchdog(
0.6,
() -> {
watchdogCounter2.addAndGet(1);
})) {
try (Watchdog watchdog1 = new Watchdog(0.2, () -> watchdogCounter1.addAndGet(1));
Watchdog watchdog2 = new Watchdog(0.6, () -> watchdogCounter2.addAndGet(1))) {
watchdog2.enable();
SimHooks.stepTiming(0.25);
assertEquals(0, watchdogCounter1.get(), "Watchdog triggered early");

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstanceTest.java
View File

@@ -136,7 +136,7 @@ class ShuffleboardInstanceTest {
try (StringSubscriber subscriber =
m_ntInstance
.getStringTopic("/Shuffleboard/.metadata/Selected")
.subscribe("", PubSubOption.keepDuplicates(true)); ) {
.subscribe("", PubSubOption.keepDuplicates(true))) {
listener =
m_ntInstance.addListener(
subscriber,

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/AddressableLEDSimTest.java
View File

@@ -79,7 +79,7 @@ class AddressableLEDSimTest {
BufferCallback callback = new BufferCallback();
try (AddressableLED led = new AddressableLED(0);
CallbackStore cb = sim.registerDataCallback(callback); ) {
CallbackStore cb = sim.registerDataCallback(callback)) {
assertFalse(sim.getRunning());
assertEquals(1, sim.getLength()); // Defaults to 1 led

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DCMotorSimTest.java
View File

@@ -63,7 +63,7 @@ class DCMotorSimTest {
try (var motor = new PWMVictorSPX(0);
var encoder = new Encoder(0, 1);
var controller = new PIDController(0.04, 0.0, 0.001); ) {
var controller = new PIDController(0.04, 0.0, 0.001)) {
var encoderSim = new EncoderSim(encoder);
encoderSim.resetData();

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DigitalPWMSimTest.java
View File

@@ -25,7 +25,7 @@ class DigitalPWMSimTest {
BooleanCallback initializeCallback = new BooleanCallback();
DoubleCallback dutyCycleCallback = new DoubleCallback();
try (CallbackStore initCb = sim.registerInitializedCallback(initializeCallback, false);
CallbackStore dutyCycleCb = sim.registerDutyCycleCallback(dutyCycleCallback, false); ) {
CallbackStore dutyCycleCb = sim.registerDutyCycleCallback(dutyCycleCallback, false)) {
final double kTestDutyCycle = 0.191;
output.enablePWM(kTestDutyCycle);

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/RelaySimTest.java
View File

@@ -58,7 +58,7 @@ class RelaySimTest {
try (CallbackStore fwdCb = sim.registerInitializedForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerInitializedReverseCallback(reverseCallback, false);
Relay relay = new Relay(0, Relay.Direction.kForward); ) {
Relay relay = new Relay(0, Relay.Direction.kForward)) {
assertTrue(sim.getInitializedForward());
assertFalse(sim.getInitializedReverse());
@@ -84,7 +84,7 @@ class RelaySimTest {
try (CallbackStore fwdCb = sim.registerInitializedForwardCallback(forwardCallback, false);
CallbackStore revCb = sim.registerInitializedReverseCallback(reverseCallback, false);
Relay relay = new Relay(0, Relay.Direction.kReverse); ) {
Relay relay = new Relay(0, Relay.Direction.kReverse)) {
assertFalse(sim.getInitializedForward());
assertTrue(sim.getInitializedReverse());

40
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/SimDeviceSimTest.java
View File

@@ -41,18 +41,10 @@ class SimDeviceSimTest {
SimDevice dev1 = SimDevice.create("testDC1")) {
try (CallbackStore callback1 =
SimDeviceSim.registerDeviceCreatedCallback(
"testDC",
(name, handle) -> {
callback1Counter.addAndGet(1);
},
false);
"testDC", (name, handle) -> callback1Counter.addAndGet(1), false);
CallbackStore callback2 =
SimDeviceSim.registerDeviceCreatedCallback(
"testDC",
(name, handle) -> {
callback2Counter.addAndGet(1);
},
true)) {
"testDC", (name, handle) -> callback2Counter.addAndGet(1), true)) {
assertEquals(0, callback1Counter.get(), "Callback 1 called early");
assertEquals(
1,
@@ -82,11 +74,7 @@ class SimDeviceSimTest {
SimDevice dev1 = SimDevice.create("testDF1");
try (CallbackStore callback =
SimDeviceSim.registerDeviceFreedCallback(
"testDF",
(name, handle) -> {
counter.addAndGet(1);
},
false)) {
"testDF", (name, handle) -> counter.addAndGet(1), false)) {
assertEquals(0, counter.get(), "Callback called early");
dev1.close();
assertEquals(1, counter.get(), "Callback called either more than once or not at all");
@@ -108,16 +96,10 @@ class SimDeviceSimTest {
SimDeviceSim sim = new SimDeviceSim("testVM1");
try (CallbackStore callback1 =
sim.registerValueCreatedCallback(
(name, handle, readonly, value) -> {
callback1Counter.addAndGet(1);
},
false);
(name, handle, readonly, value) -> callback1Counter.addAndGet(1), false);
CallbackStore callback2 =
sim.registerValueCreatedCallback(
(name, handle, readonly, value) -> {
callback2Counter.addAndGet(1);
},
true)) {
(name, handle, readonly, value) -> callback2Counter.addAndGet(1), true)) {
assertEquals(0, callback1Counter.get(), "Callback 1 called early");
assertEquals(
1,
@@ -148,18 +130,10 @@ class SimDeviceSimTest {
SimValue simVal = sim.getValue("v1");
try (CallbackStore callback1 =
sim.registerValueChangedCallback(
simVal,
(name, handle, readonly, value) -> {
callback1Counter.addAndGet(1);
},
false);
simVal, (name, handle, readonly, value) -> callback1Counter.addAndGet(1), false);
CallbackStore callback2 =
sim.registerValueChangedCallback(
simVal,
(name, handle, readonly, value) -> {
callback2Counter.addAndGet(1);
},
true)) {
simVal, (name, handle, readonly, value) -> callback2Counter.addAndGet(1), true)) {
assertEquals(0, callback1Counter.get(), "Callback 1 called early");
assertEquals(
1,

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooserTest.java
View File

@@ -75,7 +75,7 @@ class SendableChooserTest {
chooser.addOption(String.valueOf(i), i);
}
AtomicInteger currentVal = new AtomicInteger();
chooser.onChange(val -> currentVal.set(val));
chooser.onChange(currentVal::set);
SmartDashboard.putData("changeListenerChooser", chooser);
SmartDashboard.updateValues();