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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
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16
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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();
}