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Enable checkstyle on cscore, ntcore, wpiutil (#1032)

Browse Source 
Also update to version 8.10.
This commit is contained in:
Austin Shalit
2018-05-24 00:31:04 -04:00
committed by Peter Johnson
parent ecfe95383c
commit 40cc743cc7
142 changed files with 1038 additions and 970 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
build.gradle
View File

@@ -82,7 +82,7 @@ subprojects {
}
checkstyle {
toolVersion = "8.1"
toolVersion = "8.10"
configFile = new File(rootDir, "styleguide/checkstyle.xml")
}

12
cameraserver/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
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@@ -7,6 +7,10 @@
package edu.wpi.first.wpilibj;
import java.util.ArrayList;
import java.util.Hashtable;
import java.util.concurrent.atomic.AtomicInteger;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.cscore.CvSink;
@@ -21,17 +25,11 @@ import edu.wpi.cscore.VideoMode.PixelFormat;
import edu.wpi.cscore.VideoProperty;
import edu.wpi.cscore.VideoSink;
import edu.wpi.cscore.VideoSource;
//import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
//import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import java.util.concurrent.atomic.AtomicInteger;
import java.util.ArrayList;
import java.util.Hashtable;
/**
* Singleton class for creating and keeping camera servers.
* Also publishes camera information to NetworkTables.
@@ -420,7 +418,7 @@ public class CameraServer {
// synchronization issues, so just update to current setting if someone
// else tries to change it.
m_tableListener = NetworkTableInstance.getDefault().addEntryListener(kPublishName + "/",
(event) -> {
event -> {
String relativeKey = event.name.substring(kPublishName.length() + 1);
// get source (sourceName/...)

6
cameraserver/src/main/java/edu/wpi/first/wpilibj/vision/VisionRunner.java
View File

@@ -7,14 +7,12 @@
package edu.wpi.first.wpilibj.vision;
import org.opencv.core.Mat;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.VideoSource;
import edu.wpi.first.wpilibj.CameraServerSharedStore;
//import edu.wpi.first.wpilibj.DriverStation;
//import edu.wpi.first.wpilibj.RobotBase;
import org.opencv.core.Mat;
/**
* A vision runner is a convenient wrapper object to make it easy to run vision pipelines
* from robot code. The easiest way to use this is to run it in a {@link VisionThread}

4
cscore/build.gradle
View File

@@ -109,7 +109,3 @@ model {
}
}
}
checkstyle {
sourceSets = []
}

3
cscore/src/dev/java/edu/wpi/cscore/DevMain.java
View File

@@ -10,6 +10,9 @@ package edu.wpi.cscore;
import edu.wpi.first.wpiutil.RuntimeDetector;
public class DevMain {
/**
* Main method.
*/
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());

16
cscore/src/main/java/edu/wpi/cscore/CameraServerJNI.java
View File

@@ -8,12 +8,14 @@
package edu.wpi.cscore;
import java.io.File;
import java.io.InputStream;
import java.io.OutputStream;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.util.function.Consumer;
import org.opencv.core.Core;
import edu.wpi.first.wpiutil.RuntimeDetector;
public class CameraServerJNI {
@@ -21,11 +23,12 @@ public class CameraServerJNI {
static File jniLibrary = null;
static boolean cvLibraryLoaded = false;
static File cvJniLibrary = null;
static {
if (!libraryLoaded) {
try {
System.loadLibrary("cscore");
} catch (UnsatisfiedLinkError e) {
} catch (UnsatisfiedLinkError linkError) {
try {
String resname = RuntimeDetector.getLibraryResource("cscore");
InputStream is = CameraServerJNI.class.getResourceAsStream(resname);
@@ -69,7 +72,7 @@ public class CameraServerJNI {
try {
System.loadLibrary(opencvName);
} catch (UnsatisfiedLinkError e) {
} catch (UnsatisfiedLinkError linkError) {
try {
String resname = RuntimeDetector.getLibraryResource(opencvName);
InputStream is = CameraServerJNI.class.getResourceAsStream(resname);
@@ -109,7 +112,7 @@ public class CameraServerJNI {
}
}
public static void ForceLoad() {}
public static void forceLoad() {}
//
// Property Functions
@@ -239,9 +242,10 @@ public class CameraServerJNI {
kSourceBytesReceived(1),
kSourceFramesReceived(2);
@SuppressWarnings("MemberName")
private int value;
private TelemetryKind(int value) {
TelemetryKind(int value) {
this.value = value;
}

126
cscore/src/main/java/edu/wpi/cscore/CvSource.java
View File

@@ -19,7 +19,11 @@ public class CvSource extends VideoSource {
* @param mode Video mode being generated
*/
public CvSource(String name, VideoMode mode) {
super(CameraServerJNI.createCvSource(name, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps));
super(CameraServerJNI.createCvSource(name,
mode.pixelFormat.getValue(),
mode.width,
mode.height,
mode.fps));
}
/**
@@ -80,66 +84,108 @@ public class CvSource extends VideoSource {
* @param value Current value
* @return Property
*/
public VideoProperty createProperty(String name, VideoProperty.Kind kind, int minimum, int maximum, int step, int defaultValue, int value) {
public VideoProperty createProperty(String name,
VideoProperty.Kind kind,
int minimum,
int maximum,
int step,
int defaultValue,
int value) {
return new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle, name, kind.getValue(), minimum, maximum, step, defaultValue, value));
CameraServerJNI.createSourceProperty(m_handle,
name,
kind.getValue(),
minimum,
maximum,
step,
defaultValue,
value));
}
/// Create an integer property.
/// @param name Property name
/// @param minimum Minimum value
/// @param maximum Maximum value
/// @param step Step value
/// @param defaultValue Default value
/// @param value Current value
/// @return Property
public VideoProperty createIntegerProperty(String name, int minimum, int maximum, int step, int defaultValue, int value) {
/**
* Create an integer property.
* @param name Property name
* @param minimum Minimum value
* @param maximum Maximum value
* @param step Step value
* @param defaultValue Default value
* @param value Current value
* @return Property
*/
public VideoProperty createIntegerProperty(String name,
int minimum,
int maximum,
int step,
int defaultValue,
int value) {
return new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle, name, VideoProperty.Kind.kInteger.getValue(), minimum, maximum, step, defaultValue, value));
CameraServerJNI.createSourceProperty(m_handle,
name,
VideoProperty.Kind.kInteger.getValue(),
minimum,
maximum,
step,
defaultValue,
value));
}
/// Create a boolean property.
/// @param name Property name
/// @param defaultValue Default value
/// @param value Current value
/// @return Property
/**
* Create a boolean property.
* @param name Property name
* @param defaultValue Default value
* @param value Current value
* @return Property
*/
public VideoProperty createBooleanProperty(String name, boolean defaultValue, boolean value) {
return new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle, name, VideoProperty.Kind.kBoolean.getValue(), 0, 1, 1, defaultValue ? 1 : 0, value ? 1 : 0));
CameraServerJNI.createSourceProperty(m_handle,
name,
VideoProperty.Kind.kBoolean.getValue(),
0,
1,
1,
defaultValue ? 1 : 0,
value ? 1 : 0));
}
/// Create a string property.
/// @param name Property name
/// @param value Current value
/// @return Property
/**
* Create a string property.
* @param name Property name
* @param value Current value
* @return Property
*/
public VideoProperty createStringProperty(String name, String value) {
VideoProperty prop = new VideoProperty(
CameraServerJNI.createSourceProperty(m_handle, name, VideoProperty.Kind.kString.getValue(), 0, 0, 0, 0, 0));
CameraServerJNI.createSourceProperty(m_handle,
name,
VideoProperty.Kind.kString.getValue(),
0,
0,
0,
0,
0));
prop.setString(value);
return prop;
}
/// Create a property with a change callback.
/// @param name Property name
/// @param kind Property kind
/// @param minimum Minimum value
/// @param maximum Maximum value
/// @param step Step value
/// @param defaultValue Default value
/// @param value Current value
/// @param onChange Callback to call when the property value changes
/// @return Property
//public VideoProperty createProperty(
// String name, VideoProperty.Kind kind, int minimum, int maximum, int step, int defaultValue, int value,
// std::function<void(VideoProperty property)>
// onChange);
/**
* Configure enum property choices.
* @param property Property
* @param choices Choices
*/
public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
public void setEnumPropertyChoices(VideoProperty property, String[] choices) {
CameraServerJNI.setSourceEnumPropertyChoices(m_handle, property.m_handle, choices);
}
/**
* Configure enum property choices.
* @param property Property
* @param choices Choices
* @deprecated Use {@code setEnumPropertyChoices} instead.
*/
@Deprecated
@SuppressWarnings("MethodName")
public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
setEnumPropertyChoices(property, choices);
}
}

10
cscore/src/main/java/edu/wpi/cscore/HttpCamera.java
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@@ -13,9 +13,11 @@ package edu.wpi.cscore;
public class HttpCamera extends VideoCamera {
public enum HttpCameraKind {
kUnknown(0), kMJPGStreamer(1), kCSCore(2), kAxis(3);
@SuppressWarnings("MemberName")
private int value;
private HttpCameraKind(int value) {
HttpCameraKind(int value) {
this.value = value;
}
@@ -24,6 +26,12 @@ public class HttpCamera extends VideoCamera {
}
}
/**
* Convert from the numerical representation of kind to an enum type.
*
* @param kind The numerical representation of kind
* @return The kind
*/
public static HttpCameraKind getHttpCameraKindFromInt(int kind) {
switch (kind) {
case 1: return HttpCameraKind.kMJPGStreamer;

17
cscore/src/main/java/edu/wpi/cscore/UsbCameraInfo.java
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@@ -8,9 +8,15 @@
package edu.wpi.cscore;
/**
* USB camera information
* USB camera information.
*/
public class UsbCameraInfo {
/**
* Create a new set of UsbCameraInfo.
* @param dev Device number (e.g. N in '/dev/videoN' on Linux)
* @param path Path to device if available (e.g. '/dev/video0' on Linux)
* @param name Vendor/model name of the camera as provided by the USB driver
*/
public UsbCameraInfo(int dev, String path, String name) {
this.dev = dev;
this.path = path;
@@ -18,17 +24,20 @@ public class UsbCameraInfo {
}
/**
* Device number (e.g. N in '/dev/videoN' on Linux)
* Device number (e.g. N in '/dev/videoN' on Linux).
*/
@SuppressWarnings("MemberName")
public int dev;
/**
* Path to device if available (e.g. '/dev/video0' on Linux)
* Path to device if available (e.g. '/dev/video0' on Linux).
*/
@SuppressWarnings("MemberName")
public String path;
/**
* Vendor/model name of the camera as provided by the USB driver
* Vendor/model name of the camera as provided by the USB driver.
*/
@SuppressWarnings("MemberName")
public String name;
}

20
cscore/src/main/java/edu/wpi/cscore/VideoEvent.java
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@@ -8,7 +8,7 @@
package edu.wpi.cscore;
/**
* Video event
* Video event.
*/
public class VideoEvent {
public enum Kind {
@@ -30,9 +30,10 @@ public class VideoEvent {
kNetworkInterfacesChanged(0x4000),
kTelemetryUpdated(0x8000);
@SuppressWarnings("MemberName")
private int value;
private Kind(int value) {
Kind(int value) {
this.value = value;
}
@@ -41,6 +42,12 @@ public class VideoEvent {
}
}
/**
* Convert from the numerical representation of kind to an enum type.
*
* @param kind The numerical representation of kind
* @return The kind
*/
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 0x0001: return Kind.kSourceCreated;
@@ -76,22 +83,31 @@ public class VideoEvent {
this.valueStr = valueStr;
}
@SuppressWarnings("MemberName")
public Kind kind;
// Valid for kSource* and kSink* respectively
@SuppressWarnings("MemberName")
public int sourceHandle;
@SuppressWarnings("MemberName")
public int sinkHandle;
// Source/sink/property name
@SuppressWarnings("MemberName")
public String name;
// Fields for kSourceVideoModeChanged event
@SuppressWarnings("MemberName")
public VideoMode mode;
// Fields for kSourceProperty* events
@SuppressWarnings("MemberName")
public int propertyHandle;
@SuppressWarnings("MemberName")
public VideoProperty.Kind propertyKind;
@SuppressWarnings("MemberName")
public int value;
@SuppressWarnings("MemberName")
public String valueStr;
public VideoSource getSource() {

25
cscore/src/main/java/edu/wpi/cscore/VideoMode.java
View File

@@ -8,14 +8,16 @@
package edu.wpi.cscore;
/**
* Video mode
* Video mode.
*/
public class VideoMode {
public enum PixelFormat {
kUnknown(0), kMJPEG(1), kYUYV(2), kRGB565(3), kBGR(4), kGray(5);
@SuppressWarnings("MemberName")
private int value;
private PixelFormat(int value) {
PixelFormat(int value) {
this.value = value;
}
@@ -23,12 +25,16 @@ public class VideoMode {
return value;
}
}
private static final PixelFormat[] m_pixelFormatValues = PixelFormat.values();
public static PixelFormat getPixelFormatFromInt(int pixelFormat) {
return m_pixelFormatValues[pixelFormat];
}
/**
* Create a new video mode.
*/
public VideoMode(int pixelFormat, int width, int height, int fps) {
this.pixelFormat = getPixelFormatFromInt(pixelFormat);
this.width = width;
@@ -36,6 +42,9 @@ public class VideoMode {
this.fps = fps;
}
/**
* Create a new video mode.
*/
public VideoMode(PixelFormat pixelFormat, int width, int height, int fps) {
this.pixelFormat = pixelFormat;
this.width = width;
@@ -44,22 +53,26 @@ public class VideoMode {
}
/**
* Pixel format
* Pixel format.
*/
@SuppressWarnings("MemberName")
public PixelFormat pixelFormat;
/**
* Width in pixels
* Width in pixels.
*/
@SuppressWarnings("MemberName")
public int width;
/**
* Height in pixels
* Height in pixels.
*/
@SuppressWarnings("MemberName")
public int height;
/**
* Frames per second
* Frames per second.
*/
@SuppressWarnings("MemberName")
public int fps;
}

10
cscore/src/main/java/edu/wpi/cscore/VideoProperty.java
View File

@@ -10,9 +10,11 @@ package edu.wpi.cscore;
public class VideoProperty {
public enum Kind {
kNone(0), kBoolean(1), kInteger(2), kString(4), kEnum(8);
@SuppressWarnings("MemberName")
private int value;
private Kind(int value) {
Kind(int value) {
this.value = value;
}
@@ -21,6 +23,12 @@ public class VideoProperty {
}
}
/**
* Convert from the numerical representation of kind to an enum type.
*
* @param kind The numerical representation of kind
* @return The kind
*/
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 1: return Kind.kBoolean;

14
cscore/src/main/java/edu/wpi/cscore/VideoSink.java
View File

@@ -15,9 +15,11 @@ package edu.wpi.cscore;
public class VideoSink implements AutoCloseable {
public enum Kind {
kUnknown(0), kMjpeg(2), kCv(4);
@SuppressWarnings("MemberName")
private int value;
private Kind(int value) {
Kind(int value) {
this.value = value;
}
@@ -26,6 +28,12 @@ public class VideoSink implements AutoCloseable {
}
}
/**
* Convert from the numerical representation of kind to an enum type.
*
* @param kind The numerical representation of kind
* @return The kind
*/
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 2: return Kind.kMjpeg;
@@ -59,6 +67,7 @@ public class VideoSink implements AutoCloseable {
return m_handle;
}
@Override
public boolean equals(Object other) {
if (this == other) {
return true;
@@ -73,6 +82,7 @@ public class VideoSink implements AutoCloseable {
return m_handle == sink.m_handle;
}
@Override
public int hashCode() {
return m_handle;
}
@@ -141,7 +151,7 @@ public class VideoSink implements AutoCloseable {
public static VideoSink[] enumerateSinks() {
int[] handles = CameraServerJNI.enumerateSinks();
VideoSink[] rv = new VideoSink[handles.length];
for (int i=0; i<handles.length; i++) {
for (int i = 0; i < handles.length; i++) {
rv[i] = new VideoSink(handles[i]);
}
return rv;

34
cscore/src/main/java/edu/wpi/cscore/VideoSource.java
View File

@@ -15,9 +15,11 @@ package edu.wpi.cscore;
public class VideoSource implements AutoCloseable {
public enum Kind {
kUnknown(0), kUsb(1), kHttp(2), kCv(4);
private int value;
private Kind(int value) {
@SuppressWarnings("MemberName")
private final int value;
Kind(int value) {
this.value = value;
}
@@ -26,6 +28,12 @@ public class VideoSource implements AutoCloseable {
}
}
/**
* Convert from the numerical representation of kind to an enum type.
*
* @param kind The numerical representation of kind
* @return The kind
*/
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 1: return Kind.kUsb;
@@ -60,6 +68,7 @@ public class VideoSource implements AutoCloseable {
return m_handle;
}
@Override
public boolean equals(Object other) {
if (this == other) {
return true;
@@ -74,6 +83,7 @@ public class VideoSource implements AutoCloseable {
return m_handle == source.m_handle;
}
@Override
public int hashCode() {
return m_handle;
}
@@ -109,7 +119,7 @@ public class VideoSource implements AutoCloseable {
}
/**
* Is the source currently connected to whatever is providing the images?
* Returns if the source currently connected to whatever is providing the images.
*/
public boolean isConnected() {
return CameraServerJNI.isSourceConnected(m_handle);
@@ -131,7 +141,7 @@ public class VideoSource implements AutoCloseable {
public VideoProperty[] enumerateProperties() {
int[] handles = CameraServerJNI.enumerateSourceProperties(m_handle);
VideoProperty[] rv = new VideoProperty[handles.length];
for (int i=0; i<handles.length; i++) {
for (int i = 0; i < handles.length; i++) {
rv[i] = new VideoProperty(handles[i]);
}
return rv;
@@ -149,7 +159,11 @@ public class VideoSource implements AutoCloseable {
* @param mode Video mode
*/
public boolean setVideoMode(VideoMode mode) {
return CameraServerJNI.setSourceVideoMode(m_handle, mode.pixelFormat.getValue(), mode.width, mode.height, mode.fps);
return CameraServerJNI.setSourceVideoMode(m_handle,
mode.pixelFormat.getValue(),
mode.width,
mode.height,
mode.fps);
}
/**
@@ -199,7 +213,8 @@ public class VideoSource implements AutoCloseable {
* @return Actual FPS averaged over the telemetry period.
*/
public double getActualFPS() {
return CameraServerJNI.getTelemetryAverageValue(m_handle, CameraServerJNI.TelemetryKind.kSourceFramesReceived);
return CameraServerJNI.getTelemetryAverageValue(m_handle,
CameraServerJNI.TelemetryKind.kSourceFramesReceived);
}
/**
@@ -209,7 +224,8 @@ public class VideoSource implements AutoCloseable {
* @return Data rate averaged over the telemetry period.
*/
public double getActualDataRate() {
return CameraServerJNI.getTelemetryAverageValue(m_handle, CameraServerJNI.TelemetryKind.kSourceBytesReceived);
return CameraServerJNI.getTelemetryAverageValue(m_handle,
CameraServerJNI.TelemetryKind.kSourceBytesReceived);
}
/**
@@ -226,7 +242,7 @@ public class VideoSource implements AutoCloseable {
public VideoSink[] enumerateSinks() {
int[] handles = CameraServerJNI.enumerateSourceSinks(m_handle);
VideoSink[] rv = new VideoSink[handles.length];
for (int i=0; i<handles.length; i++) {
for (int i = 0; i < handles.length; i++) {
rv[i] = new VideoSink(handles[i]);
}
return rv;
@@ -239,7 +255,7 @@ public class VideoSource implements AutoCloseable {
public static VideoSource[] enumerateSources() {
int[] handles = CameraServerJNI.enumerateSources();
VideoSource[] rv = new VideoSource[handles.length];
for (int i=0; i<handles.length; i++) {
for (int i = 0; i < handles.length; i++) {
rv[i] = new VideoSource(handles[i]);
}
return rv;

10
cscore/src/test/java/edu/wpi/cscore/JNITest.java
View File

@@ -10,9 +10,9 @@ package edu.wpi.cscore;
import org.junit.Test;
public class JNITest {
@Test
public void jniLinkTest() {
// Test to verify that the JNI test link works correctly.
edu.wpi.cscore.CameraServerJNI.getHostname();
}
@Test
public void jniLinkTest() {
// Test to verify that the JNI test link works correctly.
edu.wpi.cscore.CameraServerJNI.getHostname();
}
}

3
hal/src/main/java/edu/wpi/first/wpilibj/hal/AnalogJNI.java
View File

@@ -7,9 +7,10 @@
package edu.wpi.first.wpilibj.hal;
import edu.wpi.first.wpilibj.AccumulatorResult;
import java.nio.IntBuffer;
import edu.wpi.first.wpilibj.AccumulatorResult;
public class AnalogJNI extends JNIWrapper {
/**
* <i>native declaration : AthenaJava\target\native\include\HAL\Analog.h:58</i><br> enum values

3
hal/src/main/java/edu/wpi/first/wpilibj/hal/JNIWrapper.java
View File

@@ -7,13 +7,14 @@
package edu.wpi.first.wpilibj.hal;
import edu.wpi.first.wpiutil.RuntimeDetector;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import edu.wpi.first.wpiutil.RuntimeDetector;
/**
* Base class for all JNI wrappers.
*/

4
ntcore/build.gradle
View File

@@ -44,10 +44,6 @@ model {
}
}
checkstyle {
sourceSets = []
}
pmdMain {
pmdMain.enabled = false
}

13
ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
View File

@@ -11,9 +11,12 @@ import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.wpiutil.RuntimeDetector;
public class DevMain {
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
}
/**
* Main method.
*/
public static void main(String[] args) {
System.out.println("Hello World!");
System.out.println(RuntimeDetector.getPlatformPath());
NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
}
}

28
ntcore/src/main/java/edu/wpi/first/networktables/ConnectionInfo.java
View File

@@ -15,43 +15,49 @@ public final class ConnectionInfo {
* The remote identifier (as set on the remote node by
* {@link NetworkTableInstance#setNetworkIdentity(String)}).
*/
@SuppressWarnings("MemberName")
public final String remote_id;
/**
* The IP address of the remote node.
*/
@SuppressWarnings("MemberName")
public final String remote_ip;
/**
* The port number of the remote node.
*/
@SuppressWarnings("MemberName")
public final int remote_port;
/**
* The last time any update was received from the remote node (same scale as
* returned by {@link NetworkTablesJNI#now()}).
*/
@SuppressWarnings("MemberName")
public final long last_update;
/**
* The protocol version being used for this connection. This is in protocol
* layer format, so 0x0200 = 2.0, 0x0300 = 3.0).
*/
@SuppressWarnings("MemberName")
public final int protocol_version;
/** Constructor.
* This should generally only be used internally to NetworkTables.
* @param remote_id Remote identifier
* @param remote_ip Remote IP address
* @param remote_port Remote port number
* @param last_update Last time an update was received
* @param protocol_version The protocol version used for the connection
* @param remoteId Remote identifier
* @param remoteIp Remote IP address
* @param remotePort Remote port number
* @param lastUpdate Last time an update was received
* @param protocolVersion The protocol version used for the connection
*/
public ConnectionInfo(String remote_id, String remote_ip, int remote_port, long last_update, int protocol_version) {
this.remote_id = remote_id;
this.remote_ip = remote_ip;
this.remote_port = remote_port;
this.last_update = last_update;
this.protocol_version = protocol_version;
public ConnectionInfo(String remoteId, String remoteIp, int remotePort, long lastUpdate,
int protocolVersion) {
remote_id = remoteId;
remote_ip = remoteIp;
remote_port = remotePort;
last_update = lastUpdate;
protocol_version = protocolVersion;
}
}

12
ntcore/src/main/java/edu/wpi/first/networktables/ConnectionNotification.java
View File

@@ -14,16 +14,19 @@ public final class ConnectionNotification {
/**
* Listener that was triggered.
*/
@SuppressWarnings("MemberName")
public final int listener;
/**
* True if event is due to connection being established.
*/
@SuppressWarnings("MemberName")
public final boolean connected;
/**
* Connection information.
*/
@SuppressWarnings("MemberName")
public final ConnectionInfo conn;
/** Constructor.
@@ -33,16 +36,17 @@ public final class ConnectionNotification {
* @param connected Connected if true
* @param conn Connection information
*/
public ConnectionNotification(NetworkTableInstance inst, int listener, boolean connected, ConnectionInfo conn) {
this.inst = inst;
public ConnectionNotification(NetworkTableInstance inst, int listener, boolean connected,
ConnectionInfo conn) {
this.m_inst = inst;
this.listener = listener;
this.connected = connected;
this.conn = conn;
}
private final NetworkTableInstance inst;
private final NetworkTableInstance m_inst;
public NetworkTableInstance getInstance() {
return inst;
return m_inst;
}
}

24
ntcore/src/main/java/edu/wpi/first/networktables/EntryInfo.java
View File

@@ -12,18 +12,23 @@ package edu.wpi.first.networktables;
*/
public final class EntryInfo {
/** Entry handle. */
@SuppressWarnings("MemberName")
public final int entry;
/** Entry name. */
@SuppressWarnings("MemberName")
public final String name;
/** Entry type. */
@SuppressWarnings("MemberName")
public final NetworkTableType type;
/** Entry flags. */
@SuppressWarnings("MemberName")
public final int flags;
/** Timestamp of last change to entry (type or value). */
@SuppressWarnings("MemberName")
public final long last_change;
/** Constructor.
@@ -33,31 +38,32 @@ public final class EntryInfo {
* @param name Name
* @param type Type (integer version of {@link NetworkTableType})
* @param flags Flags
* @param last_change Timestamp of last change
* @param lastChange Timestamp of last change
*/
public EntryInfo(NetworkTableInstance inst, int entry, String name, int type, int flags, long last_change) {
this.inst = inst;
public EntryInfo(NetworkTableInstance inst, int entry, String name, int type, int flags,
long lastChange) {
this.m_inst = inst;
this.entry = entry;
this.name = name;
this.type = NetworkTableType.getFromInt(type);
this.flags = flags;
this.last_change = last_change;
this.last_change = lastChange;
}
/* Network table instance. */
private final NetworkTableInstance inst;
private final NetworkTableInstance m_inst;
/* Cached entry object. */
private NetworkTableEntry entryObject;
private NetworkTableEntry m_entryObject;
/**
* Get the entry as an object.
* @return NetworkTableEntry for this entry.
*/
NetworkTableEntry getEntry() {
if (entryObject == null) {
entryObject = new NetworkTableEntry(inst, entry);
if (m_entryObject == null) {
m_entryObject = new NetworkTableEntry(m_inst, entry);
}
return entryObject;
return m_entryObject;
}
}

54
ntcore/src/main/java/edu/wpi/first/networktables/EntryListenerFlags.java
View File

@@ -10,51 +10,63 @@ package edu.wpi.first.networktables;
/**
* Flag values for use with entry listeners.
*
* The flags are a bitmask and must be OR'ed together to indicate the
* <p>The flags are a bitmask and must be OR'ed together to indicate the
* combination of events desired to be received.
*
* The constants kNew, kDelete, kUpdate, and kFlags represent different events
* <p>The constants kNew, kDelete, kUpdate, and kFlags represent different events
* that can occur to entries.
*
* By default, notifications are only generated for remote changes occurring
* <p>By default, notifications are only generated for remote changes occurring
* after the listener is created. The constants kImmediate and kLocal are
* modifiers that cause notifications to be generated at other times.
*/
public interface EntryListenerFlags {
/** Initial listener addition.
* Set this flag to receive immediate notification of entries matching the
/**
* Initial listener addition.
*
* <p>Set this flag to receive immediate notification of entries matching the
* flag criteria (generally only useful when combined with kNew).
*/
public static final int kImmediate = 0x01;
int kImmediate = 0x01;
/** Changed locally.
* Set this flag to receive notification of both local changes and changes
/**
* Changed locally.
*
* <p>Set this flag to receive notification of both local changes and changes
* coming from remote nodes. By default, notifications are only generated
* for remote changes. Must be combined with some combination of kNew,
* kDelete, kUpdate, and kFlags to receive notifications of those respective
* events.
*/
public static final int kLocal = 0x02;
int kLocal = 0x02;
/** Newly created entry.
* Set this flag to receive a notification when an entry is created.
/**
* Newly created entry.
*
* <p>Set this flag to receive a notification when an entry is created.
*/
public static final int kNew = 0x04;
int kNew = 0x04;
/** Entry was deleted.
* Set this flag to receive a notification when an entry is deleted.
/**
* Entry was deleted.
*
* <p>Set this flag to receive a notification when an entry is deleted.
*/
public static final int kDelete = 0x08;
int kDelete = 0x08;
/** Entry's value changed.
* Set this flag to receive a notification when an entry's value (or type)
/**
* Entry's value changed.
*
* <p>Set this flag to receive a notification when an entry's value (or type)
* changes.
*/
public static final int kUpdate = 0x10;
int kUpdate = 0x10;
/** Entry's flags changed.
* Set this flag to receive a notification when an entry's flags value
/**
* Entry's flags changed.
*
* <p>Set this flag to receive a notification when an entry's flags value
* changes.
*/
public static final int kFlags = 0x20;
int kFlags = 0x20;
}

20
ntcore/src/main/java/edu/wpi/first/networktables/EntryNotification.java
View File

@@ -14,27 +14,32 @@ public final class EntryNotification {
/**
* Listener that was triggered.
*/
@SuppressWarnings("MemberName")
public final int listener;
/**
* Entry handle.
*/
@SuppressWarnings("MemberName")
public final int entry;
/**
* Entry name.
*/
@SuppressWarnings("MemberName")
public final String name;
/**
* The new value.
*/
@SuppressWarnings("MemberName")
public final NetworkTableValue value;
/**
* Update flags. For example, {@link EntryListenerFlags#kNew} if the key did
* not previously exist.
*/
@SuppressWarnings("MemberName")
public final int flags;
/** Constructor.
@@ -46,8 +51,9 @@ public final class EntryNotification {
* @param value The new value
* @param flags Update flags
*/
public EntryNotification(NetworkTableInstance inst, int listener, int entry, String name, NetworkTableValue value, int flags) {
this.inst = inst;
public EntryNotification(NetworkTableInstance inst, int listener, int entry, String name,
NetworkTableValue value, int flags) {
this.m_inst = inst;
this.listener = listener;
this.entry = entry;
this.name = name;
@@ -56,19 +62,19 @@ public final class EntryNotification {
}
/* Network table instance. */
private final NetworkTableInstance inst;
private final NetworkTableInstance m_inst;
/* Cached entry object. */
NetworkTableEntry entryObject;
NetworkTableEntry m_entryObject;
/**
* Get the entry as an object.
* @return NetworkTableEntry for this entry.
*/
public NetworkTableEntry getEntry() {
if (entryObject == null) {
entryObject = new NetworkTableEntry(inst, entry);
if (m_entryObject == null) {
m_entryObject = new NetworkTableEntry(m_inst, entry);
}
return entryObject;
return m_entryObject;
}
}

14
ntcore/src/main/java/edu/wpi/first/networktables/LogMessage.java
View File

@@ -27,26 +27,31 @@ public final class LogMessage {
/**
* The logger that generated the message.
*/
@SuppressWarnings("MemberName")
public final int logger;
/**
* Log level of the message.
*/
@SuppressWarnings("MemberName")
public final int level;
/**
* The filename of the source file that generated the message.
*/
@SuppressWarnings("MemberName")
public final String filename;
/**
* The line number in the source file that generated the message.
*/
@SuppressWarnings("MemberName")
public final int line;
/**
* The message.
*/
@SuppressWarnings("MemberName")
public final String message;
/** Constructor.
@@ -58,8 +63,9 @@ public final class LogMessage {
* @param line Line number
* @param message Message
*/
public LogMessage(NetworkTableInstance inst, int logger, int level, String filename, int line, String message) {
this.inst = inst;
public LogMessage(NetworkTableInstance inst, int logger, int level, String filename, int line,
String message) {
this.m_inst = inst;
this.logger = logger;
this.level = level;
this.filename = filename;
@@ -67,9 +73,9 @@ public final class LogMessage {
this.message = message;
}
private final NetworkTableInstance inst;
private final NetworkTableInstance m_inst;
NetworkTableInstance getInstance() {
return inst;
return m_inst;
}
}

128
ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
View File

@@ -21,14 +21,14 @@ import java.util.function.Consumer;
*/
public final class NetworkTable {
/**
* The path separator for sub-tables and keys
* The path separator for sub-tables and keys.
*
*/
public static final char PATH_SEPARATOR = '/';
private final String path;
private final String pathWithSep;
private final NetworkTableInstance inst;
private final String m_path;
private final String m_pathWithSep;
private final NetworkTableInstance m_inst;
/**
* Gets the "base name" of a key. For example, "/foo/bar" becomes "bar".
@@ -121,31 +121,35 @@ public final class NetworkTable {
* Constructor. Use NetworkTableInstance.getTable() or getSubTable() instead.
*/
NetworkTable(NetworkTableInstance inst, String path) {
this.path = path;
this.pathWithSep = path + PATH_SEPARATOR;
this.inst = inst;
m_path = path;
m_pathWithSep = path + PATH_SEPARATOR;
m_inst = inst;
}
/**
* Gets the instance for the table.
* @return Instance
*/
public NetworkTableInstance getInstance() { return inst; }
public NetworkTableInstance getInstance() {
return m_inst;
}
public String toString() { return "NetworkTable: " + path; }
public String toString() {
return "NetworkTable: " + m_path;
}
private final ConcurrentMap<String, NetworkTableEntry> entries = new ConcurrentHashMap<String, NetworkTableEntry>();
private final ConcurrentMap<String, NetworkTableEntry> m_entries = new ConcurrentHashMap<>();
/**
* Gets the entry for a subkey.
* Gets the entry for a sub key.
* @param key the key name
* @return Network table entry.
*/
public NetworkTableEntry getEntry(String key) {
NetworkTableEntry entry = entries.get(key);
NetworkTableEntry entry = m_entries.get(key);
if (entry == null) {
entry = inst.getEntry(pathWithSep + key);
entries.putIfAbsent(key, entry);
entry = m_inst.getEntry(m_pathWithSep + key);
m_entries.putIfAbsent(key, entry);
}
return entry;
}
@@ -157,11 +161,13 @@ public final class NetworkTable {
* @return Listener handle
*/
public int addEntryListener(TableEntryListener listener, int flags) {
final int prefixLen = path.length() + 1;
return inst.addEntryListener(pathWithSep, (event) -> {
final int prefixLen = m_path.length() + 1;
return m_inst.addEntryListener(m_pathWithSep, event -> {
String relativeKey = event.name.substring(prefixLen);
if (relativeKey.indexOf(PATH_SEPARATOR) != -1) // part of a subtable
if (relativeKey.indexOf(PATH_SEPARATOR) != -1) {
// part of a sub table
return;
}
listener.valueChanged(this, relativeKey, event.getEntry(), event.value, event.flags);
}, flags);
}
@@ -175,9 +181,8 @@ public final class NetworkTable {
*/
public int addEntryListener(String key, TableEntryListener listener, int flags) {
final NetworkTableEntry entry = getEntry(key);
return inst.addEntryListener(entry, (event) -> {
listener.valueChanged(this, key, entry, event.value, event.flags);
}, flags);
return m_inst.addEntryListener(entry,
event -> listener.valueChanged(this, key, entry, event.value, event.flags), flags);
}
/**
@@ -185,7 +190,7 @@ public final class NetworkTable {
* @param listener listener handle
*/
public void removeEntryListener(int listener) {
inst.removeEntryListener(listener);
m_inst.removeEntryListener(listener);
}
/**
@@ -198,25 +203,28 @@ public final class NetworkTable {
*/
public int addSubTableListener(TableListener listener, boolean localNotify) {
int flags = EntryListenerFlags.kNew | EntryListenerFlags.kImmediate;
if (localNotify)
if (localNotify) {
flags |= EntryListenerFlags.kLocal;
}
final int prefixLen = path.length() + 1;
final int prefixLen = m_path.length() + 1;
final NetworkTable parent = this;
return inst.addEntryListener(pathWithSep, new Consumer<EntryNotification>() {
final Set<String> notifiedTables = new HashSet<String>();
return m_inst.addEntryListener(m_pathWithSep, new Consumer<EntryNotification>() {
final Set<String> m_notifiedTables = new HashSet<>();
@Override
public void accept(EntryNotification event) {
String relativeKey = event.name.substring(prefixLen);
int endSubTable = relativeKey.indexOf(PATH_SEPARATOR);
if (endSubTable == -1)
if (endSubTable == -1) {
return;
}
String subTableKey = relativeKey.substring(0, endSubTable);
if (notifiedTables.contains(subTableKey))
if (m_notifiedTables.contains(subTableKey)) {
return;
notifiedTables.add(subTableKey);
}
m_notifiedTables.add(subTableKey);
listener.tableCreated(parent, subTableKey, parent.getSubTable(subTableKey));
}
}, flags);
@@ -227,7 +235,7 @@ public final class NetworkTable {
* @param listener listener handle
*/
public void removeTableListener(int listener) {
inst.removeEntryListener(listener);
m_inst.removeEntryListener(listener);
}
/**
@@ -238,11 +246,11 @@ public final class NetworkTable {
* @return a sub table relative to this one
*/
public NetworkTable getSubTable(String key) {
return new NetworkTable(inst, pathWithSep + key);
return new NetworkTable(m_inst, m_pathWithSep + key);
}
/**
* Checks the table and tells if it contains the specified key
* Checks the table and tells if it contains the specified key.
*
* @param key the key to search for
* @return true if the table as a value assigned to the given key
@@ -252,12 +260,15 @@ public final class NetworkTable {
}
/**
* Checks the table and tells if it contains the specified sub table.
*
* @param key the key to search for
* @return true if there is a subtable with the key which contains at least
* one key/subtable of its own
* @return true if there is a subtable with the key which contains at least one key/subtable of
* its own
*/
public boolean containsSubTable(String key) {
int[] handles = NetworkTablesJNI.getEntries(inst.getHandle(), pathWithSep + key + PATH_SEPARATOR, 0);
int[] handles = NetworkTablesJNI.getEntries(m_inst.getHandle(),
m_pathWithSep + key + PATH_SEPARATOR, 0);
return handles.length != 0;
}
@@ -267,16 +278,17 @@ public final class NetworkTable {
* @return keys currently in the table
*/
public Set<String> getKeys(int types) {
Set<String> keys = new HashSet<String>();
int prefixLen = path.length() + 1;
for (EntryInfo info : inst.getEntryInfo(pathWithSep, types)) {
Set<String> keys = new HashSet<>();
int prefixLen = m_path.length() + 1;
for (EntryInfo info : m_inst.getEntryInfo(m_pathWithSep, types)) {
String relativeKey = info.name.substring(prefixLen);
if (relativeKey.indexOf(PATH_SEPARATOR) != -1)
if (relativeKey.indexOf(PATH_SEPARATOR) != -1) {
continue;
}
keys.add(relativeKey);
// populate entries as we go
if (entries.get(relativeKey) == null) {
entries.putIfAbsent(relativeKey, new NetworkTableEntry(inst, info.entry));
if (m_entries.get(relativeKey) == null) {
m_entries.putIfAbsent(relativeKey, new NetworkTableEntry(m_inst, info.entry));
}
}
return keys;
@@ -295,13 +307,14 @@ public final class NetworkTable {
* @return subtables currently in the table
*/
public Set<String> getSubTables() {
Set<String> keys = new HashSet<String>();
int prefixLen = path.length() + 1;
for (EntryInfo info : inst.getEntryInfo(pathWithSep, 0)) {
Set<String> keys = new HashSet<>();
int prefixLen = m_path.length() + 1;
for (EntryInfo info : m_inst.getEntryInfo(m_pathWithSep, 0)) {
String relativeKey = info.name.substring(prefixLen);
int endSubTable = relativeKey.indexOf(PATH_SEPARATOR);
if (endSubTable == -1)
if (endSubTable == -1) {
continue;
}
keys.add(relativeKey.substring(0, endSubTable));
}
return keys;
@@ -318,7 +331,7 @@ public final class NetworkTable {
}
/**
* Put a value in the table
* Put a value in the table.
*
* @param key the key to be assigned to
* @param value the value that will be assigned
@@ -339,21 +352,20 @@ public final class NetworkTable {
}
/**
* Gets the value associated with a key as an object
* Gets the value associated with a key as an object.
*
* @param key the key of the value to look up
* @return the value associated with the given key, or nullptr if the key
* does not exist
* @return the value associated with the given key, or nullptr if the key does not exist
*/
NetworkTableValue getValue(String key) {
return getEntry(key).getValue();
}
/**
* {@inheritDoc}
* Get the path of the NetworkTable.
*/
public String getPath() {
return path;
return m_path;
}
/**
@@ -363,7 +375,7 @@ public final class NetworkTable {
* @throws PersistentException if error saving file
*/
public void saveEntries(String filename) throws PersistentException {
inst.saveEntries(filename, pathWithSep);
m_inst.saveEntries(filename, m_pathWithSep);
}
/**
@@ -374,23 +386,23 @@ public final class NetworkTable {
* @throws PersistentException if error saving file
*/
public String[] loadEntries(String filename) throws PersistentException {
return inst.loadEntries(filename, pathWithSep);
return m_inst.loadEntries(filename, m_pathWithSep);
}
@Override
public boolean equals(Object o) {
if (o == this) {
public boolean equals(Object other) {
if (other == this) {
return true;
}
if (!(o instanceof NetworkTable)) {
if (!(other instanceof NetworkTable)) {
return false;
}
NetworkTable other = (NetworkTable) o;
return inst.equals(other.inst) && path.equals(other.path);
NetworkTable ntOther = (NetworkTable) other;
return m_inst.equals(ntOther.m_inst) && m_path.equals(ntOther.m_path);
}
@Override
public int hashCode() {
return Objects.hash(inst, path);
return Objects.hash(m_inst, m_path);
}
}

173
ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
View File

@@ -11,7 +11,7 @@ import java.nio.ByteBuffer;
import java.util.function.Consumer;
/**
* NetworkTables Entry
* NetworkTables Entry.
*/
public final class NetworkTableEntry {
/**
@@ -178,7 +178,8 @@ public final class NetworkTableEntry {
* @return the entry's value or the given default value
*/
public Boolean[] getBooleanArray(Boolean[] defaultValue) {
return NetworkTableValue.fromNative(NetworkTablesJNI.getBooleanArray(m_handle, NetworkTableValue.toNative(defaultValue)));
return NetworkTableValue.fromNative(NetworkTablesJNI.getBooleanArray(m_handle,
NetworkTableValue.toNative(defaultValue)));
}
/**
@@ -198,7 +199,8 @@ public final class NetworkTableEntry {
* @return the entry's value or the given default value
*/
public Double[] getDoubleArray(Double[] defaultValue) {
return NetworkTableValue.fromNative(NetworkTablesJNI.getDoubleArray(m_handle, NetworkTableValue.toNative(defaultValue)));
return NetworkTableValue.fromNative(NetworkTablesJNI.getDoubleArray(m_handle,
NetworkTableValue.toNative(defaultValue)));
}
/**
@@ -208,7 +210,8 @@ public final class NetworkTableEntry {
* @return the entry's value or the given default value
*/
public Number[] getNumberArray(Number[] defaultValue) {
return NetworkTableValue.fromNative(NetworkTablesJNI.getDoubleArray(m_handle, NetworkTableValue.toNative(defaultValue)));
return NetworkTableValue.fromNative(NetworkTablesJNI.getDoubleArray(m_handle,
NetworkTableValue.toNative(defaultValue)));
}
/**
@@ -229,46 +232,48 @@ public final class NetworkTableEntry {
*/
public boolean setDefaultValue(Object defaultValue) {
if (defaultValue instanceof NetworkTableValue) {
long time = ((NetworkTableValue)defaultValue).getTime();
Object o = ((NetworkTableValue)defaultValue).getValue();
switch (((NetworkTableValue)defaultValue).getType()) {
long time = ((NetworkTableValue) defaultValue).getTime();
Object otherValue = ((NetworkTableValue) defaultValue).getValue();
switch (((NetworkTableValue) defaultValue).getType()) {
case kBoolean:
return NetworkTablesJNI.setDefaultBoolean(m_handle, time, ((Boolean)o).booleanValue());
return NetworkTablesJNI.setDefaultBoolean(m_handle, time,
((Boolean) otherValue).booleanValue());
case kDouble:
return NetworkTablesJNI.setDefaultDouble(m_handle, time, ((Number)o).doubleValue());
return NetworkTablesJNI.setDefaultDouble(m_handle, time,
((Number) otherValue).doubleValue());
case kString:
return NetworkTablesJNI.setDefaultString(m_handle, time, (String)o);
return NetworkTablesJNI.setDefaultString(m_handle, time, (String) otherValue);
case kRaw:
return NetworkTablesJNI.setDefaultRaw(m_handle, time, (byte[])o);
return NetworkTablesJNI.setDefaultRaw(m_handle, time, (byte[]) otherValue);
case kBooleanArray:
return NetworkTablesJNI.setDefaultBooleanArray(m_handle, time, (boolean[])o);
return NetworkTablesJNI.setDefaultBooleanArray(m_handle, time, (boolean[]) otherValue);
case kDoubleArray:
return NetworkTablesJNI.setDefaultDoubleArray(m_handle, time, (double[])o);
return NetworkTablesJNI.setDefaultDoubleArray(m_handle, time, (double[]) otherValue);
case kStringArray:
return NetworkTablesJNI.setDefaultStringArray(m_handle, time, (String[])o);
return NetworkTablesJNI.setDefaultStringArray(m_handle, time, (String[]) otherValue);
case kRpc:
// TODO
default:
return true;
}
} else if (defaultValue instanceof Boolean) {
return setDefaultBoolean((Boolean)defaultValue);
return setDefaultBoolean((Boolean) defaultValue);
} else if (defaultValue instanceof Number) {
return setDefaultNumber((Number)defaultValue);
return setDefaultNumber((Number) defaultValue);
} else if (defaultValue instanceof String) {
return setDefaultString((String)defaultValue);
} else if (defaultValue instanceof byte[]) {
return setDefaultRaw((byte[])defaultValue);
} else if (defaultValue instanceof boolean[]) {
return setDefaultBooleanArray((boolean[])defaultValue);
} else if (defaultValue instanceof double[]) {
return setDefaultDoubleArray((double[])defaultValue);
} else if (defaultValue instanceof Boolean[]) {
return setDefaultBooleanArray((Boolean[])defaultValue);
} else if (defaultValue instanceof Number[]) {
return setDefaultNumberArray((Number[])defaultValue);
} else if (defaultValue instanceof String[]) {
return setDefaultStringArray((String[])defaultValue);
return setDefaultString((String) defaultValue);
} else if (defaultValue instanceof byte[]) {
return setDefaultRaw((byte[]) defaultValue);
} else if (defaultValue instanceof boolean[]) {
return setDefaultBooleanArray((boolean[]) defaultValue);
} else if (defaultValue instanceof double[]) {
return setDefaultDoubleArray((double[]) defaultValue);
} else if (defaultValue instanceof Boolean[]) {
return setDefaultBooleanArray((Boolean[]) defaultValue);
} else if (defaultValue instanceof Number[]) {
return setDefaultNumberArray((Number[]) defaultValue);
} else if (defaultValue instanceof String[]) {
return setDefaultStringArray((String[]) defaultValue);
} else {
throw new IllegalArgumentException("Value of type " + defaultValue.getClass().getName()
+ " cannot be put into a table");
@@ -335,7 +340,8 @@ public final class NetworkTableEntry {
* @return False if the entry exists with a different type
*/
public boolean setDefaultBooleanArray(Boolean[] defaultValue) {
return NetworkTablesJNI.setDefaultBooleanArray(m_handle, 0, NetworkTableValue.toNative(defaultValue));
return NetworkTablesJNI.setDefaultBooleanArray(m_handle,
0, NetworkTableValue.toNative(defaultValue));
}
/**
@@ -353,7 +359,8 @@ public final class NetworkTableEntry {
* @return False if the entry exists with a different type
*/
public boolean setDefaultNumberArray(Number[] defaultValue) {
return NetworkTablesJNI.setDefaultDoubleArray(m_handle, 0, NetworkTableValue.toNative(defaultValue));
return NetworkTablesJNI.setDefaultDoubleArray(m_handle,
0, NetworkTableValue.toNative(defaultValue));
}
/**
@@ -366,53 +373,55 @@ public final class NetworkTableEntry {
}
/**
* Sets the entry's value
* Sets the entry's value.
* @param value the value that will be assigned
* @return False if the table key already exists with a different type
* @throws IllegalArgumentException if the value is not a known type
*/
public boolean setValue(Object value) {
if (value instanceof NetworkTableValue) {
long time = ((NetworkTableValue)value).getTime();
Object o = ((NetworkTableValue)value).getValue();
switch (((NetworkTableValue)value).getType()) {
long time = ((NetworkTableValue) value).getTime();
Object otherValue = ((NetworkTableValue) value).getValue();
switch (((NetworkTableValue) value).getType()) {
case kBoolean:
return NetworkTablesJNI.setBoolean(m_handle, time, ((Boolean)o).booleanValue(), false);
return NetworkTablesJNI.setBoolean(m_handle, time, ((Boolean) otherValue).booleanValue(),
false);
case kDouble:
return NetworkTablesJNI.setDouble(m_handle, time, ((Number)o).doubleValue(), false);
return NetworkTablesJNI.setDouble(m_handle, time, ((Number) otherValue).doubleValue(),
false);
case kString:
return NetworkTablesJNI.setString(m_handle, time, (String)o, false);
return NetworkTablesJNI.setString(m_handle, time, (String) otherValue, false);
case kRaw:
return NetworkTablesJNI.setRaw(m_handle, time, (byte[])o, false);
return NetworkTablesJNI.setRaw(m_handle, time, (byte[]) otherValue, false);
case kBooleanArray:
return NetworkTablesJNI.setBooleanArray(m_handle, time, (boolean[])o, false);
return NetworkTablesJNI.setBooleanArray(m_handle, time, (boolean[]) otherValue, false);
case kDoubleArray:
return NetworkTablesJNI.setDoubleArray(m_handle, time, (double[])o, false);
return NetworkTablesJNI.setDoubleArray(m_handle, time, (double[]) otherValue, false);
case kStringArray:
return NetworkTablesJNI.setStringArray(m_handle, time, (String[])o, false);
return NetworkTablesJNI.setStringArray(m_handle, time, (String[]) otherValue, false);
case kRpc:
// TODO
default:
return true;
}
} else if (value instanceof Boolean) {
return setBoolean((Boolean)value);
return setBoolean((Boolean) value);
} else if (value instanceof Number) {
return setNumber((Number)value);
return setNumber((Number) value);
} else if (value instanceof String) {
return setString((String)value);
return setString((String) value);
} else if (value instanceof byte[]) {
return setRaw((byte[])value);
return setRaw((byte[]) value);
} else if (value instanceof boolean[]) {
return setBooleanArray((boolean[])value);
return setBooleanArray((boolean[]) value);
} else if (value instanceof double[]) {
return setDoubleArray((double[])value);
return setDoubleArray((double[]) value);
} else if (value instanceof Boolean[]) {
return setBooleanArray((Boolean[])value);
return setBooleanArray((Boolean[]) value);
} else if (value instanceof Number[]) {
return setNumberArray((Number[])value);
return setNumberArray((Number[]) value);
} else if (value instanceof String[]) {
return setStringArray((String[])value);
return setStringArray((String[]) value);
} else {
throw new IllegalArgumentException("Value of type " + value.getClass().getName()
+ " cannot be put into a table");
@@ -471,10 +480,12 @@ public final class NetworkTableEntry {
* @return False if the entry exists with a different type
*/
public boolean setRaw(ByteBuffer value, int len) {
if (!value.isDirect())
if (!value.isDirect()) {
throw new IllegalArgumentException("must be a direct buffer");
if (value.capacity() < len)
}
if (value.capacity() < len) {
throw new IllegalArgumentException("buffer is too small, must be at least " + len);
}
return NetworkTablesJNI.setRaw(m_handle, 0, value, len, false);
}
@@ -531,29 +542,29 @@ public final class NetworkTableEntry {
*/
public void forceSetValue(Object value) {
if (value instanceof NetworkTableValue) {
long time = ((NetworkTableValue)value).getTime();
Object o = ((NetworkTableValue)value).getValue();
switch (((NetworkTableValue)value).getType()) {
long time = ((NetworkTableValue) value).getTime();
Object otherValue = ((NetworkTableValue) value).getValue();
switch (((NetworkTableValue) value).getType()) {
case kBoolean:
NetworkTablesJNI.setBoolean(m_handle, time, ((Boolean)o).booleanValue(), true);
NetworkTablesJNI.setBoolean(m_handle, time, ((Boolean) otherValue).booleanValue(), true);
return;
case kDouble:
NetworkTablesJNI.setDouble(m_handle, time, ((Number)o).doubleValue(), true);
NetworkTablesJNI.setDouble(m_handle, time, ((Number) otherValue).doubleValue(), true);
return;
case kString:
NetworkTablesJNI.setString(m_handle, time, (String)o, true);
NetworkTablesJNI.setString(m_handle, time, (String) otherValue, true);
return;
case kRaw:
NetworkTablesJNI.setRaw(m_handle, time, (byte[])o, true);
NetworkTablesJNI.setRaw(m_handle, time, (byte[]) otherValue, true);
return;
case kBooleanArray:
NetworkTablesJNI.setBooleanArray(m_handle, time, (boolean[])o, true);
NetworkTablesJNI.setBooleanArray(m_handle, time, (boolean[]) otherValue, true);
return;
case kDoubleArray:
NetworkTablesJNI.setDoubleArray(m_handle, time, (double[])o, true);
NetworkTablesJNI.setDoubleArray(m_handle, time, (double[]) otherValue, true);
return;
case kStringArray:
NetworkTablesJNI.setStringArray(m_handle, time, (String[])o, true);
NetworkTablesJNI.setStringArray(m_handle, time, (String[]) otherValue, true);
return;
case kRpc:
// TODO
@@ -561,23 +572,23 @@ public final class NetworkTableEntry {
return;
}
} else if (value instanceof Boolean) {
forceSetBoolean((Boolean)value);
forceSetBoolean((Boolean) value);
} else if (value instanceof Number) {
forceSetNumber((Number)value);
forceSetNumber((Number) value);
} else if (value instanceof String) {
forceSetString((String)value);
forceSetString((String) value);
} else if (value instanceof byte[]) {
forceSetRaw((byte[])value);
forceSetRaw((byte[]) value);
} else if (value instanceof boolean[]) {
forceSetBooleanArray((boolean[])value);
forceSetBooleanArray((boolean[]) value);
} else if (value instanceof double[]) {
forceSetDoubleArray((double[])value);
forceSetDoubleArray((double[]) value);
} else if (value instanceof Boolean[]) {
forceSetBooleanArray((Boolean[])value);
forceSetBooleanArray((Boolean[]) value);
} else if (value instanceof Number[]) {
forceSetNumberArray((Number[])value);
forceSetNumberArray((Number[]) value);
} else if (value instanceof String[]) {
forceSetStringArray((String[])value);
forceSetStringArray((String[]) value);
} else {
throw new IllegalArgumentException("Value of type " + value.getClass().getName()
+ " cannot be put into a table");
@@ -731,8 +742,8 @@ public final class NetworkTableEntry {
/**
* Call a RPC function. May be used on either the client or server.
* This function is non-blocking. Either {@link RpcCall#GetResult()} or
* {@link RpcCall#CancelResult()} must be called on the return value to either
* This function is non-blocking. Either {@link RpcCall#getResult()} or
* {@link RpcCall#cancelResult()} must be called on the return value to either
* get or ignore the result of the call.
* @param params parameter
* @return RPC call object.
@@ -742,7 +753,7 @@ public final class NetworkTableEntry {
}
/**
* Add a listener for changes to the entry
* Add a listener for changes to the entry.
* @param listener the listener to add
* @param flags bitmask specifying desired notifications
* @return listener handle
@@ -752,7 +763,7 @@ public final class NetworkTableEntry {
}
/**
* Remove a listener from receiving entry events
* Remove a listener from receiving entry events.
* @param listener the listener to be removed
*/
public void removeListener(int listener) {
@@ -760,15 +771,15 @@ public final class NetworkTableEntry {
}
@Override
public boolean equals(Object o) {
if (o == this) {
public boolean equals(Object other) {
if (other == this) {
return true;
}
if (!(o instanceof NetworkTableEntry)) {
if (!(other instanceof NetworkTableEntry)) {
return false;
}
NetworkTableEntry other = (NetworkTableEntry) o;
return m_handle == other.m_handle;
return m_handle == ((NetworkTableEntry) other).m_handle;
}
@Override

91
ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
View File

@@ -19,18 +19,18 @@ import java.util.function.Consumer;
/**
* NetworkTables Instance.
*
* Instances are completely independent from each other. Table operations on
* <p>Instances are completely independent from each other. Table operations on
* one instance will not be visible to other instances unless the instances are
* connected via the network. The main limitation on instances is that you
* cannot have two servers on the same network port. The main utility of
* instances is for unit testing, but they can also enable one program to
* connect to two different NetworkTables networks.
*
* The global "default" instance (as returned by {@link #getDefault()}) is
* <p>The global "default" instance (as returned by {@link #getDefault()}) is
* always available, and is intended for the common case when there is only
* a single NetworkTables instance being used in the program.
*
* Additional instances can be created with the {@link #create()} function.
* <p>Additional instances can be created with the {@link #create()} function.
* A reference must be kept to the NetworkTableInstance returned by this
* function to keep it from being garbage collected.
*/
@@ -89,7 +89,7 @@ public final class NetworkTableInstance implements AutoCloseable {
* Get global default instance.
* @return Global default instance
*/
public synchronized static NetworkTableInstance getDefault() {
public static synchronized NetworkTableInstance getDefault() {
if (s_defaultInstance == null) {
s_defaultInstance = new NetworkTableInstance(NetworkTablesJNI.getDefaultInstance());
}
@@ -131,7 +131,7 @@ public final class NetworkTableInstance implements AutoCloseable {
* only return a subset of all entries.
*
* @param prefix entry name required prefix; only entries whose name
* starts with this string are returned
* starts with this string are returned
* @param types bitmask of types; 0 is treated as a "don't care"
* @return Array of entries.
*/
@@ -150,7 +150,7 @@ public final class NetworkTableInstance implements AutoCloseable {
* only return a subset of all entries.
*
* @param prefix entry name required prefix; only entries whose name
* starts with this string are returned
* starts with this string are returned
* @param types bitmask of types; 0 is treated as a "don't care"
* @return Array of entry information.
*/
@@ -203,12 +203,12 @@ public final class NetworkTableInstance implements AutoCloseable {
*/
private static class EntryConsumer<T> {
final NetworkTableEntry entry;
final Consumer<T> consumer;
final NetworkTableEntry m_entry;
final Consumer<T> m_consumer;
EntryConsumer(NetworkTableEntry entry, Consumer<T> consumer) {
this.entry = entry;
this.consumer = consumer;
m_entry = entry;
m_consumer = consumer;
}
}
@@ -238,7 +238,8 @@ public final class NetworkTableInstance implements AutoCloseable {
m_entryListenerLock.unlock();
}
Thread.currentThread().interrupt();
wasInterrupted = true; // don't try to destroy poller, as its handle is likely no longer valid
// don't try to destroy poller, as its handle is likely no longer valid
wasInterrupted = true;
break;
}
for (EntryNotification event : events) {
@@ -250,11 +251,12 @@ public final class NetworkTableInstance implements AutoCloseable {
m_entryListenerLock.unlock();
}
if (listener != null) {
event.entryObject = listener.entry;
event.m_entryObject = listener.m_entry;
try {
listener.consumer.accept(event);
listener.m_consumer.accept(event);
} catch (Throwable throwable) {
System.err.println("Unhandled exception during entry listener callback: " + throwable.toString());
System.err.println("Unhandled exception during entry listener callback: "
+ throwable.toString());
throwable.printStackTrace();
}
}
@@ -305,7 +307,9 @@ public final class NetworkTableInstance implements AutoCloseable {
* @param flags {@link EntryListenerFlags} bitmask
* @return Listener handle
*/
public int addEntryListener(NetworkTableEntry entry, Consumer<EntryNotification> listener, int flags) {
public int addEntryListener(NetworkTableEntry entry,
Consumer<EntryNotification> listener,
int flags) {
if (!equals(entry.getInstance())) {
throw new IllegalArgumentException("entry does not belong to this instance");
}
@@ -315,7 +319,8 @@ public final class NetworkTableInstance implements AutoCloseable {
m_entryListenerPoller = NetworkTablesJNI.createEntryListenerPoller(m_handle);
startEntryListenerThread();
}
int handle = NetworkTablesJNI.addPolledEntryListener(m_entryListenerPoller, entry.getHandle(), flags);
int handle = NetworkTablesJNI.addPolledEntryListener(m_entryListenerPoller, entry.getHandle(),
flags);
m_entryListeners.put(handle, new EntryConsumer<>(entry, listener));
return handle;
} finally {
@@ -354,7 +359,8 @@ public final class NetworkTableInstance implements AutoCloseable {
if (timeout < 0) {
m_entryListenerWaitQueueCond.await();
} else {
return m_entryListenerWaitQueueCond.await((long) (timeout * 1e9), TimeUnit.NANOSECONDS);
return m_entryListenerWaitQueueCond.await((long) (timeout * 1e9),
TimeUnit.NANOSECONDS);
}
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
@@ -369,11 +375,13 @@ public final class NetworkTableInstance implements AutoCloseable {
}
private final ReentrantLock m_connectionListenerLock = new ReentrantLock();
private final Map<Integer, Consumer<ConnectionNotification>> m_connectionListeners = new HashMap<>();
private final Map<Integer, Consumer<ConnectionNotification>> m_connectionListeners
= new HashMap<>();
private Thread m_connectionListenerThread;
private int m_connectionListenerPoller;
private boolean m_connectionListenerWaitQueue;
private final Condition m_connectionListenerWaitQueueCond = m_connectionListenerLock.newCondition();
private final Condition m_connectionListenerWaitQueueCond
= m_connectionListenerLock.newCondition();
private void startConnectionListenerThread() {
m_connectionListenerThread = new Thread(() -> {
@@ -394,7 +402,8 @@ public final class NetworkTableInstance implements AutoCloseable {
m_connectionListenerLock.unlock();
}
Thread.currentThread().interrupt();
wasInterrupted = true; // don't try to destroy poller, as its handle is likely no longer valid
// don't try to destroy poller, as its handle is likely no longer valid
wasInterrupted = true;
break;
}
for (ConnectionNotification event : events) {
@@ -409,7 +418,8 @@ public final class NetworkTableInstance implements AutoCloseable {
try {
listener.accept(event);
} catch (Throwable throwable) {
System.err.println("Unhandled exception during connection listener callback: " + throwable.toString());
System.err.println("Unhandled exception during connection listener callback: "
+ throwable.toString());
throwable.printStackTrace();
}
}
@@ -436,14 +446,16 @@ public final class NetworkTableInstance implements AutoCloseable {
* @param immediateNotify Notify listener of all existing connections
* @return Listener handle
*/
public int addConnectionListener(Consumer<ConnectionNotification> listener, boolean immediateNotify) {
public int addConnectionListener(Consumer<ConnectionNotification> listener,
boolean immediateNotify) {
m_connectionListenerLock.lock();
try {
if (m_connectionListenerPoller == 0) {
m_connectionListenerPoller = NetworkTablesJNI.createConnectionListenerPoller(m_handle);
startConnectionListenerThread();
}
int handle = NetworkTablesJNI.addPolledConnectionListener(m_connectionListenerPoller, immediateNotify);
int handle = NetworkTablesJNI.addPolledConnectionListener(m_connectionListenerPoller,
immediateNotify);
m_connectionListeners.put(handle, listener);
return handle;
} finally {
@@ -488,7 +500,8 @@ public final class NetworkTableInstance implements AutoCloseable {
if (timeout < 0) {
m_connectionListenerWaitQueueCond.await();
} else {
return m_connectionListenerWaitQueueCond.await((long) (timeout * 1e9), TimeUnit.NANOSECONDS);
return m_connectionListenerWaitQueueCond.await((long) (timeout * 1e9),
TimeUnit.NANOSECONDS);
}
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
@@ -532,7 +545,8 @@ public final class NetworkTableInstance implements AutoCloseable {
m_rpcCallLock.unlock();
}
Thread.currentThread().interrupt();
wasInterrupted = true; // don't try to destroy poller, as its handle is likely no longer valid
// don't try to destroy poller, as its handle is likely no longer valid
wasInterrupted = true;
break;
}
for (RpcAnswer event : events) {
@@ -544,11 +558,12 @@ public final class NetworkTableInstance implements AutoCloseable {
m_rpcCallLock.unlock();
}
if (listener != null) {
event.entryObject = listener.entry;
event.m_entryObject = listener.m_entry;
try {
listener.consumer.accept(event);
listener.m_consumer.accept(event);
} catch (Throwable throwable) {
System.err.println("Unhandled exception during RPC callback: " + throwable.toString());
System.err.println("Unhandled exception during RPC callback: "
+ throwable.toString());
throwable.printStackTrace();
}
}
@@ -707,7 +722,7 @@ public final class NetworkTableInstance implements AutoCloseable {
}
/**
* Starts a client using the specified server and the default port
* Starts a client using the specified server and the default port.
*
* @param serverName server name
*/
@@ -716,7 +731,7 @@ public final class NetworkTableInstance implements AutoCloseable {
}
/**
* Starts a client using the specified server and port
* Starts a client using the specified server and port.
*
* @param serverName server name
* @param port port to communicate over
@@ -992,7 +1007,8 @@ public final class NetworkTableInstance implements AutoCloseable {
events = NetworkTablesJNI.pollLogger(this, m_loggerPoller);
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
wasInterrupted = true; // don't try to destroy poller, as its handle is likely no longer valid
// don't try to destroy poller, as its handle is likely no longer valid
wasInterrupted = true;
break;
}
for (LogMessage event : events) {
@@ -1007,7 +1023,8 @@ public final class NetworkTableInstance implements AutoCloseable {
try {
logger.accept(event);
} catch (Throwable throwable) {
System.err.println("Unhandled exception during logger callback: " + throwable.toString());
System.err.println("Unhandled exception during logger callback: "
+ throwable.toString());
throwable.printStackTrace();
}
}
@@ -1106,15 +1123,15 @@ public final class NetworkTableInstance implements AutoCloseable {
}
@Override
public boolean equals(Object o) {
if (o == this) {
public boolean equals(Object other) {
if (other == this) {
return true;
}
if (!(o instanceof NetworkTableInstance)) {
if (!(other instanceof NetworkTableInstance)) {
return false;
}
NetworkTableInstance other = (NetworkTableInstance) o;
return m_handle == other.m_handle;
return m_handle == ((NetworkTableInstance) other).m_handle;
}
@Override

9
ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableType.java
View File

@@ -21,9 +21,10 @@ public enum NetworkTableType {
kStringArray(0x40),
kRpc(0x80);
@SuppressWarnings("MemberName")
private final int value;
private NetworkTableType(int value) {
NetworkTableType(int value) {
this.value = value;
}
@@ -31,6 +32,12 @@ public enum NetworkTableType {
return value;
}
/**
* Convert from the numerical representation of type to an enum type.
*
* @param value The numerical representation of kind
* @return The kind
*/
public static NetworkTableType getFromInt(int value) {
switch (value) {
case 0x01: return kBoolean;

54
ntcore/src/main/java/edu/wpi/first/networktables/NetworkTableValue.java
View File

@@ -133,98 +133,98 @@ public final class NetworkTableValue {
/**
* Get the entry's boolean value.
* @throws ClassCastException if the entry value is not of boolean type.
* @return The boolean value.
* @throws ClassCastException if the entry value is not of boolean type.
*/
public boolean getBoolean() {
if (m_type != NetworkTableType.kBoolean) {
throw new ClassCastException("cannot convert " + m_type + " to boolean");
}
return ((Boolean)m_value).booleanValue();
return ((Boolean) m_value).booleanValue();
}
/**
* Get the entry's double value.
* @throws ClassCastException if the entry value is not of double type.
* @return The double value.
* @throws ClassCastException if the entry value is not of double type.
*/
public double getDouble() {
if (m_type != NetworkTableType.kDouble) {
throw new ClassCastException("cannot convert " + m_type + " to double");
}
return ((Number)m_value).doubleValue();
return ((Number) m_value).doubleValue();
}
/**
* Get the entry's string value.
* @throws ClassCastException if the entry value is not of string type.
* @return The string value.
* @throws ClassCastException if the entry value is not of string type.
*/
public String getString() {
if (m_type != NetworkTableType.kString) {
throw new ClassCastException("cannot convert " + m_type + " to string");
}
return (String)m_value;
return (String) m_value;
}
/**
* Get the entry's raw value.
* @throws ClassCastException if the entry value is not of raw type.
* @return The raw value.
* @throws ClassCastException if the entry value is not of raw type.
*/
public byte[] getRaw() {
if (m_type != NetworkTableType.kRaw) {
throw new ClassCastException("cannot convert " + m_type + " to raw");
}
return (byte[])m_value;
return (byte[]) m_value;
}
/**
* Get the entry's rpc definition value.
* @throws ClassCastException if the entry value is not of rpc definition type.
* @return The rpc definition value.
* @throws ClassCastException if the entry value is not of rpc definition type.
*/
public byte[] getRpc() {
if (m_type != NetworkTableType.kRpc) {
throw new ClassCastException("cannot convert " + m_type + " to rpc");
}
return (byte[])m_value;
return (byte[]) m_value;
}
/**
* Get the entry's boolean array value.
* @throws ClassCastException if the entry value is not of boolean array type.
* @return The boolean array value.
* @throws ClassCastException if the entry value is not of boolean array type.
*/
public boolean[] getBooleanArray() {
if (m_type != NetworkTableType.kBooleanArray) {
throw new ClassCastException("cannot convert " + m_type + " to boolean array");
}
return (boolean[])m_value;
return (boolean[]) m_value;
}
/**
* Get the entry's double array value.
* @throws ClassCastException if the entry value is not of double array type.
* @return The double array value.
* @throws ClassCastException if the entry value is not of double array type.
*/
public double[] getDoubleArray() {
if (m_type != NetworkTableType.kDoubleArray) {
throw new ClassCastException("cannot convert " + m_type + " to double array");
}
return (double[])m_value;
return (double[]) m_value;
}
/**
* Get the entry's string array value.
* @throws ClassCastException if the entry value is not of string array type.
* @return The string array value.
* @throws ClassCastException if the entry value is not of string array type.
*/
public String[] getStringArray() {
if (m_type != NetworkTableType.kStringArray) {
throw new ClassCastException("cannot convert " + m_type + " to string array");
}
return (String[])m_value;
return (String[]) m_value;
}
/*
@@ -422,15 +422,15 @@ public final class NetworkTableValue {
}
@Override
public boolean equals(Object o) {
if (o == this) {
public boolean equals(Object other) {
if (other == this) {
return true;
}
if (!(o instanceof NetworkTableValue)) {
if (!(other instanceof NetworkTableValue)) {
return false;
}
NetworkTableValue other = (NetworkTableValue) o;
return m_type == other.m_type && m_value.equals(other.m_value);
NetworkTableValue ntOther = (NetworkTableValue) other;
return m_type == ntOther.m_type && m_value.equals(ntOther.m_value);
}
@Override
@@ -440,29 +440,33 @@ public final class NetworkTableValue {
static boolean[] toNative(Boolean[] arr) {
boolean[] out = new boolean[arr.length];
for (int i = 0; i < arr.length; i++)
for (int i = 0; i < arr.length; i++) {
out[i] = arr[i];
}
return out;
}
static double[] toNative(Number[] arr) {
double[] out = new double[arr.length];
for (int i = 0; i < arr.length; i++)
for (int i = 0; i < arr.length; i++) {
out[i] = arr[i].doubleValue();
}
return out;
}
static Boolean[] fromNative(boolean[] arr) {
Boolean[] out = new Boolean[arr.length];
for (int i = 0; i < arr.length; i++)
for (int i = 0; i < arr.length; i++) {
out[i] = arr[i];
}
return out;
}
static Double[] fromNative(double[] arr) {
Double[] out = new Double[arr.length];
for (int i = 0; i < arr.length; i++)
for (int i = 0; i < arr.length; i++) {
out[i] = arr[i];
}
return out;
}

15
ntcore/src/main/java/edu/wpi/first/networktables/NetworkTablesJNI.java
View File

@@ -8,32 +8,35 @@
package edu.wpi.first.networktables;
import java.io.File;
import java.io.InputStream;
import java.io.OutputStream;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.nio.ByteBuffer;
import edu.wpi.first.wpiutil.RuntimeDetector;
public final class NetworkTablesJNI {
static boolean libraryLoaded = false;
static File jniLibrary = null;
static {
if (!libraryLoaded) {
try {
System.loadLibrary("ntcore");
} catch (UnsatisfiedLinkError e) {
} catch (UnsatisfiedLinkError linkError) {
try {
String resname = RuntimeDetector.getLibraryResource("ntcore");
InputStream is = NetworkTablesJNI.class.getResourceAsStream(resname);
if (is != null) {
// create temporary file
if (System.getProperty("os.name").startsWith("Windows"))
if (System.getProperty("os.name").startsWith("Windows")) {
jniLibrary = File.createTempFile("NetworkTablesJNI", ".dll");
else if (System.getProperty("os.name").startsWith("Mac"))
} else if (System.getProperty("os.name").startsWith("Mac")) {
jniLibrary = File.createTempFile("libNetworkTablesJNI", ".dylib");
else
} else {
jniLibrary = File.createTempFile("libNetworkTablesJNI", ".so");
}
// flag for delete on exit
jniLibrary.deleteOnExit();
OutputStream os = new FileOutputStream(jniLibrary);

7
ntcore/src/main/java/edu/wpi/first/networktables/PersistentException.java
View File

@@ -10,17 +10,12 @@ package edu.wpi.first.networktables;
import java.io.IOException;
/**
* An exception thrown when persistent load/save fails in a {@link NetworkTable}
*
* An exception thrown when persistent load/save fails in a {@link NetworkTable}.
*/
public final class PersistentException extends IOException {
public static final long serialVersionUID = 0;
/**
* @param message The error message
*/
public PersistentException(String message) {
super(message);
}
}

20
ntcore/src/main/java/edu/wpi/first/networktables/RpcAnswer.java
View File

@@ -12,18 +12,23 @@ package edu.wpi.first.networktables;
*/
public final class RpcAnswer implements AutoCloseable {
/** Entry handle. */
@SuppressWarnings("MemberName")
public final int entry;
/** Call handle. */
@SuppressWarnings("MemberName")
public int call;
/** Entry name. */
@SuppressWarnings("MemberName")
public final String name;
/** Call raw parameters. */
@SuppressWarnings("MemberName")
public final String params;
/** Connection that called the RPC. */
@SuppressWarnings("MemberName")
public final ConnectionInfo conn;
/** Constructor.
@@ -35,8 +40,9 @@ public final class RpcAnswer implements AutoCloseable {
* @param params Call raw parameters
* @param conn Connection info
*/
public RpcAnswer(NetworkTableInstance inst, int entry, int call, String name, String params, ConnectionInfo conn) {
this.inst = inst;
public RpcAnswer(NetworkTableInstance inst, int entry, int call, String name, String params,
ConnectionInfo conn) {
this.m_inst = inst;
this.entry = entry;
this.call = call;
this.name = name;
@@ -79,19 +85,19 @@ public final class RpcAnswer implements AutoCloseable {
}
/* Network table instance. */
private final NetworkTableInstance inst;
private final NetworkTableInstance m_inst;
/* Cached entry object. */
NetworkTableEntry entryObject;
NetworkTableEntry m_entryObject;
/**
* Get the entry as an object.
* @return NetworkTableEntry for the RPC.
*/
NetworkTableEntry getEntry() {
if (entryObject == null) {
entryObject = new NetworkTableEntry(inst, entry);
if (m_entryObject == null) {
m_entryObject = new NetworkTableEntry(m_inst, entry);
}
return entryObject;
return m_entryObject;
}
}

2
ntcore/src/main/java/edu/wpi/first/networktables/RpcCall.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.networktables;
/**
* NetworkTables Remote Procedure Call.
*/
public final class RpcCall implements AutoCloseable{
public final class RpcCall implements AutoCloseable {
/** Constructor.
* This should generally only be used internally to NetworkTables.
* @param entry Entry

7
ntcore/src/main/java/edu/wpi/first/networktables/TableEntryListener.java
View File

@@ -8,7 +8,7 @@
package edu.wpi.first.networktables;
/**
* A listener that listens to changes in values in a {@link NetworkTable}
* A listener that listens to changes in values in a {@link NetworkTable}.
*/
@FunctionalInterface
public interface TableEntryListener extends EntryListenerFlags {
@@ -20,7 +20,8 @@ public interface TableEntryListener extends EntryListenerFlags {
* @param entry the entry associated with the value that changed
* @param value the new value
* @param flags update flags; for example, EntryListenerFlags.kNew if the key
* did not previously exist in the table
* did not previously exist in the table
*/
void valueChanged(NetworkTable table, String key, NetworkTableEntry entry, NetworkTableValue value, int flags);
void valueChanged(NetworkTable table, String key, NetworkTableEntry entry,
NetworkTableValue value, int flags);
}

2
ntcore/src/main/java/edu/wpi/first/networktables/TableListener.java
View File

@@ -8,7 +8,7 @@
package edu.wpi.first.networktables;
/**
* A listener that listens to new tables in a {@link NetworkTable}
* A listener that listens to new tables in a {@link NetworkTable}.
*/
@FunctionalInterface
public interface TableListener {

22
ntcore/src/main/java/edu/wpi/first/wpilibj/networktables/NetworkTable.java
View File

@@ -7,6 +7,17 @@
package edu.wpi.first.wpilibj.networktables;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
import java.util.Objects;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ConcurrentMap;
import java.util.function.Consumer;
import edu.wpi.first.networktables.ConnectionInfo;
import edu.wpi.first.networktables.ConnectionNotification;
import edu.wpi.first.networktables.EntryInfo;
@@ -21,22 +32,13 @@ import edu.wpi.first.wpilibj.tables.IRemote;
import edu.wpi.first.wpilibj.tables.IRemoteConnectionListener;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
import java.nio.ByteBuffer;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.HashSet;
import java.util.List;
import java.util.Objects;
import java.util.Set;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.ConcurrentMap;
import java.util.function.Consumer;
/**
* A network table that knows its subtable path.
* @deprecated Use {@link edu.wpi.first.networktables.NetworkTable} instead.
*/
@Deprecated
@SuppressWarnings("checkstyle:all")
public class NetworkTable implements ITable, IRemote {
/**
* The path separator for sub-tables and keys

3
ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemote.java
View File

@@ -9,10 +9,11 @@ package edu.wpi.first.wpilibj.tables;
/**
* Represents an object that has a remote connection
* Represents an object that has a remote connection.
* @deprecated Use {@link edu.wpi.first.networktables.NetworkTableInstance}.
*/
@Deprecated
@SuppressWarnings("checkstyle:all")
public interface IRemote {
/**
* Register an object to listen for connection and disconnection events

3
ntcore/src/main/java/edu/wpi/first/wpilibj/tables/IRemoteConnectionListener.java
View File

@@ -10,10 +10,11 @@ package edu.wpi.first.wpilibj.tables;
import edu.wpi.first.networktables.ConnectionInfo;
/**
* A listener that listens for connection changes in a {@link IRemote} object
* A listener that listens for connection changes in a {@link IRemote} object.
* @deprecated Use Consumer&lt;{@link edu.wpi.first.networktables.ConnectionNotification}&gt;.
*/
@Deprecated
@SuppressWarnings("checkstyle:all")
public interface IRemoteConnectionListener {
/**
* Called when an IRemote is connected

3
ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITable.java
View File

@@ -12,10 +12,11 @@ import java.util.Set;
/**
* A table whose values can be read and written to
* A table whose values can be read and written to.
* @deprecated Use {@link edu.wpi.first.networktables.NetworkTable}.
*/
@Deprecated
@SuppressWarnings("checkstyle:all")
public interface ITable {
/**

3
ntcore/src/main/java/edu/wpi/first/wpilibj/tables/ITableListener.java
View File

@@ -8,13 +8,14 @@
package edu.wpi.first.wpilibj.tables;
/**
* A listener that listens to changes in values in a {@link ITable}
* A listener that listens to changes in values in a {@link ITable}.
* @deprecated Use Consumer&lt;{@link edu.wpi.first.networktables.EntryNotification}&gt;,
* {@link edu.wpi.first.networktables.TableEntryListener}, or
* {@link edu.wpi.first.networktables.TableListener} as appropriate.
*/
@FunctionalInterface
@Deprecated
@SuppressWarnings("checkstyle:all")
public interface ITableListener {
/**
* Called when a key-value pair is changed in a {@link ITable}

58
ntcore/src/test/java/edu/wpi/first/networktables/ConnectionListenerTest.java
View File

@@ -9,34 +9,38 @@ package edu.wpi.first.networktables;
import java.util.ArrayList;
import java.util.List;
import junit.framework.TestCase;
public class ConnectionListenerTest extends TestCase {
NetworkTableInstance serverInst;
NetworkTableInstance clientInst;
NetworkTableInstance m_serverInst;
NetworkTableInstance m_clientInst;
@Override
protected void setUp() throws Exception {
serverInst = NetworkTableInstance.create();
serverInst.setNetworkIdentity("server");
m_serverInst = NetworkTableInstance.create();
m_serverInst.setNetworkIdentity("server");
clientInst = NetworkTableInstance.create();
clientInst.setNetworkIdentity("client");
m_clientInst = NetworkTableInstance.create();
m_clientInst.setNetworkIdentity("client");
}
@Override
protected void tearDown() throws Exception {
clientInst.close();
serverInst.close();
m_clientInst.close();
m_serverInst.close();
}
/**
* Connect to the server.
*/
private void connect() {
serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
clientInst.startClient("127.0.0.1", 10000);
m_serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
m_clientInst.startClient("127.0.0.1", 10000);
// wait for client to report it's started, then wait another 0.1 sec
try {
while ((clientInst.getNetworkMode() & NetworkTableInstance.kNetModeStarting) != 0) {
while ((m_clientInst.getNetworkMode() & NetworkTableInstance.kNetModeStarting) != 0) {
Thread.sleep(100);
}
Thread.sleep(100);
@@ -45,9 +49,12 @@ public class ConnectionListenerTest extends TestCase {
}
}
/**
* Test the JNI.
*/
public void testJNI() {
// set up the poller
int poller = NetworkTablesJNI.createConnectionListenerPoller(serverInst.getHandle());
int poller = NetworkTablesJNI.createConnectionListenerPoller(m_serverInst.getHandle());
assertTrue("bad poller handle", poller != 0);
int handle = NetworkTablesJNI.addPolledConnectionListener(poller, false);
assertTrue("bad listener handle", handle != 0);
@@ -56,10 +63,10 @@ public class ConnectionListenerTest extends TestCase {
connect();
// get the event
assertTrue(serverInst.waitForConnectionListenerQueue(1.0));
assertTrue(m_serverInst.waitForConnectionListenerQueue(1.0));
ConnectionNotification[] events = null;
try {
events = NetworkTablesJNI.pollConnectionListenerTimeout(serverInst, poller, 0.0);
events = NetworkTablesJNI.pollConnectionListenerTimeout(m_serverInst, poller, 0.0);
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
fail("unexpected interrupted exception" + ex);
@@ -71,7 +78,7 @@ public class ConnectionListenerTest extends TestCase {
assertTrue(events[0].connected);
// trigger a disconnect event
clientInst.stopClient();
m_clientInst.stopClient();
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
@@ -79,9 +86,9 @@ public class ConnectionListenerTest extends TestCase {
}
// get the event
assertTrue(serverInst.waitForConnectionListenerQueue(1.0));
assertTrue(m_serverInst.waitForConnectionListenerQueue(1.0));
try {
events = NetworkTablesJNI.pollConnectionListenerTimeout(serverInst, poller, 0.0);
events = NetworkTablesJNI.pollConnectionListenerTimeout(m_serverInst, poller, 0.0);
} catch (InterruptedException ex) {
Thread.currentThread().interrupt();
fail("unexpected interrupted exception" + ex);
@@ -94,24 +101,27 @@ public class ConnectionListenerTest extends TestCase {
}
/**
* Test threaded behavior.
*/
public void testThreaded() {
serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
m_serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
List<ConnectionNotification> events = new ArrayList<>();
int handle = serverInst.addConnectionListener((event) -> events.add(event), false);
final int handle = m_serverInst.addConnectionListener(events::add, false);
// trigger a connect event
clientInst.startClient("127.0.0.1", 10000);
m_clientInst.startClient("127.0.0.1", 10000);
// wait for client to report it's started, then wait another 0.1 sec
try {
while ((clientInst.getNetworkMode() & NetworkTableInstance.kNetModeStarting) != 0) {
while ((m_clientInst.getNetworkMode() & NetworkTableInstance.kNetModeStarting) != 0) {
Thread.sleep(100);
}
Thread.sleep(100);
} catch (InterruptedException ex) {
fail("interrupted while waiting for client to start");
}
assertTrue(serverInst.waitForConnectionListenerQueue(1.0));
assertTrue(m_serverInst.waitForConnectionListenerQueue(1.0));
// get the event
assertEquals(events.size(), 1);
@@ -120,7 +130,7 @@ public class ConnectionListenerTest extends TestCase {
events.clear();
// trigger a disconnect event
clientInst.stopClient();
m_clientInst.stopClient();
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
@@ -128,7 +138,7 @@ public class ConnectionListenerTest extends TestCase {
}
// get the event
assertTrue(serverInst.waitForConnectionListenerQueue(1.0));
assertTrue(m_serverInst.waitForConnectionListenerQueue(1.0));
assertEquals(events.size(), 1);
assertEquals(handle, events.get(0).listener);
assertFalse(events.get(0).connected);

40
ntcore/src/test/java/edu/wpi/first/networktables/EntryListenerTest.java
View File

@@ -9,36 +9,37 @@ package edu.wpi.first.networktables;
import java.util.ArrayList;
import java.util.List;
import junit.framework.TestCase;
public class EntryListenerTest extends TestCase {
NetworkTableInstance serverInst;
NetworkTableInstance clientInst;
NetworkTableInstance m_serverInst;
NetworkTableInstance m_clientInst;
@Override
protected void setUp() throws Exception {
serverInst = NetworkTableInstance.create();
serverInst.setNetworkIdentity("server");
m_serverInst = NetworkTableInstance.create();
m_serverInst.setNetworkIdentity("server");
clientInst = NetworkTableInstance.create();
clientInst.setNetworkIdentity("client");
m_clientInst = NetworkTableInstance.create();
m_clientInst.setNetworkIdentity("client");
}
@Override
protected void tearDown() throws Exception {
clientInst.close();
serverInst.close();
m_clientInst.close();
m_serverInst.close();
}
private void connect() {
serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
clientInst.startClient("127.0.0.1", 10000);
m_serverInst.startServer("connectionlistenertest.ini", "127.0.0.1", 10000);
m_clientInst.startClient("127.0.0.1", 10000);
// Use connection listener to ensure we've connected
int poller = NetworkTablesJNI.createConnectionListenerPoller(clientInst.getHandle());
int poller = NetworkTablesJNI.createConnectionListenerPoller(m_clientInst.getHandle());
NetworkTablesJNI.addPolledConnectionListener(poller, false);
try {
if (NetworkTablesJNI.pollConnectionListenerTimeout(clientInst, poller, 1.0).length == 0) {
if (NetworkTablesJNI.pollConnectionListenerTimeout(m_clientInst, poller, 1.0).length == 0) {
fail("client didn't connect to server");
}
} catch (InterruptedException ex) {
@@ -47,28 +48,31 @@ public class EntryListenerTest extends TestCase {
}
}
/**
* Test prefix with a new remote.
*/
public void testPrefixNewRemote() {
connect();
List<EntryNotification> events = new ArrayList<>();
int handle = serverInst.addEntryListener("/foo", (event) -> events.add(event),
final int handle = m_serverInst.addEntryListener("/foo", events::add,
EntryListenerFlags.kNew);
// Trigger an event
clientInst.getEntry("/foo/bar").setDouble(1.0);
clientInst.getEntry("/baz").setDouble(1.0);
clientInst.flush();
m_clientInst.getEntry("/foo/bar").setDouble(1.0);
m_clientInst.getEntry("/baz").setDouble(1.0);
m_clientInst.flush();
try {
Thread.sleep(100);
} catch (InterruptedException ex) {
fail("interrupted while waiting for entries to update");
}
assertTrue(serverInst.waitForEntryListenerQueue(1.0));
assertTrue(m_serverInst.waitForEntryListenerQueue(1.0));
// Check the event
assertEquals(events.size(), 1);
assertEquals(events.get(0).listener, handle);
assertEquals(events.get(0).getEntry(), serverInst.getEntry("/foo/bar"));
assertEquals(events.get(0).getEntry(), m_serverInst.getEntry("/foo/bar"));
assertEquals(events.get(0).name, "/foo/bar");
assertEquals(events.get(0).value, NetworkTableValue.makeDouble(1.0));
assertEquals(events.get(0).flags, EntryListenerFlags.kNew);

16
ntcore/src/test/java/edu/wpi/first/networktables/LoggerTest.java
View File

@@ -9,30 +9,34 @@ package edu.wpi.first.networktables;
import java.util.ArrayList;
import java.util.List;
import junit.framework.TestCase;
public class LoggerTest extends TestCase {
NetworkTableInstance clientInst;
NetworkTableInstance m_clientInst;
@Override
protected void setUp() throws Exception {
clientInst = NetworkTableInstance.create();
m_clientInst = NetworkTableInstance.create();
}
@Override
protected void tearDown() throws Exception {
clientInst.close();
m_clientInst.close();
}
/**
* Test the logger.
*/
public void testLogger() {
List<LogMessage> msgs = new ArrayList<>();
clientInst.addLogger((msg) -> msgs.add(msg), LogMessage.kInfo, 100);
m_clientInst.addLogger(msgs::add, LogMessage.kInfo, 100);
clientInst.startClient("127.0.0.1", 10000);
m_clientInst.startClient("127.0.0.1", 10000);
// wait for client to report it's started, then wait another 0.1 sec
try {
while ((clientInst.getNetworkMode() & NetworkTableInstance.kNetModeStarting) != 0) {
while ((m_clientInst.getNetworkMode() & NetworkTableInstance.kNetModeStarting) != 0) {
Thread.sleep(100);
}
Thread.sleep(100);

1
ntcore/src/test/java/edu/wpi/first/networktables/NetworkTableTest.java
View File

@@ -9,6 +9,7 @@ package edu.wpi.first.networktables;
import java.util.ArrayList;
import java.util.List;
import junit.framework.TestCase;
public class NetworkTableTest extends TestCase {

16
styleguide/checkstyle.xml
View File

@@ -60,6 +60,16 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
<property name="ignorePattern"
value="^package.*|^import.*|a href|href|http://|https://|ftp://" />
</module>
<module name="ImportOrder">
<property name="option"
value="bottom"/>
<property name="groups"
value="/^java\./,javax,com,org,/^edu\./,*,/^edu\.wpi\./,/^edu\.wpi\.first\.wpilibj\.examples\./"/>
<property name="separated"
value="true"/>
<property name="sortStaticImportsAlphabetically"
value="true"/>
</module>
<module name="AvoidStarImport" />
<module name="RedundantImport" />
<module name="UnusedImports" />
@@ -72,10 +82,7 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
value="LITERAL_TRY, LITERAL_FINALLY, LITERAL_IF, LITERAL_ELSE, LITERAL_SWITCH" />
</module>
<module name="NeedBraces" />
<module name="LeftCurly">
<property name="maxLineLength"
value="100" />
</module>
<module name="LeftCurly" />
<module name="RightCurly" />
<module name="RightCurly">
<property name="option"
@@ -233,6 +240,7 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
<property name="allowSamelineMultipleAnnotations"
value="true" />
</module>
<module name="MissingOverride" />
<module name="NonEmptyAtclauseDescription" />
<module name="JavadocTagContinuationIndentation" />
<module name="SummaryJavadoc">

290
styleguide/checkstyleExamples.xml
View File

@@ -1,290 +0,0 @@
<?xml version="1.0"?>
<!DOCTYPE
module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
"http://www.puppycrawl.com/dtds/configuration_1_3.dtd">
<!--
Checkstyle configuration that checks the Google coding conventions from Google Java Style
that can be found at https://google.github.io/styleguide/javaguide.html.
Checkstyle is very configurable. Be sure to read the documentation at
http://checkstyle.sf.net (or in your downloaded distribution).
To completely disable a check, just comment it out or delete it from the file.
Authors: Max Vetrenko, Ruslan Diachenko, Roman Ivanov.
-->
<module name="Checker">
<property name="charset"
value="UTF-8" />
<property name="severity"
value="error" />
<module name="SuppressionFilter">
<property name="file"
value="styleguide/suppressions.xml" />
</module>
<property name="fileExtensions"
value="java, properties, xml" />
<!-- Checks for whitespace -->
<!-- See http://checkstyle.sf.net/config_whitespace.html -->
<module name="FileTabCharacter">
<property name="eachLine"
value="true" />
</module>
<module name="NewlineAtEndOfFile">
<property name="lineSeparator"
value="lf" />
</module>
<module name="SuppressWarningsFilter" />
<module name="TreeWalker">
<module name="SuppressWarningsHolder" />
<module name="OuterTypeFilename" />
<module name="IllegalTokenText">
<property name="tokens"
value="STRING_LITERAL, CHAR_LITERAL" />
<property name="format"
value="\\u00(08|09|0(a|A)|0(c|C)|0(d|D)|22|27|5(C|c))|\\(0(10|11|12|14|15|42|47)|134)" />
<property name="message"
value="Avoid using corresponding octal or Unicode escape." />
</module>
<module name="AvoidEscapedUnicodeCharacters">
<property name="allowEscapesForControlCharacters"
value="true" />
<property name="allowByTailComment"
value="true" />
<property name="allowNonPrintableEscapes"
value="true" />
</module>
<module name="LineLength">
<property name="max"
value="100" />
<property name="ignorePattern"
value="^package.*|^import.*|a href|href|http://|https://|ftp://" />
</module>
<module name="AvoidStarImport" />
<module name="RedundantImport" />
<module name="UnusedImports" />
<module name="OneTopLevelClass" />
<module name="NoLineWrap" />
<module name="EmptyBlock">
<property name="option"
value="TEXT" />
<property name="tokens"
value="LITERAL_TRY, LITERAL_FINALLY, LITERAL_IF, LITERAL_ELSE, LITERAL_SWITCH" />
</module>
<module name="NeedBraces" />
<module name="LeftCurly">
<property name="maxLineLength"
value="100" />
</module>
<module name="RightCurly" />
<module name="RightCurly">
<property name="option"
value="alone" />
<property name="tokens"
value="CLASS_DEF, METHOD_DEF, CTOR_DEF, LITERAL_FOR, LITERAL_WHILE, LITERAL_DO, STATIC_INIT, INSTANCE_INIT" />
</module>
<module name="WhitespaceAround">
<property name="allowEmptyConstructors"
value="true" />
<property name="allowEmptyMethods"
value="true" />
<property name="allowEmptyTypes"
value="true" />
<property name="allowEmptyLoops"
value="true" />
<message key="ws.notFollowed"
value="WhitespaceAround: ''{0}'' is not followed by whitespace. Empty blocks may only be represented as '{}' when not part of a multi-block statement (4.1.3)" />
<message key="ws.notPreceded"
value="WhitespaceAround: ''{0}'' is not preceded with whitespace." />
</module>
<module name="WhitespaceAfter" />
<module name="OneStatementPerLine" />
<module name="MultipleVariableDeclarations" />
<module name="ArrayTypeStyle" />
<module name="MissingSwitchDefault" />
<module name="FallThrough" />
<module name="SimplifyBooleanExpression" />
<module name="SimplifyBooleanReturn" />
<module name="StringLiteralEquality" />
<module name="UnnecessaryParentheses" />
<module name="UpperEll" />
<module name="ModifierOrder" />
<module name="RedundantModifier" />
<module name="EmptyLineSeparator">
<property name="allowNoEmptyLineBetweenFields"
value="true" />
</module>
<module name="SeparatorWrap">
<property name="tokens"
value="DOT" />
<property name="option"
value="nl" />
</module>
<module name="SeparatorWrap">
<property name="tokens"
value="COMMA" />
<property name="option"
value="EOL" />
</module>
<module name="PackageName">
<property name="format"
value="^[a-z]+(\.[a-z][a-z0-9]*)*$" />
<message key="name.invalidPattern"
value="Package name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="TypeName">
<message key="name.invalidPattern"
value="Type name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="MemberName">
<property name="format"
value="^m_[a-z][a-z0-9][a-zA-Z0-9]*$" />
<message key="name.invalidPattern"
value="Member name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="ParameterName">
<property name="format"
value="^[a-z][a-z0-9][a-zA-Z0-9]*$" />
<message key="name.invalidPattern"
value="Parameter name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="CatchParameterName">
<property name="format"
value="^[a-z][a-z0-9][a-zA-Z0-9]*$" />
<message key="name.invalidPattern"
value="Catch parameter name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="LocalVariableName">
<property name="tokens"
value="VARIABLE_DEF" />
<property name="format"
value="^[a-z][a-z0-9][a-zA-Z0-9]*$" />
<property name="allowOneCharVarInForLoop"
value="true" />
<message key="name.invalidPattern"
value="Local variable name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="ClassTypeParameterName">
<property name="format"
value="(^[A-Z][0-9]?)$|([A-Z][a-zA-Z0-9]*[T]$)" />
<message key="name.invalidPattern"
value="Class type name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="MethodTypeParameterName">
<property name="format"
value="(^[A-Z][0-9]?)$|([A-Z][a-zA-Z0-9]*[T]$)" />
<message key="name.invalidPattern"
value="Method type name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="InterfaceTypeParameterName">
<property name="format"
value="(^[A-Z][0-9]?)$|([A-Z][a-zA-Z0-9]*[T]$)" />
<message key="name.invalidPattern"
value="Interface type name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="NoFinalizer" />
<module name="GenericWhitespace">
<message key="ws.followed"
value="GenericWhitespace ''{0}'' is followed by whitespace." />
<message key="ws.preceded"
value="GenericWhitespace ''{0}'' is preceded with whitespace." />
<message key="ws.illegalFollow"
value="GenericWhitespace ''{0}'' should followed by whitespace." />
<message key="ws.notPreceded"
value="GenericWhitespace ''{0}'' is not preceded with whitespace." />
</module>
<module name="Indentation">
<property name="basicOffset"
value="2" />
<property name="braceAdjustment"
value="0" />
<property name="caseIndent"
value="2" />
<property name="throwsIndent"
value="4" />
<property name="lineWrappingIndentation"
value="4" />
<property name="arrayInitIndent"
value="2" />
</module>
<module name="AbbreviationAsWordInName">
<property name="ignoreFinal"
value="false" />
<property name="allowedAbbreviationLength"
value="3" />
</module>
<module name="OverloadMethodsDeclarationOrder" />
<module name="VariableDeclarationUsageDistance">
<property name="allowedDistance"
value="8" />
</module>
<module name="MethodParamPad" />
<module name="TypecastParenPad" />
<module name="OperatorWrap">
<property name="option"
value="NL" />
<property name="tokens"
value="BAND, BOR, BSR, BXOR, DIV, EQUAL, GE, GT, LAND, LE, LITERAL_INSTANCEOF, LOR, LT, MINUS, MOD, NOT_EQUAL, PLUS, QUESTION, SL, SR, STAR " />
</module>
<module name="AnnotationLocation">
<property name="tokens"
value="CLASS_DEF, INTERFACE_DEF, ENUM_DEF, METHOD_DEF, CTOR_DEF" />
</module>
<module name="AnnotationLocation">
<property name="tokens"
value="VARIABLE_DEF" />
<property name="allowSamelineMultipleAnnotations"
value="true" />
</module>
<module name="NonEmptyAtclauseDescription" />
<module name="JavadocTagContinuationIndentation" />
<module name="SummaryJavadoc">
<property name="forbiddenSummaryFragments"
value="^@return the *|^This method returns |^A [{]@code [a-zA-Z0-9]+[}]( is a )" />
</module>
<module name="JavadocParagraph" />
<module name="AtclauseOrder">
<property name="tagOrder"
value="@param, @return, @throws, @deprecated" />
<property name="target"
value="CLASS_DEF, INTERFACE_DEF, ENUM_DEF, METHOD_DEF, CTOR_DEF, VARIABLE_DEF" />
</module>
<module name="JavadocMethod">
<property name="scope"
value="public" />
<property name="allowMissingParamTags"
value="true" />
<property name="allowMissingThrowsTags"
value="true" />
<property name="allowMissingReturnTag"
value="true" />
<property name="minLineCount"
value="2" />
<property name="allowedAnnotations"
value="Override, Test, Before, After, BeforeClass, AfterClass, Parameters" />
<property name="allowUndeclaredRTE"
value="true" />
<property name="allowThrowsTagsForSubclasses"
value="true" />
<property name="suppressLoadErrors"
value="true" />
<property name="tokens"
value="METHOD_DEF, ANNOTATION_FIELD_DEF" />
</module>
<module name="MethodName">
<property name="format"
value="^[a-z][a-z0-9][a-zA-Z0-9_]*$" />
<message key="name.invalidPattern"
value="Method name ''{0}'' must match pattern ''{1}''." />
</module>
<module name="SingleLineJavadoc">
<property name="ignoreInlineTags"
value="false" />
</module>
<module name="EmptyCatchBlock">
<property name="exceptionVariableName"
value="expected" />
</module>
<module name="CommentsIndentation" />
</module>
</module>

6
styleguide/suppressions.xml
View File

@@ -5,6 +5,8 @@ suppressions PUBLIC "-//Puppy Crawl//DTD Suppressions 1.1//EN"
<suppressions>
<suppress files=".*sim.*"
checks="[a-zA-Z0-9]*" />
<suppress files="edu.wpi.first.wpilibj.util.WPILibVersion"
checks="[a-zA-Z0-9]*" />
<suppress files=".*test.*"
checks="JavadocMethod" />
<suppress files=".*JNI.*"
checks="(LineLength|EmptyLineSeparator|ParameterName)" />
</suppressions>

2
wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java
View File

@@ -8,8 +8,8 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.wpiutil.RuntimeDetector;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpiutil.RuntimeDetector;
public class DevMain {
/**

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

@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.AnalogJNI;
import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
import edu.wpi.first.wpilibj.sim.AnalogInSim;
import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.wpilibj.sim.AnalogInSim;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.util.AllocationException;

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

@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.AnalogJNI;
import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
import edu.wpi.first.wpilibj.sim.AnalogOutSim;
import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.wpilibj.sim.AnalogOutSim;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
/**

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

@@ -193,7 +193,7 @@ public class Compressor extends SendableBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Compressor");
builder.addBooleanProperty("Enabled", this::enabled, (value) -> {
builder.addBooleanProperty("Enabled", this::enabled, value -> {
if (value) {
start();
} else {

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

@@ -12,8 +12,8 @@ import java.util.concurrent.locks.ReentrantLock;
import edu.wpi.first.wpilibj.hal.DigitalGlitchFilterJNI;
import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
/**
* Class to enable glitch filtering on a set of digital inputs. This class will manage adding and

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

@@ -166,7 +166,7 @@ public class DoubleSolenoid extends SolenoidBase {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Double Solenoid");
builder.setSafeState(() -> set(Value.kOff));
builder.addStringProperty("Value", () -> get().name().substring(1), (value) -> {
builder.addStringProperty("Value", () -> get().name().substring(1), value -> {
if ("Forward".equals(value)) {
set(Value.kForward);
} else if ("Reverse".equals(value)) {

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

@@ -7,10 +7,11 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.HAL;
import java.util.HashMap;
import java.util.Map;
import edu.wpi.first.wpilibj.hal.HAL;
/**
* GenericHID Interface.
*/

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
View File

@@ -7,14 +7,14 @@
package edu.wpi.first.wpilibj;
import java.util.Arrays;
import java.util.Optional;
import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.wpilibj.hal.RelayJNI;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import java.util.Arrays;
import java.util.Optional;
import static java.util.Objects.requireNonNull;
/**
@@ -334,6 +334,6 @@ public class Relay extends SendableBase implements MotorSafety {
builder.setSmartDashboardType("Relay");
builder.setSafeState(() -> set(Value.kOff));
builder.addStringProperty("Value", () -> get().getPrettyValue(),
(value) -> set(Value.getValueOf(value).orElse(Value.kOff)));
value -> set(Value.getValueOf(value).orElse(Value.kOff)));
}
}

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/Trigger.java
View File

@@ -183,11 +183,7 @@ public abstract class Trigger extends SendableBase {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Button");
builder.setSafeState(() -> {
m_sendablePressed = false;
});
builder.addBooleanProperty("pressed", this::grab, (value) -> {
m_sendablePressed = value;
});
builder.setSafeState(() -> m_sendablePressed = false);
builder.addBooleanProperty("pressed", this::grab, value -> m_sendablePressed = value);
}
}

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

@@ -555,7 +555,7 @@ public abstract class Command extends SendableBase {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Command");
builder.addStringProperty(".name", this::getName, null);
builder.addBooleanProperty("running", this::isRunning, (value) -> {
builder.addBooleanProperty("running", this::isRunning, value -> {
if (value) {
if (!isRunning()) {
start();

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

@@ -13,9 +13,9 @@ import java.util.Map;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
import edu.wpi.first.wpilibj.Sendable;
/**

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

@@ -7,8 +7,8 @@
package edu.wpi.first.wpilibj.livewindow;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.Sendable;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
/**
* Live Window Sendable is a special type of object sendable to the live window.

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilder.java
View File

@@ -7,14 +7,15 @@
package edu.wpi.first.wpilibj.smartdashboard;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableValue;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableValue;
public interface SendableBuilder {
/**
* Set the string representation of the named data type that will be used

45
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableBuilderImpl.java
View File

@@ -7,18 +7,19 @@
package edu.wpi.first.wpilibj.smartdashboard;
import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableValue;
import java.util.ArrayList;
import java.util.List;
import java.util.function.BooleanSupplier;
import java.util.function.Consumer;
import java.util.function.DoubleConsumer;
import java.util.function.DoubleSupplier;
import java.util.function.Function;
import java.util.function.Supplier;
import java.util.ArrayList;
import java.util.List;
import edu.wpi.first.networktables.EntryListenerFlags;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableEntry;
import edu.wpi.first.networktables.NetworkTableValue;
public class SendableBuilderImpl implements SendableBuilder {
private static class Property {
@@ -185,10 +186,10 @@ public class SendableBuilderImpl implements SendableBuilder {
public void addBooleanProperty(String key, BooleanSupplier getter, BooleanConsumer setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setBoolean(getter.getAsBoolean());
property.m_update = entry -> entry.setBoolean(getter.getAsBoolean());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isBoolean()) {
setter.accept(event.value.getBoolean());
}
@@ -208,10 +209,10 @@ public class SendableBuilderImpl implements SendableBuilder {
public void addDoubleProperty(String key, DoubleSupplier getter, DoubleConsumer setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setDouble(getter.getAsDouble());
property.m_update = entry -> entry.setDouble(getter.getAsDouble());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isDouble()) {
setter.accept(event.value.getDouble());
}
@@ -231,10 +232,10 @@ public class SendableBuilderImpl implements SendableBuilder {
public void addStringProperty(String key, Supplier<String> getter, Consumer<String> setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setString(getter.get());
property.m_update = entry -> entry.setString(getter.get());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isString()) {
setter.accept(event.value.getString());
}
@@ -255,10 +256,10 @@ public class SendableBuilderImpl implements SendableBuilder {
Consumer<boolean[]> setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setBooleanArray(getter.get());
property.m_update = entry -> entry.setBooleanArray(getter.get());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isBooleanArray()) {
setter.accept(event.value.getBooleanArray());
}
@@ -279,10 +280,10 @@ public class SendableBuilderImpl implements SendableBuilder {
Consumer<double[]> setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setDoubleArray(getter.get());
property.m_update = entry -> entry.setDoubleArray(getter.get());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isDoubleArray()) {
setter.accept(event.value.getDoubleArray());
}
@@ -303,10 +304,10 @@ public class SendableBuilderImpl implements SendableBuilder {
Consumer<String[]> setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setStringArray(getter.get());
property.m_update = entry -> entry.setStringArray(getter.get());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isStringArray()) {
setter.accept(event.value.getStringArray());
}
@@ -326,10 +327,10 @@ public class SendableBuilderImpl implements SendableBuilder {
public void addRawProperty(String key, Supplier<byte[]> getter, Consumer<byte[]> setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setRaw(getter.get());
property.m_update = entry -> entry.setRaw(getter.get());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
if (event.value.isRaw()) {
setter.accept(event.value.getRaw());
}
@@ -350,10 +351,10 @@ public class SendableBuilderImpl implements SendableBuilder {
Consumer<NetworkTableValue> setter) {
Property property = new Property(m_table, key);
if (getter != null) {
property.m_update = (entry) -> entry.setValue(getter.get());
property.m_update = entry -> entry.setValue(getter.get());
}
if (setter != null) {
property.m_createListener = (entry) -> entry.addListener((event) -> {
property.m_createListener = entry -> entry.addListener(event -> {
setter.accept(event.value);
}, EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
}

6
wpilibj/src/test/java/edu/wpi/first/wpilibj/SpeedControllerGroupTest.java
View File

@@ -7,13 +7,13 @@
package edu.wpi.first.wpilibj;
import java.util.Arrays;
import java.util.Collection;
import org.junit.Test;
import org.junit.runner.RunWith;
import org.junit.runners.Parameterized;
import java.util.Arrays;
import java.util.Collection;
import static org.junit.Assert.assertArrayEquals;
import static org.junit.Assert.assertTrue;

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

@@ -7,10 +7,10 @@
package edu.wpi.first.wpilibj;
import com.google.common.base.Stopwatch;
import java.util.concurrent.TimeUnit;
import com.google.common.base.Stopwatch;
import edu.wpi.first.wpilibj.hal.HAL;
import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
View File

@@ -7,10 +7,10 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Test;
import java.util.logging.Logger;
import org.junit.Test;
/**
* Ported from the old CrioTest Classes.
*/

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
View File

@@ -7,10 +7,10 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Test;
import java.util.logging.Logger;
import org.junit.Test;
/**
* Ported from the old CrioTest Classes.
*/

5
wpilibj/src/test/java/edu/wpi/first/wpilibj/command/ConditionalCommandTest.java
View File

@@ -7,12 +7,13 @@
package edu.wpi.first.wpilibj.command;
import org.junit.Before;
import org.junit.Test;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertTrue;
import org.junit.Before;
//import org.junit.Ignore;
import org.junit.Test;
public class ConditionalCommandTest extends AbstractCommandTest {
MockConditionalCommand m_command;

3
wpilibj/src/test/java/edu/wpi/first/wpilibj/hal/JNITest.java
View File

@@ -7,9 +7,10 @@
package edu.wpi.first.wpilibj.hal;
import edu.wpi.first.networktables.NetworkTablesJNI;
import org.junit.Test;
import edu.wpi.first.networktables.NetworkTablesJNI;
public class JNITest {
@Test
public void jniNtcoreLinkTest() {

12
wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogInputSimTest.java
View File

@@ -7,18 +7,18 @@
package edu.wpi.first.wpilibj.sim;
import static org.junit.Assert.assertEquals;
import org.junit.Test;
import edu.wpi.first.wpilibj.AnalogInput;
import edu.wpi.first.wpilibj.hal.HAL;
import static org.junit.Assert.assertEquals;
public class AnalogInputSimTest {
static class DoubleStore {
public boolean wasTriggered = false;
public boolean wasCorrectType = false;
public double setValue = 0;
public boolean m_wasTriggered = false;
public boolean m_wasCorrectType = false;
public double m_setValue = 0;
}
@Test
@@ -30,7 +30,7 @@ public class AnalogInputSimTest {
AnalogInSim inputSim = input.getSimObject();
for (double i = 0; i < 5.0; i+=0.1) {
for (double i = 0; i < 5.0; i += 0.1) {
inputSim.setVoltage(0);
assertEquals(input.getVoltage(), 0, 0.001);

40
wpilibj/src/test/java/edu/wpi/first/wpilibj/sim/AnalogOutputSimTest.java
View File

@@ -7,25 +7,25 @@
package edu.wpi.first.wpilibj.sim;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
import org.junit.Test;
import edu.wpi.first.wpilibj.AnalogOutput;
import edu.wpi.first.wpilibj.hal.HAL;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.assertFalse;
import static org.junit.Assert.assertTrue;
public class AnalogOutputSimTest {
static class DoubleStore {
public boolean wasTriggered = false;
public boolean wasCorrectType = false;
public double setValue = -1;
public boolean m_wasTriggered = false;
public boolean m_wasCorrectType = false;
public double m_setValue = -1;
public void reset() {
wasCorrectType = false;
wasTriggered = false;
setValue = -1;
m_wasCorrectType = false;
m_wasTriggered = false;
m_setValue = -1;
}
}
@@ -41,27 +41,27 @@ public class AnalogOutputSimTest {
DoubleStore store = new DoubleStore();
try (CallbackStore cb = outputSim.registerVoltageCallback((s, v) -> {
store.wasTriggered = true;
store.wasCorrectType = true;
store.setValue = v.getDouble();
try (CallbackStore cb = outputSim.registerVoltageCallback((name, value) -> {
store.m_wasTriggered = true;
store.m_wasCorrectType = true;
store.m_setValue = value.getDouble();
}, false)) {
assertFalse(store.wasTriggered);
assertFalse(store.m_wasTriggered);
for (double i = 0.1; i < 5.0; i+=0.1) {
for (double i = 0.1; i < 5.0; i += 0.1) {
store.reset();
output.setVoltage(0);
assertTrue(store.wasTriggered);
assertEquals(store.setValue, 0, 0.001);
assertTrue(store.m_wasTriggered);
assertEquals(store.m_setValue, 0, 0.001);
store.reset();
output.setVoltage(i);
assertTrue(store.wasTriggered);
assertEquals(store.setValue, i, 0.001);
assertTrue(store.m_wasTriggered);
assertEquals(store.m_setValue, i, 0.001);
}
}

4
wpilibjExamples/build.gradle
View File

@@ -21,10 +21,6 @@ dependencies {
compile project(':cameraserver')
}
checkstyle {
configFile = new File(rootDir, "styleguide/checkstyleExamples.xml")
}
pmd {
consoleOutput = true
reportsDir = file("$project.buildDir/reports/pmd")

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/commandgroup/ReplaceMeCommandGroup.java
View File

@@ -10,6 +10,9 @@ package edu.wpi.first.wpilibj.commands.commandgroup;
import edu.wpi.first.wpilibj.command.CommandGroup;
public class ReplaceMeCommandGroup extends CommandGroup {
/**
* Add your docs here.
*/
public ReplaceMeCommandGroup() {
// Add Commands here:
// e.g. addSequential(new Command1());

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/instant/ReplaceMeInstantCommand.java
View File

@@ -13,6 +13,9 @@ import edu.wpi.first.wpilibj.command.InstantCommand;
* Add your docs here.
*/
public class ReplaceMeInstantCommand extends InstantCommand {
/**
* Add your docs here.
*/
public ReplaceMeInstantCommand() {
super();
// Use requires() here to declare subsystem dependencies

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/pidsubsystem/ReplaceMePIDSubsystem.java
View File

@@ -13,7 +13,9 @@ import edu.wpi.first.wpilibj.command.PIDSubsystem;
* Add your docs here.
*/
public class ReplaceMePIDSubsystem extends PIDSubsystem {
// Initialize your subsystem here
/**
* Add your docs here.
*/
public ReplaceMePIDSubsystem() {
// Intert a subsystem name and PID values here
super("SubsystemName", 1, 2, 3);

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/commands/timed/ReplaceMeTimedCommand.java
View File

@@ -13,6 +13,9 @@ import edu.wpi.first.wpilibj.command.TimedCommand;
* Add your docs here.
*/
public class ReplaceMeTimedCommand extends TimedCommand {
/**
* Add your docs here.
*/
public ReplaceMeTimedCommand(double timeout) {
super(timeout);
// Use requires() here to declare subsystem dependencies

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/axiscamera/Robot.java
View File

@@ -7,15 +7,16 @@
package edu.wpi.first.wpilibj.examples.axiscamera;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
import edu.wpi.cscore.AxisCamera;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
/**
* This is a demo program showing the use of OpenCV to do vision processing. The

22
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/OI.java
View File

@@ -9,6 +9,8 @@ package edu.wpi.first.wpilibj.examples.gearsbot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.Autonomous;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.CloseClaw;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.OpenClaw;
@@ -17,7 +19,6 @@ import edu.wpi.first.wpilibj.examples.gearsbot.commands.Place;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.PrepareToPickup;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetElevatorSetpoint;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.SetWristSetpoint;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* This class is the glue that binds the controls on the physical operator
@@ -26,6 +27,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class OI {
private Joystick m_joystick = new Joystick(0);
/**
* Construct the OI and all of the buttons on it.
*/
public OI() {
// Put Some buttons on the SmartDashboard
SmartDashboard.putData("Elevator Bottom", new SetElevatorSetpoint(0));
@@ -41,14 +45,14 @@ public class OI {
SmartDashboard.putData("Deliver Soda", new Autonomous());
// Create some buttons
JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
JoystickButton l2 = new JoystickButton(m_joystick, 9);
JoystickButton r2 = new JoystickButton(m_joystick, 10);
JoystickButton l1 = new JoystickButton(m_joystick, 11);
JoystickButton r1 = new JoystickButton(m_joystick, 12);
final JoystickButton dpadUp = new JoystickButton(m_joystick, 5);
final JoystickButton dpadRight = new JoystickButton(m_joystick, 6);
final JoystickButton dpadDown = new JoystickButton(m_joystick, 7);
final JoystickButton dpadLeft = new JoystickButton(m_joystick, 8);
final JoystickButton l2 = new JoystickButton(m_joystick, 9);
final JoystickButton r2 = new JoystickButton(m_joystick, 10);
final JoystickButton l1 = new JoystickButton(m_joystick, 11);
final JoystickButton r1 = new JoystickButton(m_joystick, 12);
// Connect the buttons to commands
dpadUp.whenPressed(new SetElevatorSetpoint(0.2));

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Autonomous.java
View File

@@ -13,6 +13,9 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
* The main autonomous command to pickup and deliver the soda to the box.
*/
public class Autonomous extends CommandGroup {
/**
* Create a new autonomous command.
*/
public Autonomous() {
addSequential(new PrepareToPickup());
addSequential(new Pickup());

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/CloseClaw.java
View File

@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/DriveStraight.java
View File

@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
@@ -22,6 +23,10 @@ import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
public class DriveStraight extends Command {
private PIDController m_pid;
/**
* Create a new DriveStraight command.
* @param distance The distance to drive
*/
public DriveStraight(double distance) {
requires(Robot.m_drivetrain);
m_pid = new PIDController(4, 0, 0, new PIDSource() {

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/OpenClaw.java
View File

@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.TimedCommand;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Pickup.java
View File

@@ -14,6 +14,9 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
* state to drive around.
*/
public class Pickup extends CommandGroup {
/**
* Create a new pickup command.
*/
public Pickup() {
addSequential(new CloseClaw());
addParallel(new SetWristSetpoint(-45));

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/Place.java
View File

@@ -13,6 +13,9 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
* Place a held soda can onto the platform.
*/
public class Place extends CommandGroup {
/**
* Create a new place command.
*/
public Place() {
addSequential(new SetElevatorSetpoint(0.25));
addSequential(new SetWristSetpoint(0));

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/PrepareToPickup.java
View File

@@ -13,6 +13,9 @@ import edu.wpi.first.wpilibj.command.CommandGroup;
* Make sure the robot is in a state to pickup soda cans.
*/
public class PrepareToPickup extends CommandGroup {
/**
* Create a new prepare to pickup command.
*/
public PrepareToPickup() {
addParallel(new OpenClaw());
addParallel(new SetWristSetpoint(0));

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetDistanceToBox.java
View File

@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.PIDSource;
import edu.wpi.first.wpilibj.PIDSourceType;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
@@ -22,6 +23,10 @@ import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
public class SetDistanceToBox extends Command {
private PIDController m_pid;
/**
* Create a new set distance to box command.
* @param distance The distance away from the box to drive to
*/
public SetDistanceToBox(double distance) {
requires(Robot.m_drivetrain);
m_pid = new PIDController(-2, 0, 0, new PIDSource() {

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetElevatorSetpoint.java
View File

@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/SetWristSetpoint.java
View File

@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/commands/TankDriveWithJoystick.java
View File

@@ -8,6 +8,7 @@
package edu.wpi.first.wpilibj.examples.gearsbot.commands;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Claw.java
View File

@@ -20,6 +20,9 @@ public class Claw extends Subsystem {
private Victor m_motor = new Victor(7);
private DigitalInput m_contact = new DigitalInput(5);
/**
* Create a new claw subsystem.
*/
public Claw() {
super();

12
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/DriveTrain.java
View File

@@ -16,9 +16,10 @@ import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.examples.gearsbot.commands.TankDriveWithJoystick;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The DriveTrain subsystem incorporates the sensors and actuators attached to
@@ -39,6 +40,9 @@ public class DriveTrain extends Subsystem {
private AnalogInput m_rangefinder = new AnalogInput(6);
private AnalogGyro m_gyro = new AnalogGyro(1);
/**
* Create a new drive train subsystem.
*/
public DriveTrain() {
super();
@@ -87,10 +91,8 @@ public class DriveTrain extends Subsystem {
/**
* Tank style driving for the DriveTrain.
*
* @param left
* Speed in range [-1,1]
* @param right
* Speed in range [-1,1]
* @param left Speed in range [-1,1]
* @param right Speed in range [-1,1]
*/
public void drive(double left, double right) {
m_drive.tankDrive(left, right);

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Elevator.java
View File

@@ -10,9 +10,10 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* The elevator subsystem uses PID to go to a given height. Unfortunately, in
* it's current state PID values for simulation are different than in the real
@@ -27,6 +28,9 @@ public class Elevator extends PIDSubsystem {
private static final double kP_simulation = 18;
private static final double kI_simulation = 0.2;
/**
* Create a new elevator subsystem.
*/
public Elevator() {
super(kP_real, kI_real, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values

6
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/subsystems/Wrist.java
View File

@@ -10,9 +10,10 @@ package edu.wpi.first.wpilibj.examples.gearsbot.subsystems;
import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.Victor;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.gearsbot.Robot;
/**
* The wrist subsystem is like the elevator, but with a rotational joint instead
* of a linear joint.
@@ -24,6 +25,9 @@ public class Wrist extends PIDSubsystem {
private static final double kP_real = 1;
private static final double kP_simulation = 0.05;
/**
* Create a new wrist subsystem.
*/
public Wrist() {
super(kP_real, 0, 0);
if (Robot.isSimulation()) { // Check for simulation and update PID values

9
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/intermediatevision/Robot.java
View File

@@ -7,15 +7,16 @@
package edu.wpi.first.wpilibj.examples.intermediatevision;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
import edu.wpi.cscore.CvSink;
import edu.wpi.cscore.CvSource;
import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.IterativeRobot;
import org.opencv.core.Mat;
import org.opencv.core.Point;
import org.opencv.core.Scalar;
import org.opencv.imgproc.Imgproc;
/**
* This is a demo program showing the use of OpenCV to do vision processing. The

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/motorcontrol/Robot.java
View File

@@ -9,8 +9,8 @@ package edu.wpi.first.wpilibj.examples.motorcontrol;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.SpeedController;
/**
* This sample program shows how to control a motor using a joystick. In the

11
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/OI.java
View File

@@ -7,6 +7,10 @@
package edu.wpi.first.wpilibj.examples.pacgoat;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.examples.pacgoat.commands.Collect;
import edu.wpi.first.wpilibj.examples.pacgoat.commands.DriveForward;
import edu.wpi.first.wpilibj.examples.pacgoat.commands.LowGoal;
@@ -17,10 +21,6 @@ import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
import edu.wpi.first.wpilibj.examples.pacgoat.triggers.DoubleButton;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
/**
* The operator interface of the robot, it has been simplified from the real
* robot to allow control with a single PS3 joystick. As a result, not all
@@ -29,6 +29,9 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
public class OI {
public Joystick m_joystick = new Joystick(0);
/**
* Create a new OI and all of the buttons on it.
*/
public OI() {
new JoystickButton(m_joystick, 12).whenPressed(new LowGoal());
new JoystickButton(m_joystick, 10).whenPressed(new Collect());

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Collect.java
View File

@@ -16,6 +16,9 @@ import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
* Get the robot set to collect balls.
*/
public class Collect extends CommandGroup {
/**
* Create a new collect command.
*/
public Collect() {
addSequential(new SetCollectionSpeed(Collector.kForward));
addParallel(new CloseClaw());

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveAndShootAutonomous.java
View File

@@ -16,6 +16,9 @@ import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
* it will wait briefly.
*/
public class DriveAndShootAutonomous extends CommandGroup {
/**
* Create a new drive and shoot autonomous.
*/
public DriveAndShootAutonomous() {
addSequential(new CloseClaw());
addSequential(new WaitForPressure(), 2);

5
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/DriveForward.java
View File

@@ -30,6 +30,11 @@ public class DriveForward extends Command {
this(dist, 0.5);
}
/**
* Create a new drive forward command.
* @param dist The distance to drive
* @param maxSpeed The maximum speed to drive at
*/
public DriveForward(double dist, double maxSpeed) {
requires(Robot.drivetrain);
m_distance = dist;

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/LowGoal.java
View File

@@ -17,6 +17,9 @@ import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Pivot;
* it.
*/
public class LowGoal extends CommandGroup {
/**
* Create a new low goal command.
*/
public LowGoal() {
addSequential(new SetPivotSetpoint(Pivot.kLowGoal));
addSequential(new SetCollectionSpeed(Collector.kReverse));

3
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/commands/Shoot.java
View File

@@ -15,6 +15,9 @@ import edu.wpi.first.wpilibj.examples.pacgoat.subsystems.Collector;
* Shoot the ball at the current angle.
*/
public class Shoot extends CommandGroup {
/**
* Create a new shoot command.
*/
public Shoot() {
addSequential(new WaitForPressure());
addSequential(new SetCollectionSpeed(Collector.kStop));

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