Updated Gradle to 4.0.1 (#573)

New PMD checks required modifying PIDController

build.gradle

@@ -1,5 +1,5 @@
 plugins {
-    id 'net.ltgt.errorprone' version '0.0.8'
+    id 'net.ltgt.errorprone' version '0.0.10'
     id 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin' version '1.6'
 }
 
@@ -65,6 +65,6 @@ apply from: 'cppSettings.gradle'
 apply from: 'ni-libraries/ni-libraries.gradle'
 
 task wrapper(type: Wrapper) {
-    gradleVersion = '3.3'
+    gradleVersion = '4.0.1'
     distributionType = Wrapper.DistributionType.ALL
 }

gradle/wrapper/gradle-wrapper.properties

@@ -1,6 +1,6 @@
-#Wed Mar 22 22:37:01 EDT 2017
+#Mon Jul 10 13:30:04 EDT 2017
 distributionBase=GRADLE_USER_HOME
 distributionPath=wrapper/dists
 zipStoreBase=GRADLE_USER_HOME
 zipStorePath=wrapper/dists
-distributionUrl=https\://services.gradle.org/distributions/gradle-3.3-all.zip
+distributionUrl=https\://services.gradle.org/distributions/gradle-4.0.1-all.zip

gradlew

@@ -33,11 +33,11 @@ DEFAULT_JVM_OPTS=""
 # Use the maximum available, or set MAX_FD != -1 to use that value.
 MAX_FD="maximum"
 
-warn ( ) {
+warn () {
     echo "$*"
 }
 
-die ( ) {
+die () {
     echo
     echo "$*"
     echo
@@ -155,7 +155,7 @@ if $cygwin ; then
 fi
 
 # Escape application args
-save ( ) {
+save () {
     for i do printf %s\\n "$i" | sed "s/'/'\\\\''/g;1s/^/'/;\$s/\$/' \\\\/" ; done
     echo " "
 }

wpilibc/athena/src/PIDController.cpp

@@ -591,13 +591,12 @@ void PIDController::InitTable(std::shared_ptr<ITable> subtable) {
  * @return Error for continuous inputs.
  */
 double PIDController::GetContinuousError(double error) const {
-  if (m_continuous) {
-    if (std::fabs(error) > (m_maximumInput - m_minimumInput) / 2) {
-      if (error > 0) {
-        return error - (m_maximumInput - m_minimumInput);
-      } else {
-        return error + (m_maximumInput - m_minimumInput);
-      }
+  if (m_continuous &&
+      std::fabs(error) > (m_maximumInput - m_minimumInput) / 2) {
+    if (error > 0) {
+      return error - (m_maximumInput - m_minimumInput);
+    } else {
+      return error + (m_maximumInput - m_minimumInput);
     }
   }
 

wpilibj/src/athena/java/edu/wpi/first/wpilibj/CameraServer.java

@@ -27,8 +27,6 @@ import edu.wpi.first.wpilibj.tables.ITable;
 import java.util.concurrent.atomic.AtomicInteger;
 import java.util.ArrayList;
 import java.util.Hashtable;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
 
 /**
  * Singleton class for creating and keeping camera servers.
@@ -220,50 +218,6 @@ public class CameraServer {
     }
   }
 
-  @SuppressWarnings("JavadocMethod")
-  private static PixelFormat pixelFormatFromString(String pixelFormatStr) {
-    switch (pixelFormatStr) {
-      case "MJPEG":
-      case "mjpeg":
-      case "JPEG":
-      case "jpeg":
-        return PixelFormat.kMJPEG;
-      case "YUYV":
-      case "yuyv":
-        return PixelFormat.kYUYV;
-      case "RGB565":
-      case "rgb565":
-        return PixelFormat.kRGB565;
-      case "BGR":
-      case "bgr":
-        return PixelFormat.kBGR;
-      case "GRAY":
-      case "Gray":
-      case "gray":
-        return PixelFormat.kGray;
-      default:
-        return PixelFormat.kUnknown;
-    }
-  }
-
-  private static final Pattern reMode =
-      Pattern.compile("(?<width>[0-9]+)\\s*x\\s*(?<height>[0-9]+)\\s+(?<format>.*?)\\s+"
-          + "(?<fps>[0-9.]+)\\s*fps");
-
-  /// Construct a video mode from a string description.
-  @SuppressWarnings("JavadocMethod")
-  private static VideoMode videoModeFromString(String modeStr) {
-    Matcher matcher = reMode.matcher(modeStr);
-    if (!matcher.matches()) {
-      return new VideoMode(PixelFormat.kUnknown, 0, 0, 0);
-    }
-    PixelFormat pixelFormat = pixelFormatFromString(matcher.group("format"));
-    int width = Integer.parseInt(matcher.group("width"));
-    int height = Integer.parseInt(matcher.group("height"));
-    int fps = (int) Double.parseDouble(matcher.group("fps"));
-    return new VideoMode(pixelFormat, width, height, fps);
-  }
-
   /// Provide string description of video mode.
   /// The returned string is "{width}x{height} {format} {fps} fps".
   @SuppressWarnings("JavadocMethod")

wpilibj/src/shared/java/edu/wpi/first/wpilibj/PIDController.java

@@ -63,8 +63,6 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
   protected PIDOutput m_pidOutput;
   java.util.Timer m_controlLoop;
   Timer m_setpointTimer;
-  private boolean m_freed = false;
-  private boolean m_usingPercentTolerance;
 
   /**
    * Tolerance is the type of tolerance used to specify if the PID controller is on target.
@@ -95,8 +93,8 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
 
     @Override
     public boolean onTarget() {
-      return isAvgErrorValid() && (Math.abs(getAvgError()) < m_percentage / 100 * (m_maximumInput
-          - m_minimumInput));
+      return isAvgErrorValid() && Math.abs(getAvgError()) < m_percentage / 100 * (m_maximumInput
+          - m_minimumInput);
     }
   }
 
@@ -228,7 +226,6 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
   public void free() {
     m_controlLoop.cancel();
     synchronized (this) {
-      m_freed = true;
       m_pidOutput = null;
       m_pidInput = null;
       m_controlLoop = null;
@@ -704,13 +701,11 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
       if (getSetpoint() != (Double) value) {
         setSetpoint((Double) value);
       }
-    } else if (key.equals("enabled")) {
-      if (isEnabled() != (Boolean) value) {
-        if ((Boolean) value) {
-          enable();
-        } else {
-          disable();
-        }
+    } else if (key.equals("enabled") && isEnabled() != (Boolean) value) {
+      if ((Boolean) value) {
+        enable();
+      } else {
+        disable();
       }
     }
   };
@@ -741,13 +736,11 @@ public class PIDController implements PIDInterface, LiveWindowSendable, Controll
    * @return Error for continuous inputs.
    */
   protected double getContinuousError(double error) {
-    if (m_continuous) {
-      if (Math.abs(error) > (m_maximumInput - m_minimumInput) / 2) {
-        if (error > 0) {
-          return error - (m_maximumInput - m_minimumInput);
-        } else {
-          return error + (m_maximumInput - m_minimumInput);
-        }
+    if (m_continuous && Math.abs(error) > (m_maximumInput - m_minimumInput) / 2) {
+      if (error > 0) {
+        return error - (m_maximumInput - m_minimumInput);
+      } else {
+        return error + (m_maximumInput - m_minimumInput);
       }
     }