Use generics

wpilibj/src/shared/java/edu/wpi/first/wpilibj/command/CommandGroup.java

@@ -36,14 +36,14 @@ public class CommandGroup extends Command {
   /**
    * The commands in this group (stored in entries).
    */
-  private final Vector m_commands = new Vector();
+  private final Vector<Entry> m_commands = new Vector<>();
   /*
    * Intentionally package private
    */
   /**
    * The active children in this group (stored in entries).
    */
-  final Vector m_children = new Vector();
+  final Vector<Entry> m_children = new Vector<>();
   /**
    * The current command, -1 signifies that none have been run.
    */
@@ -239,7 +239,7 @@ public class CommandGroup extends Command {
         }
       }
 
-      entry = (Entry) m_commands.elementAt(m_currentCommandIndex);
+      entry = m_commands.elementAt(m_currentCommandIndex);
       cmd = null;
 
       switch (entry.m_state) {
@@ -268,7 +268,7 @@ public class CommandGroup extends Command {
 
     // Run Children
     for (int i = 0; i < m_children.size(); i++) {
-      entry = (Entry) m_children.elementAt(i);
+      entry = m_children.elementAt(i);
       Command child = entry.m_command;
       if (entry.isTimedOut()) {
         child._cancel();
@@ -285,7 +285,7 @@ public class CommandGroup extends Command {
     // Theoretically, we don't have to check this, but we do if teams override
     // the isFinished method
     if (m_currentCommandIndex != -1 && m_currentCommandIndex < m_commands.size()) {
-      Command cmd = ((Entry) m_commands.elementAt(m_currentCommandIndex)).m_command;
+      Command cmd = m_commands.elementAt(m_currentCommandIndex).m_command;
       cmd._cancel();
       cmd.removed();
     }
@@ -346,14 +346,14 @@ public class CommandGroup extends Command {
     }
 
     if (m_currentCommandIndex != -1 && m_currentCommandIndex < m_commands.size()) {
-      Command cmd = ((Entry) m_commands.elementAt(m_currentCommandIndex)).m_command;
+      Command cmd = m_commands.elementAt(m_currentCommandIndex).m_command;
       if (!cmd.isInterruptible()) {
         return false;
       }
     }
 
     for (int i = 0; i < m_children.size(); i++) {
-      if (!((Entry) m_children.elementAt(i)).m_command.isInterruptible()) {
+      if (!m_children.elementAt(i).m_command.isInterruptible()) {
         return false;
       }
     }
@@ -363,7 +363,7 @@ public class CommandGroup extends Command {
 
   private void cancelConflicts(Command command) {
     for (int i = 0; i < m_children.size(); i++) {
-      Command child = ((Entry) m_children.elementAt(i)).m_command;
+      Command child = m_children.elementAt(i).m_command;
 
       Enumeration requirements = command.getRequirements();
 

wpilibj/src/shared/java/edu/wpi/first/wpilibj/command/Scheduler.java

@@ -47,7 +47,7 @@ public class Scheduler implements NamedSendable {
   /**
    * A hashtable of active {@link Command Commands} to their {@link LinkedListElement}.
    */
-  private Hashtable m_commandTable = new Hashtable();
+  private Hashtable<Command, LinkedListElement> m_commandTable = new Hashtable<>();
   /**
    * The {@link Set} of all {@link Subsystem Subsystems}.
    */
@@ -71,13 +71,13 @@ public class Scheduler implements NamedSendable {
   /**
    * A list of all {@link Command Commands} which need to be added.
    */
-  private Vector m_additions = new Vector();
+  private Vector<Command> m_additions = new Vector<>();
   private ITable m_table;
   /**
    * A list of all {@link edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler Buttons}. It is
    * created lazily.
    */
-  private Vector m_buttons;
+  private Vector<ButtonScheduler> m_buttons;
   private boolean m_runningCommandsChanged;
 
   /**
@@ -111,7 +111,7 @@ public class Scheduler implements NamedSendable {
    */
   public void addButton(ButtonScheduler button) {
     if (m_buttons == null) {
-      m_buttons = new Vector();
+      m_buttons = new Vector<>();
     }
     m_buttons.addElement(button);
   }
@@ -195,7 +195,7 @@ public class Scheduler implements NamedSendable {
     // Get button input (going backwards preserves button priority)
     if (m_buttons != null) {
       for (int i = m_buttons.size() - 1; i >= 0; i--) {
-        ((ButtonScheduler) m_buttons.elementAt(i)).execute();
+        m_buttons.elementAt(i).execute();
       }
     }
 
@@ -218,7 +218,7 @@ public class Scheduler implements NamedSendable {
 
     // Add the new things
     for (int i = 0; i < m_additions.size(); i++) {
-      _add((Command) m_additions.elementAt(i));
+      _add(m_additions.elementAt(i));
     }
     m_additions.removeAllElements();
 
@@ -257,7 +257,7 @@ public class Scheduler implements NamedSendable {
     if (command == null || !m_commandTable.containsKey(command)) {
       return;
     }
-    LinkedListElement element = (LinkedListElement) m_commandTable.get(command);
+    LinkedListElement element = m_commandTable.get(command);
     m_commandTable.remove(command);
 
     if (element.equals(m_lastCommand)) {

wpilibj/src/shared/java/edu/wpi/first/wpilibj/livewindow/LiveWindow.java

@@ -22,9 +22,9 @@ import edu.wpi.first.wpilibj.tables.ITable;
  */
 public class LiveWindow {
 
-  private static Vector sensors = new Vector();
+  private static Vector<LiveWindowSendable> sensors = new Vector<>();
   // private static Vector actuators = new Vector();
-  private static Hashtable components = new Hashtable();
+  private static Hashtable<LiveWindowSendable, LiveWindowComponent> components = new Hashtable<>();
   private static ITable livewindowTable;
   private static ITable statusTable;
   private static boolean liveWindowEnabled = false;
@@ -42,7 +42,7 @@ public class LiveWindow {
     statusTable = livewindowTable.getSubTable("~STATUS~");
     for (Enumeration e = components.keys(); e.hasMoreElements(); ) {
       LiveWindowSendable component = (LiveWindowSendable) e.nextElement();
-      LiveWindowComponent liveWindowComponent = (LiveWindowComponent) components.get(component);
+      LiveWindowComponent liveWindowComponent = components.get(component);
       String subsystem = liveWindowComponent.getSubsystem();
       String name = liveWindowComponent.getName();
       System.out.println("Initializing table for '" + subsystem + "' '" + name + "'");
@@ -170,7 +170,7 @@ public class LiveWindow {
   private static void updateValues() {
     // TODO: gross - needs to be sped up
     for (int i = 0; i < sensors.size(); i++) {
-      LiveWindowSendable lws = (LiveWindowSendable) sensors.elementAt(i);
+      LiveWindowSendable lws = sensors.elementAt(i);
       lws.updateTable();
     }
     // TODO: Add actuators?

wpilibj/src/shared/java/edu/wpi/first/wpilibj/smartdashboard/SmartDashboard.java

@@ -15,7 +15,6 @@ import edu.wpi.first.wpilibj.HLUsageReporting;
 import edu.wpi.first.wpilibj.NamedSendable;
 import edu.wpi.first.wpilibj.Sendable;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
-import edu.wpi.first.wpilibj.networktables.NetworkTableKeyNotDefined;
 import edu.wpi.first.wpilibj.tables.ITable;
 
 /**
@@ -34,7 +33,7 @@ public class SmartDashboard {
    * A table linking tables in the SmartDashboard to the {@link Sendable} objects they
    * came from.
    */
-  private static final Hashtable tablesToData = new Hashtable();
+  private static final Hashtable<ITable, Sendable> tablesToData = new Hashtable<>();
 
   static {
     HLUsageReporting.reportSmartDashboard();
@@ -52,7 +51,7 @@ public class SmartDashboard {
     ITable dataTable = table.getSubTable(key);
     dataTable.putString("~TYPE~", data.getSmartDashboardType());
     data.initTable(dataTable);
-    tablesToData.put(data, key);
+    tablesToData.put(dataTable, data);
   }
 
 
@@ -75,16 +74,15 @@ public class SmartDashboard {
    *
    * @param key the key
    * @return the value
-   * @throws NetworkTableKeyNotDefined if there is no value mapped to by the key
    * @throws IllegalArgumentException  if the key is null
    */
   public static Sendable getData(String key) {
     ITable subtable = table.getSubTable(key);
-    Object data = tablesToData.get(subtable);
+    Sendable data = tablesToData.get(subtable);
     if (data == null) {
       throw new IllegalArgumentException("SmartDashboard data does not exist: " + key);
     } else {
-      return (Sendable) data;
+      return data;
     }
   }
 

wpilibj/src/shared/java/edu/wpi/first/wpilibj/util/SortedVector.java

@@ -12,7 +12,7 @@ import java.util.Vector;
 /**
  * A vector that is sorted.
  */
-public class SortedVector extends Vector {
+public class SortedVector<E> extends Vector<E> {
 
   /**
    * Interface used to determine the order to place sorted objects.
@@ -49,7 +49,7 @@ public class SortedVector extends Vector {
    *
    * @param element The element to add to the Vector
    */
-  public void addElement(Object element) {
+  public void addElement(E element) {
     int highBound = size();
     int lowBound = 0;
     while (highBound - lowBound > 0) {
@@ -70,12 +70,13 @@ public class SortedVector extends Vector {
   /**
    * Sort the vector.
    */
+  @SuppressWarnings("unchecked")
   public void sort() {
     Object[] array = new Object[size()];
     copyInto(array);
     removeAllElements();
     for (int i = 0; i < array.length; i++) {
-      addElement(array[i]);
+      addElement((E) array[i]);
     }
   }
 }