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Upgrade maven deps to latest versions and fix new linter errors (#3772)

Browse Source 
This also makes the Gradle build work with JDK 17.

The extra JVM args in gradle.properties works around a bug with spotless
and JDK 17: https://github.com/diffplug/spotless/issues/834

PMD.CloseResource was ignored because it's almost always a false
positive, and there are many of them.
This commit is contained in:
Tyler Veness
2021-12-09 12:20:08 -08:00
committed by GitHub
parent 441f2ed9b0
commit 7269a170fb
100 changed files with 306 additions and 338 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
build.gradle
View File

@@ -5,7 +5,7 @@ buildscript {
mavenCentral()
}
dependencies {
classpath 'com.hubspot.jinjava:jinjava:2.5.8'
classpath 'com.hubspot.jinjava:jinjava:2.6.0'
}
}
@@ -18,10 +18,10 @@ plugins {
id 'edu.wpi.first.GradleVsCode'
id 'idea'
id 'visual-studio'
id 'net.ltgt.errorprone' version '1.1.1' apply false
id 'com.github.johnrengelman.shadow' version '5.2.0' apply false
id 'com.diffplug.spotless' version '5.5.0' apply false
id 'com.github.spotbugs' version '5.0.0-beta.1' apply false
id 'net.ltgt.errorprone' version '2.0.2' apply false
id 'com.github.johnrengelman.shadow' version '7.1.0' apply false
id 'com.diffplug.spotless' version '6.0.3' apply false
id 'com.github.spotbugs' version '5.0.0' apply false
}
wpilibVersioning.buildServerMode = project.hasProperty('buildServer')

2
cameraserver/multiCameraServer/build.gradle
View File

@@ -27,7 +27,7 @@ repositories {
}
dependencies {
implementation 'com.google.code.gson:gson:2.8.5'
implementation 'com.google.code.gson:gson:2.8.9'
implementation project(':wpiutil')
implementation project(':ntcore')

6
cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
View File

@@ -56,9 +56,9 @@ public final class Main {
public JsonObject config;
}
static int team;
static boolean server;
static List<CameraConfig> cameras = new ArrayList<>();
private static int team;
private static boolean server;
private static List<CameraConfig> cameras = new ArrayList<>();
private Main() {}

9
gradle.properties
View File

@@ -1 +1,8 @@
org.gradle.jvmargs=-Xmx1g
# The --add-exports flags work around a bug with spotless and JDK 17
# https://github.com/diffplug/spotless/issues/834
org.gradle.jvmargs=-Xmx1g \
--add-exports jdk.compiler/com.sun.tools.javac.api=ALL-UNNAMED \
--add-exports jdk.compiler/com.sun.tools.javac.file=ALL-UNNAMED \
--add-exports jdk.compiler/com.sun.tools.javac.parser=ALL-UNNAMED \
--add-exports jdk.compiler/com.sun.tools.javac.tree=ALL-UNNAMED \
--add-exports jdk.compiler/com.sun.tools.javac.util=ALL-UNNAMED

4
hal/src/main/java/edu/wpi/first/hal/HAL.java
View File

@@ -196,8 +196,8 @@ public final class HAL extends JNIWrapper {
@SuppressWarnings("MissingJavadocMethod")
public static native boolean waitForDSDataTimeout(double timeout);
public static int kMaxJoystickAxes = 12;
public static int kMaxJoystickPOVs = 12;
public static final int kMaxJoystickAxes = 12;
public static final int kMaxJoystickPOVs = 12;
public static native short getJoystickAxes(byte joystickNum, float[] axesArray);

15
hal/src/main/java/edu/wpi/first/hal/can/CANExceptionFactory.java
View File

@@ -14,10 +14,17 @@ public final class CANExceptionFactory {
static final int ERR_CANSessionMux_NotAllowed = -44088;
static final int ERR_CANSessionMux_NotInitialized = -44089;
@SuppressWarnings("MissingJavadocMethod")
public static void checkStatus(int status, int messageID)
throws CANInvalidBufferException, CANMessageNotAllowedException, CANNotInitializedException,
UncleanStatusException {
/**
* Checks the status of a CAN message with the given message ID.
*
* @param status The CAN status.
* @param messageID The CAN message ID.
* @throws CANInvalidBufferException if the buffer is invalid.
* @throws CANMessageNotAllowedException if the message isn't allowed.
* @throws CANNotInitializedException if the CAN bus isn't initialized.
* @throws UncleanStatusException if the status code passed in reports an error.
*/
public static void checkStatus(int status, int messageID) {
switch (status) {
case NIRioStatus.kRioStatusSuccess:
// Everything is ok... don't throw.

8
shared/java/javacommon.gradle
View File

@@ -104,9 +104,9 @@ tasks.withType(JavaCompile).configureEach {
}
dependencies {
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.2'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
devImplementation sourceSets.main.output
}
@@ -120,7 +120,7 @@ task run(type: JavaExec) {
build.dependsOn devClasses
jacoco {
toolVersion = "0.8.4"
toolVersion = "0.8.7"
}
jacocoTestReport {

4
shared/java/javastyle.gradle
View File

@@ -2,7 +2,7 @@ if (!project.hasProperty('skipJavaFormat')) {
apply plugin: 'checkstyle'
checkstyle {
toolVersion = "8.38"
toolVersion = "9.2"
configDirectory = file("${project.rootDir}/styleguide")
config = resources.text.fromFile(new File(configDirectory.get().getAsFile(), "checkstyle.xml"))
}
@@ -10,7 +10,7 @@ if (!project.hasProperty('skipJavaFormat')) {
apply plugin: 'pmd'
pmd {
toolVersion = '6.7.0'
toolVersion = '6.41.0'
consoleOutput = true
reportsDir = file("$project.buildDir/reports/pmd")
ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))

2
styleguide/checkstyle.xml
View File

@@ -266,7 +266,7 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
value="CLASS_DEF, INTERFACE_DEF, ENUM_DEF, METHOD_DEF, CTOR_DEF, VARIABLE_DEF" />
</module>
<module name="JavadocMethod">
<property name="scope" value="public" />
<property name="accessModifiers" value="public" />
<property name="allowMissingParamTags" value="true" />
<property name="allowMissingReturnTag" value="true" />
<property name="allowedAnnotations" value="Override, Test" />

8
styleguide/pmd-ruleset.xml
View File

@@ -37,6 +37,7 @@
<rule ref="category/java/design.xml">
<exclude name="AvoidThrowingRawExceptionTypes" />
<exclude name="CognitiveComplexity" />
<exclude name="CyclomaticComplexity" />
<exclude name="DataClass" />
<exclude name="ExcessiveClassLength" />
@@ -60,9 +61,10 @@
<exclude name="AvoidDuplicateLiterals" />
<exclude name="AvoidLiteralsInIfCondition" />
<exclude name="BeanMembersShouldSerialize" />
<exclude name="CloseResource" />
<exclude name="ConstructorCallsOverridableMethod" />
<exclude name="DataflowAnomalyAnalysis" />
<exclude name="DoNotCallSystemExit" />
<exclude name="DoNotTerminateVM" />
<exclude name="FinalizeDoesNotCallSuperFinalize" />
<exclude name="JUnitSpelling" />
<exclude name="MissingSerialVersionUID" />
@@ -83,8 +85,8 @@
<rule name="UnnecessaryCastRule" language="java"
message="Avoid unnecessary casts"
class="net.sourceforge.pmd.lang.java.rule.migrating.UnnecessaryCastRule"
externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/migrating/UnnecessaryCastRule.java" />
class="net.sourceforge.pmd.lang.java.rule.codestyle.UnnecessaryCastRule"
externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/codestyle/UnnecessaryCastRule.java" />
<!-- Custom Rules -->
<rule name="UseRequireNonNull"

4
styleguide/spotbugs-exclude.xml
View File

@@ -1,5 +1,9 @@
<?xml version="1.0" encoding="UTF-8"?>
<FindBugsFilter>
<Match>
<Bug pattern="DCN_NULLPOINTER_EXCEPTION" />
<Class name="edu.wpi.first.wpilibj.test.TestSuite" />
</Match>
<Match>
<Bug pattern="DM_DEFAULT_ENCODING" />
</Match>

3
wpilibNewCommands/build.gradle
View File

@@ -26,8 +26,7 @@ dependencies {
devImplementation project(':hal')
devImplementation project(':wpimath')
devImplementation project(':wpilibj')
testImplementation 'com.google.guava:guava:19.0'
testImplementation 'org.mockito:mockito-core:2.27.0'
testImplementation 'org.mockito:mockito-core:4.1.0'
}
nativeUtils.exportsConfigs {

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/CommandScheduler.java
View File

@@ -170,7 +170,7 @@ public final class CommandScheduler implements NTSendable, AutoCloseable {
// Do nothing if the scheduler is disabled, the robot is disabled and the command doesn't
// run when disabled, or the command is already scheduled.
if (m_disabled
|| (RobotState.isDisabled() && !command.runsWhenDisabled())
|| RobotState.isDisabled() && !command.runsWhenDisabled()
|| m_scheduledCommands.containsKey(command)) {
return;
}

2
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelDeadlineGroup.java
View File

@@ -92,7 +92,7 @@ public class ParallelDeadlineGroup extends CommandGroupBase {
if (commandRunning.getKey().isFinished()) {
commandRunning.getKey().end(false);
commandRunning.setValue(false);
if (commandRunning.getKey() == m_deadline) {
if (commandRunning.getKey().equals(m_deadline)) {
m_finished = true;
}
}

2
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
View File

@@ -13,7 +13,7 @@ import java.util.Set;
import org.junit.jupiter.api.BeforeEach;
/** Basic setup for all {@link Command tests}." */
public abstract class CommandTestBase {
public class CommandTestBase {
protected CommandTestBase() {}
@BeforeEach

6
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
View File

@@ -639,8 +639,8 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
* number of iterations to average with setToleranceBuffer() (defaults to 1). getAvgError() is
* used for the onTarget() function.
*
* @deprecated Use getError(), which is now already filtered.
* @return the current average of the error
* @deprecated Use getError(), which is now already filtered.
*/
@Deprecated
public double getAvgError() {
@@ -676,9 +676,9 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
* object. Use it by creating the type of tolerance that you want to use: setTolerance(new
* PIDController.AbsoluteTolerance(0.1))
*
* @deprecated Use setPercentTolerance() instead.
* @param tolerance A tolerance object of the right type, e.g. PercentTolerance or
* AbsoluteTolerance
* @deprecated Use setPercentTolerance() instead.
*/
@Deprecated
public void setTolerance(Tolerance tolerance) {
@@ -721,8 +721,8 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
* erroneous measurements when the mechanism is on target. However, the mechanism will not
* register as on target for at least the specified bufLength cycles.
*
* @deprecated Use a LinearFilter as the input.
* @param bufLength Number of previous cycles to average.
* @deprecated Use a LinearFilter as the input.
*/
@Deprecated
public void setToleranceBuffer(int bufLength) {

3
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/command/CommandGroup.java
View File

@@ -205,7 +205,7 @@ public class CommandGroup extends Command {
}
@Override
@SuppressWarnings("MethodName")
@SuppressWarnings({"MethodName", "PMD.AvoidReassigningLoopVariables"})
void _execute() {
Entry entry = null;
Command cmd = null;
@@ -357,6 +357,7 @@ public class CommandGroup extends Command {
return true;
}
@SuppressWarnings("PMD.AvoidReassigningLoopVariables")
private void cancelConflicts(Command command) {
for (int i = 0; i < m_children.size(); i++) {
Command child = m_children.elementAt(i).m_command;

2
wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/AbstractCommandTest.java
View File

@@ -11,7 +11,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.BeforeEach;
/** The basic test for all {@link Command} tests. */
public abstract class AbstractCommandTest {
public class AbstractCommandTest {
@BeforeEach
void commandSetup() {
Scheduler.getInstance().removeAll();

2
wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSequentialGroupTest.java
View File

@@ -16,7 +16,7 @@ class CommandSequentialGroupTest extends AbstractCommandTest {
* timeout.
*/
@Test
public void testThreeCommandOnSubSystem() {
void testThreeCommandOnSubSystem() {
logger.fine("Beginning Test");
final ASubsystem subsystem = new ASubsystem();

8
wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/CommandSupersedeTest.java
View File

@@ -60,12 +60,8 @@ class CommandSupersedeTest extends AbstractCommandTest {
void commandFailingSupersedingBecauseFirstCanNotBeInterruptedTest() {
final ASubsystem subsystem = new ASubsystem();
final MockCommand command1 =
new MockCommand(subsystem) {
{
setInterruptible(false);
}
};
final MockCommand command1 = new MockCommand(subsystem);
command1.setInterruptible(false);
final MockCommand command2 = new MockCommand(subsystem);

2
wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/DefaultCommandTest.java
View File

@@ -7,7 +7,7 @@ package edu.wpi.first.wpilibj.command;
import org.junit.jupiter.api.Test;
/** Tests the {@link Command} library. */
public class DefaultCommandTest extends AbstractCommandTest {
class DefaultCommandTest extends AbstractCommandTest {
/** Testing of default commands where the interrupting command ends itself. */
@Test
void defaultCommandWhereTheInteruptingCommandEndsItselfTest() {

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

@@ -20,7 +20,7 @@ import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class ShuffleboardTabTest {
class ShuffleboardTabTest {
private NetworkTableInstance m_ntInstance;
private ShuffleboardTab m_tab;
private ShuffleboardInstance m_instance;

3
wpilibj/build.gradle
View File

@@ -66,8 +66,7 @@ dependencies {
implementation project(':ntcore')
implementation project(':cscore')
implementation project(':cameraserver')
testImplementation 'com.google.guava:guava:19.0'
testImplementation 'org.mockito:mockito-core:2.27.0'
testImplementation 'org.mockito:mockito-core:4.1.0'
devImplementation project(':hal')
devImplementation project(':wpiutil')
devImplementation project(':wpimath')

30
wpilibj/src/main/java/edu/wpi/first/wpilibj/Compressor.java
View File

@@ -33,30 +33,16 @@ public class Compressor implements Sendable, AutoCloseable {
*/
public Compressor(int module, PneumaticsModuleType moduleType) {
m_module = PneumaticsBase.getForType(module, moduleType);
boolean allocatedCompressor = false;
boolean successfulCompletion = false;
try {
if (!m_module.reserveCompressor()) {
throw new AllocationException("Compressor already allocated");
}
allocatedCompressor = true;
m_module.enableCompressorDigital();
HAL.report(tResourceType.kResourceType_Compressor, module + 1);
SendableRegistry.addLW(this, "Compressor", module);
successfulCompletion = true;
} finally {
if (!successfulCompletion) {
if (allocatedCompressor) {
m_module.unreserveCompressor();
}
m_module.close();
}
if (!m_module.reserveCompressor()) {
m_module.close();
throw new AllocationException("Compressor already allocated");
}
m_module.enableCompressorDigital();
HAL.report(tResourceType.kResourceType_Compressor, module + 1);
SendableRegistry.addLW(this, "Compressor", module);
}
/**

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
View File

@@ -53,6 +53,7 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
* @param forwardChannel The forward channel on the module to control.
* @param reverseChannel The reverse channel on the module to control.
*/
@SuppressWarnings("PMD.UseTryWithResources")
public DoubleSolenoid(
final int module,
final PneumaticsModuleType moduleType,

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

@@ -99,7 +99,7 @@ public class Notifier implements AutoCloseable {
break;
}
Runnable handler = null;
Runnable handler;
m_processLock.lock();
try {
handler = m_handler;

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

@@ -313,7 +313,7 @@ public abstract class RobotBase implements AutoCloseable {
private static boolean m_suppressExitWarning;
/** Run the robot main loop. */
@SuppressWarnings("PMD.AvoidCatchingThrowable")
@SuppressWarnings({"PMD.AvoidCatchingThrowable", "PMD.AvoidReassigningCatchVariables"})
private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
System.out.println("********** Robot program starting **********");

35
wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
View File

@@ -41,35 +41,22 @@ public class Solenoid implements Sendable, AutoCloseable {
*/
public Solenoid(final int module, final PneumaticsModuleType moduleType, final int channel) {
m_module = PneumaticsBase.getForType(module, moduleType);
boolean allocatedSolenoids = false;
boolean successfulCompletion = false;
m_mask = 1 << channel;
m_channel = channel;
try {
if (!m_module.checkSolenoidChannel(channel)) {
throw new IllegalArgumentException("Channel " + channel + " out of range");
}
if (m_module.checkAndReserveSolenoids(m_mask) != 0) {
throw new AllocationException("Solenoid already allocated");
}
allocatedSolenoids = true;
HAL.report(tResourceType.kResourceType_Solenoid, channel + 1, m_module.getModuleNumber() + 1);
SendableRegistry.addLW(this, "Solenoid", m_module.getModuleNumber(), channel);
successfulCompletion = true;
} finally {
if (!successfulCompletion) {
if (allocatedSolenoids) {
m_module.unreserveSolenoids(m_mask);
}
m_module.close();
}
if (!m_module.checkSolenoidChannel(channel)) {
m_module.close();
throw new IllegalArgumentException("Channel " + channel + " out of range");
}
if (m_module.checkAndReserveSolenoids(m_mask) != 0) {
m_module.close();
throw new AllocationException("Solenoid already allocated");
}
HAL.report(tResourceType.kResourceType_Solenoid, channel + 1, m_module.getModuleNumber() + 1);
SendableRegistry.addLW(this, "Solenoid", m_module.getModuleNumber(), channel);
}
@Override

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

@@ -325,8 +325,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
xSpeed = MathUtil.clamp(xSpeed, -1.0, 1.0);
zRotation = MathUtil.clamp(zRotation, -1.0, 1.0);
double leftSpeed = 0.0;
double rightSpeed = 0.0;
double leftSpeed;
double rightSpeed;
if (allowTurnInPlace) {
leftSpeed = xSpeed + zRotation;

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

@@ -59,7 +59,7 @@ final class ContainerHelper {
return widget;
}
ComplexWidget add(Sendable sendable) throws IllegalArgumentException {
ComplexWidget add(Sendable sendable) {
String name = SendableRegistry.getName(sendable);
if (name.isEmpty()) {
throw new IllegalArgumentException("Sendable must have a name");

32
wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
View File

@@ -62,7 +62,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @return the layout with the given title
* @throws NoSuchElementException if no layout has yet been defined with the given title
*/
ShuffleboardLayout getLayout(String title) throws NoSuchElementException;
ShuffleboardLayout getLayout(String title);
/**
* Adds a widget to this container to display the given sendable.
@@ -73,7 +73,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
ComplexWidget add(String title, Sendable sendable) throws IllegalArgumentException;
ComplexWidget add(String title, Sendable sendable);
/**
* Adds a widget to this container to display the given video stream.
@@ -84,7 +84,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
default ComplexWidget add(String title, VideoSource video) throws IllegalArgumentException {
default ComplexWidget add(String title, VideoSource video) {
return add(title, SendableCameraWrapper.wrap(video));
}
@@ -120,7 +120,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* title
* @see #addPersistent(String, Object) add(String title, Object defaultValue)
*/
SimpleWidget add(String title, Object defaultValue) throws IllegalArgumentException;
SimpleWidget add(String title, Object defaultValue);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -133,8 +133,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
throws IllegalArgumentException;
SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -147,8 +146,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
throws IllegalArgumentException;
SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -161,8 +159,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
throws IllegalArgumentException;
SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -175,8 +172,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier)
throws IllegalArgumentException;
SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -189,8 +185,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier)
throws IllegalArgumentException;
SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -203,8 +198,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier)
throws IllegalArgumentException;
SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier);
/**
* Adds a widget to this container. The widget will display the data provided by the value
@@ -217,8 +211,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* @throws IllegalArgumentException if a widget already exists in this container with the given
* title
*/
SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
throws IllegalArgumentException;
SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier);
/**
* Adds a widget to this container to display a simple piece of data. Unlike {@link #add(String,
@@ -232,8 +225,7 @@ public interface ShuffleboardContainer extends ShuffleboardValue {
* title
* @see #add(String, Object) add(String title, Object defaultValue)
*/
default SimpleWidget addPersistent(String title, Object defaultValue)
throws IllegalArgumentException {
default SimpleWidget addPersistent(String title, Object defaultValue) {
SimpleWidget widget = add(title, defaultValue);
widget.getEntry().setPersistent();
return widget;

27
wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java
View File

@@ -9,7 +9,6 @@ import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.util.sendable.Sendable;
import java.util.List;
import java.util.NoSuchElementException;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
@@ -34,64 +33,60 @@ public class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout
}
@Override
public ShuffleboardLayout getLayout(String title) throws NoSuchElementException {
public ShuffleboardLayout getLayout(String title) {
return m_helper.getLayout(title);
}
@Override
public ComplexWidget add(String title, Sendable sendable) throws IllegalArgumentException {
public ComplexWidget add(String title, Sendable sendable) {
return m_helper.add(title, sendable);
}
@Override
public ComplexWidget add(Sendable sendable) throws IllegalArgumentException {
public ComplexWidget add(Sendable sendable) {
return m_helper.add(sendable);
}
@Override
public SimpleWidget add(String title, Object defaultValue) throws IllegalArgumentException {
public SimpleWidget add(String title, Object defaultValue) {
return m_helper.add(title, defaultValue);
}
@Override
public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier) {
return m_helper.addString(title, valueSupplier);
}
@Override
public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier) {
return m_helper.addNumber(title, valueSupplier);
}
@Override
public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier) {
return m_helper.addBoolean(title, valueSupplier);
}
@Override
public SuppliedValueWidget<String[]> addStringArray(
String title, Supplier<String[]> valueSupplier) throws IllegalArgumentException {
String title, Supplier<String[]> valueSupplier) {
return m_helper.addStringArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<double[]> addDoubleArray(
String title, Supplier<double[]> valueSupplier) throws IllegalArgumentException {
String title, Supplier<double[]> valueSupplier) {
return m_helper.addDoubleArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<boolean[]> addBooleanArray(
String title, Supplier<boolean[]> valueSupplier) throws IllegalArgumentException {
String title, Supplier<boolean[]> valueSupplier) {
return m_helper.addBooleanArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier) {
return m_helper.addRaw(title, valueSupplier);
}

23
wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardTab.java
View File

@@ -7,7 +7,6 @@ package edu.wpi.first.wpilibj.shuffleboard;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.util.sendable.Sendable;
import java.util.List;
import java.util.NoSuchElementException;
import java.util.function.BooleanSupplier;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;
@@ -48,7 +47,7 @@ public final class ShuffleboardTab implements ShuffleboardContainer {
}
@Override
public ShuffleboardLayout getLayout(String title) throws NoSuchElementException {
public ShuffleboardLayout getLayout(String title) {
return m_helper.getLayout(title);
}
@@ -58,7 +57,7 @@ public final class ShuffleboardTab implements ShuffleboardContainer {
}
@Override
public ComplexWidget add(Sendable sendable) throws IllegalArgumentException {
public ComplexWidget add(Sendable sendable) {
return m_helper.add(sendable);
}
@@ -68,44 +67,40 @@ public final class ShuffleboardTab implements ShuffleboardContainer {
}
@Override
public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier) {
return m_helper.addString(title, valueSupplier);
}
@Override
public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier) {
return m_helper.addNumber(title, valueSupplier);
}
@Override
public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier) {
return m_helper.addBoolean(title, valueSupplier);
}
@Override
public SuppliedValueWidget<String[]> addStringArray(
String title, Supplier<String[]> valueSupplier) throws IllegalArgumentException {
String title, Supplier<String[]> valueSupplier) {
return m_helper.addStringArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<double[]> addDoubleArray(
String title, Supplier<double[]> valueSupplier) throws IllegalArgumentException {
String title, Supplier<double[]> valueSupplier) {
return m_helper.addDoubleArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<boolean[]> addBooleanArray(
String title, Supplier<boolean[]> valueSupplier) throws IllegalArgumentException {
String title, Supplier<boolean[]> valueSupplier) {
return m_helper.addBooleanArray(title, valueSupplier);
}
@Override
public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier)
throws IllegalArgumentException {
public SuppliedValueWidget<byte[]> addRaw(String title, Supplier<byte[]> valueSupplier) {
return m_helper.addRaw(title, valueSupplier);
}

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

@@ -72,9 +72,9 @@ public class SendableChooser<V> implements NTSendable, AutoCloseable {
/**
* Adds the given object to the list of options.
*
* @deprecated Use {@link #addOption(String, Object)} instead.
* @param name the name of the option
* @param object the option
* @deprecated Use {@link #addOption(String, Object)} instead.
*/
@Deprecated
public void addObject(String name, V object) {
@@ -99,9 +99,9 @@ public class SendableChooser<V> implements NTSendable, AutoCloseable {
/**
* Adds the given object to the list of options and marks it as the default.
*
* @deprecated Use {@link #setDefaultOption(String, Object)} instead.
* @param name the name of the option
* @param object the option
* @deprecated Use {@link #setDefaultOption(String, Object)} instead.
*/
@Deprecated
public void addDefault(String name, V object) {

17
wpilibj/src/test/java/edu/wpi/first/wpilibj/AddressableLEDBufferTest.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import static org.junit.jupiter.api.Assertions.assertAll;
import static org.junit.jupiter.api.Assertions.assertEquals;
import static org.junit.jupiter.api.Assertions.assertTrue;
import static org.junit.jupiter.params.provider.Arguments.arguments;
import edu.wpi.first.wpilibj.util.Color;
@@ -63,13 +62,13 @@ class AddressableLEDBufferTest {
buffer.setLED(2, Color.kFirstRed);
buffer.setLED(3, Color.kFirstBlue);
assertTrue(buffer.getLED(0).equals(Color.kFirstBlue));
assertTrue(buffer.getLED(1).equals(Color.kDenim));
assertTrue(buffer.getLED(2).equals(Color.kFirstRed));
assertTrue(buffer.getLED(3).equals(Color.kFirstBlue));
assertTrue(buffer.getLED8Bit(0).equals(firstBlueColor8Bit));
assertTrue(buffer.getLED8Bit(1).equals(denimColor8Bit));
assertTrue(buffer.getLED8Bit(2).equals(firstRedColor8Bit));
assertTrue(buffer.getLED8Bit(3).equals(firstBlueColor8Bit));
assertEquals(Color.kFirstBlue, buffer.getLED(0));
assertEquals(Color.kDenim, buffer.getLED(1));
assertEquals(Color.kFirstRed, buffer.getLED(2));
assertEquals(Color.kFirstBlue, buffer.getLED(3));
assertEquals(firstBlueColor8Bit, buffer.getLED8Bit(0));
assertEquals(denimColor8Bit, buffer.getLED8Bit(1));
assertEquals(firstRedColor8Bit, buffer.getLED8Bit(2));
assertEquals(firstBlueColor8Bit, buffer.getLED8Bit(3));
}
}

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

@@ -12,7 +12,7 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.AnalogGyroSim;
import org.junit.jupiter.api.Test;
public class AnalogGyroTest {
class AnalogGyroTest {
@Test
void testInitializeWithAnalogInput() {
HAL.initialize(500, 0);

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

@@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj.simulation.AnalogInputSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import org.junit.jupiter.api.Test;
public class AnalogPotentiometerTest {
class AnalogPotentiometerTest {
@Test
void testInitializeWithAnalogInput() {
HAL.initialize(500, 0);

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

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.simulation.SimHooks;
import org.junit.jupiter.api.Test;
public class DebouncerTest {
class DebouncerTest {
@Test
void debounceRisingTest() {
var debouncer = new Debouncer(0.02, Debouncer.DebounceType.kRising);

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

@@ -12,7 +12,7 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.simulation.DIOSim;
import org.junit.jupiter.api.Test;
public class DigitalOutputTest {
class DigitalOutputTest {
@Test
void testDefaultFunctions() {
try (DigitalOutput output = new DigitalOutput(0)) {

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

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
public class DoubleSolenoidTestCTRE {
class DoubleSolenoidTestCTRE {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.CTREPCM, 2, 3)) {

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

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertThrows;
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
public class DoubleSolenoidTestREV {
class DoubleSolenoidTestREV {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(3, PneumaticsModuleType.REVPH, 2, 3)) {

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

@@ -12,7 +12,7 @@ import java.util.concurrent.atomic.AtomicBoolean;
import java.util.concurrent.atomic.AtomicInteger;
import org.junit.jupiter.api.Test;
public class InterruptTest {
class InterruptTest {
@Test
void testAsynchronousInterrupt() {
AtomicBoolean hasFired = new AtomicBoolean(false);

4
wpilibj/src/test/java/edu/wpi/first/wpilibj/PS4ControllerTest.java
View File

@@ -19,7 +19,7 @@ class PS4ControllerTest {
@ParameterizedTest
@EnumSource(value = PS4Controller.Button.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
public void testButtons(PS4Controller.Button button)
void testButtons(PS4Controller.Button button)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
PS4Controller joy = new PS4Controller(2);
@@ -60,7 +60,7 @@ class PS4ControllerTest {
@ParameterizedTest
@EnumSource(value = PS4Controller.Axis.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
public void testAxes(PS4Controller.Axis axis)
void testAxes(PS4Controller.Axis axis)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
PS4Controller joy = new PS4Controller(2);

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

@@ -9,7 +9,7 @@ import static org.junit.jupiter.api.Assertions.assertThrows;
import org.junit.jupiter.api.Test;
public class SensorUtilTest {
class SensorUtilTest {
@Test
void checkAnalogInputChannel() {
assertThrows(IllegalArgumentException.class, () -> SensorUtil.checkAnalogInputChannel(100));

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

@@ -12,7 +12,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
public class SolenoidTestCTRE {
class SolenoidTestCTRE {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.CTREPCM, 2)) {

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

@@ -12,7 +12,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.hal.util.AllocationException;
import org.junit.jupiter.api.Test;
public class SolenoidTestREV {
class SolenoidTestREV {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(3, PneumaticsModuleType.REVPH, 2)) {

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

@@ -11,9 +11,9 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.wpilibj.simulation.UltrasonicSim;
import org.junit.jupiter.api.Test;
public class UltrasonicTest {
class UltrasonicTest {
@Test
public void testUltrasonic() {
void testUltrasonic() {
try (Ultrasonic ultrasonic = new Ultrasonic(0, 1)) {
UltrasonicSim sim = new UltrasonicSim(ultrasonic);

7
wpilibj/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
View File

@@ -34,19 +34,20 @@ public abstract class UtilityClassTest<T> {
}
@Test
public void singleConstructorTest() {
void singleConstructorTest() {
assertEquals(1, m_clazz.getDeclaredConstructors().length, "More than one constructor defined");
}
@Test
public void constructorPrivateTest() {
void constructorPrivateTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
assertFalse(constructor.canAccess(null), "Constructor is not private");
}
@Test
public void constructorReflectionTest() {
@SuppressWarnings("PMD.AvoidAccessibilityAlteration")
void constructorReflectionTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
constructor.setAccessible(true);
assertThrows(InvocationTargetException.class, constructor::newInstance);

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

@@ -19,7 +19,7 @@ class XboxControllerTest {
@ParameterizedTest
@EnumSource(value = XboxController.Button.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
public void testButtons(XboxController.Button button)
void testButtons(XboxController.Button button)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);
@@ -60,7 +60,7 @@ class XboxControllerTest {
@ParameterizedTest
@EnumSource(value = XboxController.Axis.class)
@SuppressWarnings({"VariableDeclarationUsageDistance"})
public void testAxes(XboxController.Axis axis)
void testAxes(XboxController.Axis axis)
throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
HAL.initialize(500, 0);
XboxController joy = new XboxController(2);

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

@@ -15,7 +15,7 @@ import org.junit.jupiter.api.AfterEach;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class ShuffleboardInstanceTest {
class ShuffleboardInstanceTest {
private NetworkTableInstance m_ntInstance;
private ShuffleboardInstance m_shuffleboardInstance;

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

@@ -9,8 +9,8 @@ import static org.junit.jupiter.api.Assertions.assertSame;
import edu.wpi.first.wpilibj.UtilityClassTest;
import org.junit.jupiter.api.Test;
public class ShuffleboardTest extends UtilityClassTest<Shuffleboard> {
public ShuffleboardTest() {
class ShuffleboardTest extends UtilityClassTest<Shuffleboard> {
ShuffleboardTest() {
super(Shuffleboard.class);
}

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL345SimTest.java
View File

@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
public class ADXL345SimTest {
class ADXL345SimTest {
@ParameterizedTest
@EnumSource(Accelerometer.Range.class)
void testInitI2C(Accelerometer.Range range) {

2
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ADXL362SimTest.java
View File

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.interfaces.Accelerometer;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
public class ADXL362SimTest {
class ADXL362SimTest {
@ParameterizedTest
@EnumSource(Accelerometer.Range.class)
void testAccel(Accelerometer.Range range) {

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

@@ -11,9 +11,9 @@ import edu.wpi.first.wpilibj.AnalogEncoder;
import edu.wpi.first.wpilibj.AnalogInput;
import org.junit.jupiter.api.Test;
public class AnalogEncoderSimTest {
class AnalogEncoderSimTest {
@Test
public void testBasic() {
void testBasic() {
try (var analogInput = new AnalogInput(0);
var analogEncoder = new AnalogEncoder(analogInput)) {
var encoderSim = new AnalogEncoderSim(analogEncoder);

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

@@ -30,7 +30,7 @@ import org.junit.jupiter.api.Test;
class DifferentialDrivetrainSimTest {
@Test
public void testConvergence() {
void testConvergence() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
@@ -96,7 +96,7 @@ class DifferentialDrivetrainSimTest {
}
@Test
public void testCurrent() {
void testCurrent() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(
@@ -126,7 +126,7 @@ class DifferentialDrivetrainSimTest {
}
@Test
public void testModelStability() {
void testModelStability() {
var motor = DCMotor.getNEO(2);
var plant =
LinearSystemId.createDrivetrainVelocitySystem(

14
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/DriverStationSimTest.java
View File

@@ -18,7 +18,7 @@ import org.junit.jupiter.api.Test;
import org.junit.jupiter.params.ParameterizedTest;
import org.junit.jupiter.params.provider.EnumSource;
public class DriverStationSimTest {
class DriverStationSimTest {
@Test
void testEnabled() {
HAL.initialize(500, 0);
@@ -192,7 +192,7 @@ public class DriverStationSimTest {
@ParameterizedTest
@EnumSource(DriverStation.MatchType.class)
public void testMatchType(DriverStation.MatchType matchType) {
void testMatchType(DriverStation.MatchType matchType) {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -202,7 +202,7 @@ public class DriverStationSimTest {
}
@Test
public void testReplayNumber() {
void testReplayNumber() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -212,7 +212,7 @@ public class DriverStationSimTest {
}
@Test
public void testMatchNumber() {
void testMatchNumber() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -222,7 +222,7 @@ public class DriverStationSimTest {
}
@Test
public void testMatchTime() {
void testMatchTime() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -238,7 +238,7 @@ public class DriverStationSimTest {
}
@Test
public void testSetGameSpecificMessage() {
void testSetGameSpecificMessage() {
HAL.initialize(500, 0);
DriverStationSim.resetData();
@@ -249,7 +249,7 @@ public class DriverStationSimTest {
}
@Test
public void testSetEventName() {
void testSetEventName() {
HAL.initialize(500, 0);
DriverStationSim.resetData();

8
wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ElevatorSimTest.java
View File

@@ -17,10 +17,10 @@ import edu.wpi.first.wpilibj.RobotController;
import edu.wpi.first.wpilibj.motorcontrol.PWMVictorSPX;
import org.junit.jupiter.api.Test;
public class ElevatorSimTest {
class ElevatorSimTest {
@Test
@SuppressWarnings({"LocalVariableName", "resource"})
public void testStateSpaceSimWithElevator() {
void testStateSpaceSimWithElevator() {
RoboRioSim.resetData();
var controller = new PIDController(10, 0, 0);
@@ -61,7 +61,7 @@ public class ElevatorSimTest {
}
@Test
public void testMinMax() {
void testMinMax() {
var plant =
LinearSystemId.createElevatorSystem(
DCMotor.getVex775Pro(4), 8.0, 0.75 * 25.4 / 1000.0, 14.67);
@@ -92,7 +92,7 @@ public class ElevatorSimTest {
}
@Test
public void testStability() {
void testStability() {
var sim = new ElevatorSim(DCMotor.getVex775Pro(4), 100, 4, Units.inchesToMeters(0.5), 0, 10);
sim.setState(VecBuilder.fill(0, 0));

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

@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback;
import edu.wpi.first.wpilibj.simulation.testutils.IntCallback;
import org.junit.jupiter.api.Test;
public class RoboRioSimTest {
class RoboRioSimTest {
@Test
void testFPGAButton() {
RoboRioSim.resetData();

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

@@ -11,7 +11,7 @@ import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.util.Units;
import org.junit.jupiter.api.Test;
public class SingleJointedArmSimTest {
class SingleJointedArmSimTest {
SingleJointedArmSim m_sim =
new SingleJointedArmSim(
DCMotor.getVex775Pro(2),
@@ -24,7 +24,7 @@ public class SingleJointedArmSimTest {
true);
@Test
public void testArmDisabled() {
void testArmDisabled() {
m_sim.setState(VecBuilder.fill(0.0, 0.0));
for (int i = 0; i < 12 / 0.02; i++) {

8
wpilibjExamples/build.gradle
View File

@@ -37,13 +37,13 @@ dependencies {
implementation project(':wpilibOldCommands')
implementation project(':wpilibNewCommands')
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.4.2'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.4.2'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
testImplementation 'org.junit.jupiter:junit-jupiter-api:5.8.2'
testImplementation 'org.junit.jupiter:junit-jupiter-params:5.8.2'
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.8.2'
}
jacoco {
toolVersion = "0.8.4"
toolVersion = "0.8.7"
}
jacocoTestReport {

8
wpilibjIntegrationTests/build.gradle
View File

@@ -27,11 +27,11 @@ dependencies {
implementation project(':ntcore')
implementation project(':cscore')
implementation project(':cameraserver')
implementation 'junit:junit:4.11'
implementation 'junit:junit:4.13.2'
testImplementation 'org.hamcrest:hamcrest-all:1.3'
implementation 'com.googlecode.junit-toolbox:junit-toolbox:2.0'
implementation 'org.apache.ant:ant:1.9.4'
implementation 'org.apache.ant:ant-junit:1.9.4'
implementation 'com.googlecode.junit-toolbox:junit-toolbox:2.4'
implementation 'org.apache.ant:ant:1.10.12'
implementation 'org.apache.ant:ant-junit:1.10.12'
}
build.dependsOn shadowJar

6
wpimath/build.gradle
View File

@@ -33,9 +33,9 @@ model {
dependencies {
api "org.ejml:ejml-simple:0.41"
api "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
api "com.fasterxml.jackson.core:jackson-core:2.10.0"
api "com.fasterxml.jackson.core:jackson-databind:2.10.0"
api "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
api "com.fasterxml.jackson.core:jackson-core:2.12.4"
api "com.fasterxml.jackson.core:jackson-databind:2.12.4"
}
def wpilibNumberFileInput = file("src/generate/GenericNumber.java.jinja")

9
wpimath/src/main/java/edu/wpi/first/math/controller/LinearQuadraticRegulator.java
View File

@@ -104,10 +104,11 @@ public class LinearQuadraticRegulator<States extends Num, Inputs extends Num, Ou
if (!StateSpaceUtil.isStabilizable(discA, discB)) {
var builder = new StringBuilder("The system passed to the LQR is uncontrollable!\n\nA =\n");
builder.append(discA.getStorage().toString());
builder.append("\nB =\n");
builder.append(discB.getStorage().toString());
builder.append("\n");
builder
.append(discA.getStorage().toString())
.append("\nB =\n")
.append(discB.getStorage().toString())
.append('\n');
var msg = builder.toString();
MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());

9
wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilter.java
View File

@@ -79,10 +79,11 @@ public class KalmanFilter<States extends Num, Inputs extends Num, Outputs extend
if (!StateSpaceUtil.isDetectable(discA, C)) {
var builder =
new StringBuilder("The system passed to the Kalman filter is unobservable!\n\nA =\n");
builder.append(discA.getStorage().toString());
builder.append("\nC =\n");
builder.append(C.getStorage().toString());
builder.append("\n");
builder
.append(discA.getStorage().toString())
.append("\nC =\n")
.append(C.getStorage().toString())
.append('\n');
var msg = builder.toString();
MathSharedStore.reportError(msg, Thread.currentThread().getStackTrace());

7
wpimath/src/main/java/edu/wpi/first/math/trajectory/TrapezoidProfile.java
View File

@@ -209,8 +209,6 @@ public class TrapezoidProfile {
endAccel = Math.max(endAccel, 0);
endFullSpeed = Math.max(endFullSpeed, 0);
double endDeccel = m_endDeccel - endAccel - endFullSpeed;
endDeccel = Math.max(endDeccel, 0);
final double acceleration = m_constraints.maxAcceleration;
final double decceleration = -m_constraints.maxAcceleration;
@@ -229,11 +227,8 @@ public class TrapezoidProfile {
deccelVelocity = velocity;
}
double deccelDist = deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
deccelDist = Math.max(deccelDist, 0);
double fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
double deccelDist;
if (accelDist > distToTarget) {
accelDist = distToTarget;

14
wpimath/src/main/native/include/frc/trajectory/TrapezoidProfile.inc
View File

@@ -104,8 +104,6 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
endAccel = units::math::max(endAccel, 0_s);
endFullSpeed = units::math::max(endFullSpeed, 0_s);
units::second_t endDeccel = m_endDeccel - endAccel - endFullSpeed;
endDeccel = units::math::max(endDeccel, 0_s);
const Acceleration_t acceleration = m_constraints.maxAcceleration;
const Acceleration_t decceleration = -m_constraints.maxAcceleration;
@@ -127,20 +125,16 @@ units::second_t TrapezoidProfile<Distance>::TimeLeftUntil(
deccelVelocity = velocity;
}
Distance_t deccelDist =
deccelVelocity * endDeccel + 0.5 * decceleration * endDeccel * endDeccel;
deccelDist = units::math::max(deccelDist, Distance_t(0));
Distance_t fullSpeedDist = m_constraints.maxVelocity * endFullSpeed;
Distance_t deccelDist;
if (accelDist > distToTarget) {
accelDist = distToTarget;
fullSpeedDist = Distance_t(0);
deccelDist = Distance_t(0);
fullSpeedDist = Distance_t{0};
deccelDist = Distance_t{0};
} else if (accelDist + fullSpeedDist > distToTarget) {
fullSpeedDist = distToTarget - accelDist;
deccelDist = Distance_t(0);
deccelDist = Distance_t{0};
} else {
deccelDist = distToTarget - fullSpeedDist - accelDist;
}

4
wpimath/src/test/java/edu/wpi/first/math/DrakeTest.java
View File

@@ -11,7 +11,7 @@ import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
@SuppressWarnings({"ParameterName", "LocalVariableName"})
public class DrakeTest {
class DrakeTest {
public static void assertMatrixEqual(SimpleMatrix A, SimpleMatrix B) {
for (int i = 0; i < A.numRows(); i++) {
for (int j = 0; j < A.numCols(); j++) {
@@ -49,7 +49,7 @@ public class DrakeTest {
}
@Test
public void testDiscreteAlgebraicRicattiEquation() {
void testDiscreteAlgebraicRicattiEquation() {
int n1 = 4;
int m1 = 1;

2
wpimath/src/test/java/edu/wpi/first/math/MatrixTest.java
View File

@@ -15,7 +15,7 @@ import edu.wpi.first.math.numbers.N4;
import org.ejml.data.SingularMatrixException;
import org.junit.jupiter.api.Test;
public class MatrixTest {
class MatrixTest {
@Test
void testMatrixMultiplication() {
var mat1 = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 1.0, 0.0, 1.0);

18
wpimath/src/test/java/edu/wpi/first/math/StateSpaceUtilTest.java
View File

@@ -18,9 +18,9 @@ import org.ejml.dense.row.MatrixFeatures_DDRM;
import org.ejml.simple.SimpleMatrix;
import org.junit.jupiter.api.Test;
public class StateSpaceUtilTest {
class StateSpaceUtilTest {
@Test
public void testCostArray() {
void testCostArray() {
var mat = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(1.0, 2.0, 3.0));
assertEquals(1.0, mat.get(0, 0), 1e-3);
@@ -35,7 +35,7 @@ public class StateSpaceUtilTest {
}
@Test
public void testCovArray() {
void testCovArray() {
var mat = StateSpaceUtil.makeCovarianceMatrix(Nat.N3(), VecBuilder.fill(1.0, 2.0, 3.0));
assertEquals(1.0, mat.get(0, 0), 1e-3);
@@ -51,7 +51,7 @@ public class StateSpaceUtilTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testIsStabilizable() {
void testIsStabilizable() {
Matrix<N2, N2> A;
Matrix<N2, N1> B = VecBuilder.fill(0, 1);
@@ -78,7 +78,7 @@ public class StateSpaceUtilTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testIsDetectable() {
void testIsDetectable() {
Matrix<N2, N2> A;
Matrix<N1, N2> C = Matrix.mat(Nat.N1(), Nat.N2()).fill(0, 1);
@@ -104,7 +104,7 @@ public class StateSpaceUtilTest {
}
@Test
public void testMakeWhiteNoiseVector() {
void testMakeWhiteNoiseVector() {
var firstData = new ArrayList<Double>();
var secondData = new ArrayList<Double>();
for (int i = 0; i < 1000; i++) {
@@ -135,7 +135,7 @@ public class StateSpaceUtilTest {
}
@Test
public void testMatrixExp() {
void testMatrixExp() {
Matrix<N2, N2> wrappedMatrix = Matrix.eye(Nat.N2());
var wrappedResult = wrappedMatrix.exp();
@@ -152,7 +152,7 @@ public class StateSpaceUtilTest {
}
@Test
public void testSimpleMatrixExp() {
void testSimpleMatrixExp() {
SimpleMatrix matrix = SimpleMatrixUtils.eye(2);
var result = SimpleMatrixUtils.exp(matrix);
@@ -175,7 +175,7 @@ public class StateSpaceUtilTest {
}
@Test
public void testPoseToVector() {
void testPoseToVector() {
Pose2d pose = new Pose2d(1, 2, new Rotation2d(3));
var vector = StateSpaceUtil.poseToVector(pose);
assertEquals(pose.getTranslation().getX(), vector.get(0, 0), 1e-6);

2
wpimath/src/test/java/edu/wpi/first/math/controller/BangBangInputOutputTest.java
View File

@@ -9,7 +9,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class BangBangInputOutputTest {
class BangBangInputOutputTest {
private BangBangController m_controller;
@BeforeEach

2
wpimath/src/test/java/edu/wpi/first/math/controller/BangBangToleranceTest.java
View File

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import org.junit.jupiter.api.BeforeEach;
import org.junit.jupiter.api.Test;
public class BangBangToleranceTest {
class BangBangToleranceTest {
private BangBangController m_controller;
@BeforeEach

10
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
View File

@@ -11,10 +11,10 @@ import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import org.junit.jupiter.api.Test;
public class LinearQuadraticRegulatorTest {
class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnElevator() {
void testLQROnElevator() {
var motors = DCMotor.getVex775Pro(2);
var m = 5.0;
@@ -36,7 +36,7 @@ public class LinearQuadraticRegulatorTest {
}
@Test
public void testFourMotorElevator() {
void testFourMotorElevator() {
var dt = 0.020;
var plant =
@@ -52,7 +52,7 @@ public class LinearQuadraticRegulatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnArm() {
void testLQROnArm() {
var motors = DCMotor.getVex775Pro(2);
var m = 4.0;
@@ -74,7 +74,7 @@ public class LinearQuadraticRegulatorTest {
}
@Test
public void testLatencyCompensate() {
void testLatencyCompensate() {
var dt = 0.02;
var plant =

8
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
View File

@@ -21,8 +21,8 @@ import edu.wpi.first.math.trajectory.TrapezoidProfile;
import java.util.Random;
import org.junit.jupiter.api.Test;
public class LinearSystemLoopTest {
public static final double kDt = 0.00505;
class LinearSystemLoopTest {
private static final double kDt = 0.00505;
private static final double kPositionStddev = 0.0001;
private static final Random random = new Random();
@@ -51,7 +51,7 @@ public class LinearSystemLoopTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testStateSpaceEnabled() {
void testStateSpaceEnabled() {
m_loop.reset(VecBuilder.fill(0, 0));
Matrix<N2, N1> references = VecBuilder.fill(2.0, 0.0);
var constraints = new TrapezoidProfile.Constraints(4, 3);
@@ -80,7 +80,7 @@ public class LinearSystemLoopTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testFlywheelEnabled() {
void testFlywheelEnabled() {
LinearSystem<N1, N1, N1> plant =
LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00289, 1.0);
KalmanFilter<N1, N1, N1> observer =

8
wpimath/src/test/java/edu/wpi/first/math/estimator/AngleStatisticsTest.java
View File

@@ -11,9 +11,9 @@ import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import org.junit.jupiter.api.Test;
public class AngleStatisticsTest {
class AngleStatisticsTest {
@Test
public void testMean() {
void testMean() {
// 3 states, 2 sigmas
var sigmas =
Matrix.mat(Nat.N3(), Nat.N2()).fill(1, 1.2, Math.toRadians(359), Math.toRadians(3), 1, 2);
@@ -27,7 +27,7 @@ public class AngleStatisticsTest {
}
@Test
public void testResidual() {
void testResidual() {
var first = VecBuilder.fill(1, Math.toRadians(1), 2);
var second = VecBuilder.fill(1, Math.toRadians(359), 1);
assertTrue(
@@ -36,7 +36,7 @@ public class AngleStatisticsTest {
}
@Test
public void testAdd() {
void testAdd() {
var first = VecBuilder.fill(1, Math.toRadians(1), 2);
var second = VecBuilder.fill(1, Math.toRadians(359), 1);
assertTrue(AngleStatistics.angleAdd(first, second, 1).isEqual(VecBuilder.fill(2, 0, 3), 1e-6));

4
wpimath/src/test/java/edu/wpi/first/math/estimator/DifferentialDrivePoseEstimatorTest.java
View File

@@ -21,10 +21,10 @@ import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;
public class DifferentialDrivePoseEstimatorTest {
class DifferentialDrivePoseEstimatorTest {
@SuppressWarnings("LocalVariableName")
@Test
public void testAccuracy() {
void testAccuracy() {
var estimator =
new DifferentialDrivePoseEstimator(
new Rotation2d(),

14
wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
View File

@@ -27,8 +27,8 @@ import java.util.List;
import org.junit.jupiter.api.Test;
@SuppressWarnings("ParameterName")
public class ExtendedKalmanFilterTest {
public static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N2, N1> u) {
class ExtendedKalmanFilterTest {
private static Matrix<N5, N1> getDynamics(final Matrix<N5, N1> x, final Matrix<N2, N1> u) {
final var motors = DCMotor.getCIM(2);
final var gr = 7.08; // Gear ratio
@@ -58,17 +58,19 @@ public class ExtendedKalmanFilterTest {
return result;
}
public static Matrix<N3, N1> getLocalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
@SuppressWarnings("PMD.UnusedFormalParameter")
private static Matrix<N3, N1> getLocalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
return VecBuilder.fill(x.get(2, 0), x.get(3, 0), x.get(4, 0));
}
public static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
@SuppressWarnings("PMD.UnusedFormalParameter")
private static Matrix<N5, N1> getGlobalMeasurementModel(Matrix<N5, N1> x, Matrix<N2, N1> u) {
return VecBuilder.fill(x.get(0, 0), x.get(1, 0), x.get(2, 0), x.get(3, 0), x.get(4, 0));
}
@SuppressWarnings("LocalVariableName")
@Test
public void testInit() {
void testInit() {
double dtSeconds = 0.00505;
assertDoesNotThrow(
@@ -99,7 +101,7 @@ public class ExtendedKalmanFilterTest {
@SuppressWarnings("LocalVariableName")
@Test
public void testConvergence() {
void testConvergence() {
double dtSeconds = 0.00505;
double rbMeters = 0.8382 / 2.0; // Robot radius

12
wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
View File

@@ -25,7 +25,7 @@ import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;
public class KalmanFilterTest {
class KalmanFilterTest {
private static LinearSystem<N2, N1, N1> elevatorPlant;
private static final double kDt = 0.00505;
@@ -35,7 +35,7 @@ public class KalmanFilterTest {
}
@SuppressWarnings("LocalVariableName")
public static void createElevator() {
private static void createElevator() {
var motors = DCMotor.getVex775Pro(2);
var m = 5.0;
@@ -62,7 +62,7 @@ public class KalmanFilterTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testElevatorKalmanFilter() {
void testElevatorKalmanFilter() {
var Q = VecBuilder.fill(0.05, 1.0);
var R = VecBuilder.fill(0.0001);
@@ -70,7 +70,7 @@ public class KalmanFilterTest {
}
@Test
public void testSwerveKFStationary() {
void testSwerveKFStationary() {
var random = new Random();
var filter =
@@ -99,7 +99,7 @@ public class KalmanFilterTest {
}
@Test
public void testSwerveKFMovingWithoutAccelerating() {
void testSwerveKFMovingWithoutAccelerating() {
var random = new Random();
var filter =
@@ -137,7 +137,7 @@ public class KalmanFilterTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testSwerveKFMovingOverTrajectory() {
void testSwerveKFMovingOverTrajectory() {
var random = new Random();
var filter =

4
wpimath/src/test/java/edu/wpi/first/math/estimator/MecanumDrivePoseEstimatorTest.java
View File

@@ -18,10 +18,10 @@ import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;
public class MecanumDrivePoseEstimatorTest {
class MecanumDrivePoseEstimatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testAccuracy() {
void testAccuracy() {
var kinematics =
new MecanumDriveKinematics(
new Translation2d(1, 1), new Translation2d(1, -1),

6
wpimath/src/test/java/edu/wpi/first/math/estimator/MerweScaledSigmaPointsTest.java
View File

@@ -11,9 +11,9 @@ import edu.wpi.first.math.Nat;
import edu.wpi.first.math.VecBuilder;
import org.junit.jupiter.api.Test;
public class MerweScaledSigmaPointsTest {
class MerweScaledSigmaPointsTest {
@Test
public void testZeroMeanPoints() {
void testZeroMeanPoints() {
var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
var points =
merweScaledSigmaPoints.sigmaPoints(
@@ -28,7 +28,7 @@ public class MerweScaledSigmaPointsTest {
}
@Test
public void testNonzeroMeanPoints() {
void testNonzeroMeanPoints() {
var merweScaledSigmaPoints = new MerweScaledSigmaPoints<>(Nat.N2());
var points =
merweScaledSigmaPoints.sigmaPoints(

4
wpimath/src/test/java/edu/wpi/first/math/estimator/SwerveDrivePoseEstimatorTest.java
View File

@@ -18,10 +18,10 @@ import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;
public class SwerveDrivePoseEstimatorTest {
class SwerveDrivePoseEstimatorTest {
@Test
@SuppressWarnings("LocalVariableName")
public void testAccuracy() {
void testAccuracy() {
var kinematics =
new SwerveDriveKinematics(
new Translation2d(1, 1),

20
wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
View File

@@ -29,9 +29,9 @@ import java.util.Arrays;
import java.util.List;
import org.junit.jupiter.api.Test;
public class UnscentedKalmanFilterTest {
class UnscentedKalmanFilterTest {
@SuppressWarnings({"LocalVariableName", "ParameterName"})
public static Matrix<N6, N1> getDynamics(Matrix<N6, N1> x, Matrix<N2, N1> u) {
private static Matrix<N6, N1> getDynamics(Matrix<N6, N1> x, Matrix<N2, N1> u) {
var motors = DCMotor.getCIM(2);
var gHigh = 7.08;
@@ -69,19 +69,19 @@ public class UnscentedKalmanFilterTest {
k2 * ((C1 * vl) + (C2 * Vl)) + k1 * ((C1 * vr) + (C2 * Vr)));
}
@SuppressWarnings("ParameterName")
public static Matrix<N4, N1> getLocalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
@SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
private static Matrix<N4, N1> getLocalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
return VecBuilder.fill(x.get(2, 0), x.get(3, 0), x.get(4, 0), x.get(5, 0));
}
@SuppressWarnings("ParameterName")
public static Matrix<N6, N1> getGlobalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
@SuppressWarnings({"PMD.UnusedFormalParameter", "ParameterName"})
private static Matrix<N6, N1> getGlobalMeasurementModel(Matrix<N6, N1> x, Matrix<N2, N1> u) {
return x.copy();
}
@Test
@SuppressWarnings("LocalVariableName")
public void testInit() {
void testInit() {
assertDoesNotThrow(
() -> {
UnscentedKalmanFilter<N6, N2, N4> observer =
@@ -104,7 +104,7 @@ public class UnscentedKalmanFilterTest {
@SuppressWarnings("LocalVariableName")
@Test
public void testConvergence() {
void testConvergence() {
double dtSeconds = 0.00505;
double rbMeters = 0.8382 / 2.0; // Robot radius
@@ -206,7 +206,7 @@ public class UnscentedKalmanFilterTest {
@Test
@SuppressWarnings({"LocalVariableName", "ParameterName"})
public void testLinearUKF() {
void testLinearUKF() {
var dt = 0.020;
var plant = LinearSystemId.identifyVelocitySystem(0.02, 0.006);
var observer =
@@ -236,7 +236,7 @@ public class UnscentedKalmanFilterTest {
}
@Test
public void testUnscentedTransform() {
void testUnscentedTransform() {
// From FilterPy
var ret =
UnscentedKalmanFilter.unscentedTransform(

2
wpimath/src/test/java/edu/wpi/first/math/filter/MedianFilterTest.java
View File

@@ -8,7 +8,7 @@ import static org.junit.jupiter.api.Assertions.assertEquals;
import org.junit.jupiter.api.Test;
public class MedianFilterTest {
class MedianFilterTest {
@Test
void medianFilterNotFullTestEven() {
MedianFilter filter = new MedianFilter(10);

2
wpimath/src/test/java/edu/wpi/first/math/filter/SlewRateLimiterTest.java
View File

@@ -10,7 +10,7 @@ import static org.junit.jupiter.api.Assertions.assertTrue;
import edu.wpi.first.util.WPIUtilJNI;
import org.junit.jupiter.api.Test;
public class SlewRateLimiterTest {
class SlewRateLimiterTest {
@Test
void slewRateLimitTest() {
WPIUtilJNI.enableMockTime();

1
wpimath/src/test/java/edu/wpi/first/math/geometry/Pose2dTest.java
View File

@@ -53,6 +53,7 @@ class Pose2dTest {
assertNotEquals(one, two);
}
@Test
void testMinus() {
var initial = new Pose2d(0.0, 0.0, Rotation2d.fromDegrees(45.0));
var last = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(45.0));

1
wpimath/src/test/java/edu/wpi/first/math/geometry/Twist2dTest.java
View File

@@ -60,6 +60,7 @@ class Twist2dTest {
assertNotEquals(one, two);
}
@Test
void testPose2dLog() {
final var start = new Pose2d();
final var end = new Pose2d(5.0, 5.0, Rotation2d.fromDegrees(90.0));

16
wpimath/src/test/java/edu/wpi/first/math/system/DiscretizationTest.java
View File

@@ -14,11 +14,11 @@ import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N2;
import org.junit.jupiter.api.Test;
public class DiscretizationTest {
class DiscretizationTest {
// Check that for a simple second-order system that we can easily analyze
// analytically,
@Test
public void testDiscretizeA() {
void testDiscretizeA() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var x0 = VecBuilder.fill(1, 1);
@@ -36,7 +36,7 @@ public class DiscretizationTest {
// Check that for a simple second-order system that we can easily analyze
// analytically,
@Test
public void testDiscretizeAB() {
void testDiscretizeAB() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contB = new MatBuilder<>(Nat.N2(), Nat.N1()).fill(0, 1);
@@ -62,7 +62,7 @@ public class DiscretizationTest {
// Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
@Test
public void testDiscretizeSlowModelAQ() {
void testDiscretizeSlowModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
@@ -91,7 +91,7 @@ public class DiscretizationTest {
// Test that the discrete approximation of Q ≈ ∫ e^(Aτ) Q e^(Aᵀτ) dτ
// 0
@Test
public void testDiscretizeFastModelAQ() {
void testDiscretizeFastModelAQ() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1406.29);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0.0025, 0, 0, 1);
@@ -118,7 +118,7 @@ public class DiscretizationTest {
// Test that the Taylor series discretization produces nearly identical results.
@Test
public void testDiscretizeSlowModelAQTaylor() {
void testDiscretizeSlowModelAQTaylor() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, 0);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(1, 0, 0, 1);
@@ -161,7 +161,7 @@ public class DiscretizationTest {
// Test that the Taylor series discretization produces nearly identical results.
@Test
public void testDiscretizeFastModelAQTaylor() {
void testDiscretizeFastModelAQTaylor() {
final var contA = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0, 1, 0, -1500);
final var contQ = new MatBuilder<>(Nat.N2(), Nat.N2()).fill(0.0025, 0, 0, 1);
@@ -204,7 +204,7 @@ public class DiscretizationTest {
// Test that DiscretizeR() works
@Test
public void testDiscretizeR() {
void testDiscretizeR() {
var contR = Matrix.mat(Nat.N2(), Nat.N2()).fill(2.0, 0.0, 0.0, 1.0);
var discRTruth = Matrix.mat(Nat.N2(), Nat.N2()).fill(4.0, 0.0, 0.0, 2.0);

10
wpimath/src/test/java/edu/wpi/first/math/system/LinearSystemIDTest.java
View File

@@ -16,7 +16,7 @@ import org.junit.jupiter.api.Test;
class LinearSystemIDTest {
@Test
public void testDrivetrainVelocitySystem() {
void testDrivetrainVelocitySystem() {
var model =
LinearSystemId.createDrivetrainVelocitySystem(DCMotor.getNEO(4), 70, 0.05, 0.4, 6.0, 6);
assertTrue(
@@ -40,7 +40,7 @@ class LinearSystemIDTest {
}
@Test
public void testElevatorSystem() {
void testElevatorSystem() {
var model = LinearSystemId.createElevatorSystem(DCMotor.getNEO(2), 5, 0.05, 12);
assertTrue(
model.getA().isEqual(Matrix.mat(Nat.N2(), Nat.N2()).fill(0, 1, 0, -99.05473), 0.001));
@@ -53,7 +53,7 @@ class LinearSystemIDTest {
}
@Test
public void testFlywheelSystem() {
void testFlywheelSystem() {
var model = LinearSystemId.createFlywheelSystem(DCMotor.getNEO(2), 0.00032, 1.0);
assertTrue(model.getA().isEqual(VecBuilder.fill(-26.87032), 0.001));
@@ -65,7 +65,7 @@ class LinearSystemIDTest {
}
@Test
public void testIdentifyPositionSystem() {
void testIdentifyPositionSystem() {
// By controls engineering in frc,
// x-dot = [0 1 | 0 -kv/ka] x = [0 | 1/ka] u
var kv = 1.0;
@@ -77,7 +77,7 @@ class LinearSystemIDTest {
}
@Test
public void testIdentifyVelocitySystem() {
void testIdentifyVelocitySystem() {
// By controls engineering in frc,
// V = kv * velocity + ka * acceleration
// x-dot = -kv/ka * v + 1/ka \cdot V

8
wpimath/src/test/java/edu/wpi/first/math/system/NumericalIntegrationTest.java
View File

@@ -12,9 +12,9 @@ import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import org.junit.jupiter.api.Test;
public class NumericalIntegrationTest {
class NumericalIntegrationTest {
@Test
public void testExponential() {
void testExponential() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
var y1 =
@@ -31,7 +31,7 @@ public class NumericalIntegrationTest {
}
@Test
public void testExponentialRKF45() {
void testExponentialRKF45() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
var y1 =
@@ -49,7 +49,7 @@ public class NumericalIntegrationTest {
}
@Test
public void testExponentialRKDP() {
void testExponentialRKDP() {
Matrix<N1, N1> y0 = VecBuilder.fill(0.0);
var y1 =

4
wpimath/src/test/java/edu/wpi/first/math/system/RungeKuttaTimeVaryingTest.java
View File

@@ -12,7 +12,7 @@ import edu.wpi.first.math.Nat;
import edu.wpi.first.math.numbers.N1;
import org.junit.jupiter.api.Test;
public class RungeKuttaTimeVaryingTest {
class RungeKuttaTimeVaryingTest {
private static Matrix<N1, N1> rungeKuttaTimeVaryingSolution(double t) {
return new MatBuilder<>(Nat.N1(), Nat.N1())
.fill(12.0 * Math.exp(t) / (Math.pow(Math.exp(t) + 1.0, 2.0)));
@@ -26,7 +26,7 @@ public class RungeKuttaTimeVaryingTest {
//
// x(t) = 12 * e^t / ((e^t + 1)^2)
@Test
public void rungeKuttaTimeVaryingTest() {
void rungeKuttaTimeVaryingTest() {
final var y0 = rungeKuttaTimeVaryingSolution(5.0);
final var y1 =

2
wpimath/src/test/java/edu/wpi/first/math/trajectory/EllipticalRegionConstraintTest.java
View File

@@ -16,7 +16,7 @@ import edu.wpi.first.math.util.Units;
import java.util.List;
import org.junit.jupiter.api.Test;
public class EllipticalRegionConstraintTest {
class EllipticalRegionConstraintTest {
@Test
void testConstraint() {
// Create constraints

2
wpimath/src/test/java/edu/wpi/first/math/trajectory/RectangularRegionConstraintTest.java
View File

@@ -16,7 +16,7 @@ import edu.wpi.first.math.util.Units;
import java.util.List;
import org.junit.jupiter.api.Test;
public class RectangularRegionConstraintTest {
class RectangularRegionConstraintTest {
@Test
void testConstraint() {
// Create constraints

2
wpimath/src/test/java/edu/wpi/first/math/trajectory/TrajectoryJsonTest.java
View File

@@ -12,7 +12,7 @@ import edu.wpi.first.math.trajectory.constraint.DifferentialDriveKinematicsConst
import java.util.List;
import org.junit.jupiter.api.Test;
public class TrajectoryJsonTest {
class TrajectoryJsonTest {
@Test
void deserializeMatches() {
var config =

4
wpimath/src/test/java/edu/wpi/first/math/trajectory/TrapezoidProfileTest.java
View File

@@ -201,7 +201,7 @@ class TrapezoidProfileTest {
for (int i = 0; i < 400; i++) {
profile = new TrapezoidProfile(constraints, goal, state);
state = profile.calculate(kDt);
if (!reachedGoal && (Math.abs(state.velocity - 1) < 10e-5)) {
if (!reachedGoal && Math.abs(state.velocity - 1) < 10e-5) {
assertNear(predictedTimeLeft, i / 100.0, 2e-2);
reachedGoal = true;
}
@@ -244,7 +244,7 @@ class TrapezoidProfileTest {
for (int i = 0; i < 400; i++) {
profile = new TrapezoidProfile(constraints, goal, state);
state = profile.calculate(kDt);
if (!reachedGoal && (Math.abs(state.velocity + 1) < 10e-5)) {
if (!reachedGoal && Math.abs(state.velocity + 1) < 10e-5) {
assertNear(predictedTimeLeft, i / 100.0, 2e-2);
reachedGoal = true;
}

1
wpimath/src/test/java/edu/wpi/first/math/util/UnitsTest.java
View File

@@ -64,6 +64,7 @@ class UnitsTest extends UtilityClassTest<Units> {
assertEquals(1500, Units.secondsToMilliseconds(1.5), 1e-2);
}
@Test
void kilogramsToLbsTest() {
assertEquals(2.20462, Units.kilogramsToLbs(1), 1e-2);
}

7
wpimath/src/test/java/edu/wpi/first/wpilibj/UtilityClassTest.java
View File

@@ -34,19 +34,20 @@ public abstract class UtilityClassTest<T> {
}
@Test
public void singleConstructorTest() {
void singleConstructorTest() {
assertEquals(1, m_clazz.getDeclaredConstructors().length, "More than one constructor defined");
}
@Test
public void constructorPrivateTest() {
void constructorPrivateTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
assertFalse(constructor.canAccess(null), "Constructor is not private");
}
@Test
public void constructorReflectionTest() {
@SuppressWarnings("PMD.AvoidAccessibilityAlteration")
void constructorReflectionTest() {
Constructor<?> constructor = m_clazz.getDeclaredConstructors()[0];
constructor.setAccessible(true);
assertThrows(InvocationTargetException.class, constructor::newInstance);

14
wpiutil/CMakeLists.txt
View File

@@ -14,18 +14,18 @@ if (WITH_JAVA)
include(UseJava)
set(CMAKE_JAVA_COMPILE_FLAGS "-encoding" "UTF8" "-Xlint:unchecked")
if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.10.0.jar")
if(NOT EXISTS "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson/jackson-core-2.12.4.jar")
set(BASE_URL "https://search.maven.org/remotecontent?filepath=")
set(JAR_ROOT "${WPILIB_BINARY_DIR}/wpiutil/thirdparty/jackson")
message(STATUS "Downloading Jackson jarfiles...")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.10.0/jackson-core-2.10.0.jar"
"${JAR_ROOT}/jackson-core-2.10.0.jar")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.10.0/jackson-databind-2.10.0.jar"
"${JAR_ROOT}/jackson-databind-2.10.0.jar")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.10.0/jackson-annotations-2.10.0.jar"
"${JAR_ROOT}/jackson-annotations-2.10.0.jar")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-core/2.12.4/jackson-core-2.12.4.jar"
"${JAR_ROOT}/jackson-core-2.12.4.jar")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-databind/2.12.4/jackson-databind-2.12.4.jar"
"${JAR_ROOT}/jackson-databind-2.12.4.jar")
file(DOWNLOAD "${BASE_URL}com/fasterxml/jackson/core/jackson-annotations/2.12.4/jackson-annotations-2.12.4.jar"
"${JAR_ROOT}/jackson-annotations-2.12.4.jar")
message(STATUS "All files downloaded.")
endif()

6
wpiutil/build.gradle
View File

@@ -294,7 +294,7 @@ model {
}
dependencies {
api "com.fasterxml.jackson.core:jackson-annotations:2.10.0"
api "com.fasterxml.jackson.core:jackson-core:2.10.0"
api "com.fasterxml.jackson.core:jackson-databind:2.10.0"
api "com.fasterxml.jackson.core:jackson-annotations:2.12.4"
api "com.fasterxml.jackson.core:jackson-core:2.12.4"
api "com.fasterxml.jackson.core:jackson-databind:2.12.4"
}

2
wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
View File

@@ -150,7 +150,7 @@ public final class RuntimeDetector {
* @return if architecture is aarch64
*/
public static boolean isAarch64() {
return System.getProperty("os.arch").equals("aarch64");
return "aarch64".equals(System.getProperty("os.arch"));
}
public static boolean isLinux() {

4
wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
View File

@@ -140,12 +140,12 @@ public final class RuntimeLoader<T> {
} catch (UnsatisfiedLinkError ule) {
// Then load the hash from the input file
String resname = RuntimeDetector.getLibraryResource(m_libraryName);
String hash = null;
String hash;
try (InputStream is = m_loadClass.getResourceAsStream(resname)) {
if (is == null) {
throw new IOException(getLoadErrorMessage(ule));
}
MessageDigest md = null;
MessageDigest md;
try {
md = MessageDigest.getInstance("MD5");
} catch (NoSuchAlgorithmException nsae) {

2
wpiutil/src/main/java/edu/wpi/first/util/sendable/SendableRegistry.java
View File

@@ -462,7 +462,7 @@ public class SendableRegistry {
* @param dataHandle data handle to get data object passed to callback
* @param callback function to call for each object
*/
@SuppressWarnings("PMD.AvoidCatchingThrowable")
@SuppressWarnings({"PMD.AvoidCatchingThrowable", "PMD.AvoidReassigningCatchVariables"})
public static synchronized void foreachLiveWindow(
int dataHandle, Consumer<CallbackData> callback) {
CallbackData cbdata = new CallbackData();