Remove unused code and add pmd check (#395)

styleguide/pmd-ruleset.xml

@@ -19,4 +19,10 @@
         <exclude name="AvoidDuplicateLiterals" />
     </rule>
     <rule ref="rulesets/java/unnecessary.xml" />
+    <rule ref="rulesets/java/unusedcode.xml" />
+    <rule ref="rulesets/java/unusedcode.xml/UnusedFormalParameter">
+        <properties>
+            <property name="checkAll" value="true"/>
+        </properties>
+    </rule>
 </ruleset>

wpilibc/athena/include/AnalogOutput.h

@@ -28,6 +28,7 @@ class AnalogOutput : public SensorBase, public LiveWindowSendable {
 
   void SetVoltage(double voltage);
   double GetVoltage() const;
+  int GetChannel();
 
   void UpdateTable() override;
   void StartLiveWindowMode() override;

wpilibc/athena/include/I2C.h

@@ -35,7 +35,7 @@ class I2C : SensorBase {
   bool WriteBulk(uint8_t* data, int count);
   bool Read(int registerAddress, int count, uint8_t* data);
   bool ReadOnly(int count, uint8_t* buffer);
-  void Broadcast(int registerAddress, uint8_t data);
+  // void Broadcast(int registerAddress, uint8_t data);
   bool VerifySensor(int registerAddress, int count, const uint8_t* expected);
 
  private:

wpilibc/athena/src/AnalogOutput.cpp

@@ -59,6 +59,11 @@ AnalogOutput::AnalogOutput(int channel) {
  */
 AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }
 
+/**
+ * Get the channel of this AnalogOutput.
+ */
+int AnalogOutput::GetChannel() { return m_channel; }
+
 /**
  * Set the value of the analog output.
  *

wpilibc/athena/src/I2C.cpp

@@ -159,8 +159,8 @@ bool I2C::ReadOnly(int count, uint8_t* buffer) {
  * @param registerAddress The register to write on all devices on the bus.
  * @param data            The value to write to the devices.
  */
-[[gnu::warning("I2C::Broadcast() is not implemented.")]] void I2C::Broadcast(
-    int registerAddress, uint8_t data) {}
+// [[gnu::warning("I2C::Broadcast() is not implemented.")]] void I2C::Broadcast(
+//     int registerAddress, uint8_t data) {}
 
 /**
  * Verify that a device's registers contain expected values.

wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_I2C.java

@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.tables.ITable;
 /**
  * ADXL345 I2C Accelerometer.
  */
-@SuppressWarnings("TypeName")
+@SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
 public class ADXL345_I2C extends SensorBase implements Accelerometer, LiveWindowSendable {
 
   private static final byte kAddress = 0x1D;

wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL345_SPI.java

@@ -21,7 +21,7 @@ import edu.wpi.first.wpilibj.tables.ITable;
 /**
  * ADXL345 SPI Accelerometer.
  */
-@SuppressWarnings({"TypeName"})
+@SuppressWarnings({"TypeName", "PMD.UnusedPrivateField"})
 public class ADXL345_SPI extends SensorBase implements Accelerometer, LiveWindowSendable {
   private static final int kPowerCtlRegister = 0x2D;
   private static final int kDataFormatRegister = 0x31;

wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXL362.java

@@ -22,6 +22,7 @@ import edu.wpi.first.wpilibj.tables.ITable;
  *
  * <p>This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
  */
+@SuppressWarnings("PMD.UnusedPrivateField")
 public class ADXL362 extends SensorBase implements Accelerometer, LiveWindowSendable {
   private static final byte kRegWrite = 0x0A;
   private static final byte kRegRead = 0x0B;

wpilibj/src/athena/java/edu/wpi/first/wpilibj/ADXRS450_Gyro.java

@@ -25,7 +25,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
  *
  * <p>This class is for the digital ADXRS450 gyro sensor that connects via SPI.
  */
-@SuppressWarnings({"TypeName", "AbbreviationAsWordInName"})
+@SuppressWarnings({"TypeName", "AbbreviationAsWordInName", "PMD.UnusedPrivateField"})
 public class ADXRS450_Gyro extends GyroBase implements Gyro, PIDSource, LiveWindowSendable {
   private static final double kSamplePeriod = 0.001;
   private static final double kCalibrationSampleTime = 5.0;

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

@@ -47,6 +47,13 @@ public class AnalogOutput extends SensorBase implements LiveWindowSendable {
     m_channel = 0;
   }
 
+  /**
+   * Get the channel of this AnalogOutput.
+   */
+  public int getChannel() {
+    return m_channel;
+  }
+
   public void setVoltage(double voltage) {
     AnalogJNI.setAnalogOutput(m_port, voltage);
   }

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

@@ -55,8 +55,8 @@ public class CameraServer {
   private HashMap<String, VideoSink> m_sinks;
   private HashMap<Integer, ITable> m_tables;  // indexed by source handle
   private ITable m_publishTable;
-  private VideoListener m_videoListener;
-  private int m_tableListener;
+  private VideoListener m_videoListener; //NOPMD
+  private int m_tableListener; //NOPMD
   private int m_nextPort;
   private String[] m_addresses;
 
@@ -129,7 +129,7 @@ public class CameraServer {
     }
   }
 
-  @SuppressWarnings("JavadocMethod")
+  @SuppressWarnings({"JavadocMethod", "PMD.UnusedLocalVariable"})
   private CameraServer() {
     m_sources = new HashMap<String, VideoSource>();
     m_sinks = new HashMap<String, VideoSink>();

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

@@ -81,24 +81,37 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
     return m_channel;
   }
 
+  /**
+   * Generate a single pulse. There can only be a single pulse going at any time.
+   *
+   * @param pulseLength The length of the pulse.
+   */
+  public void pulse(final double pulseLength) {
+    DIOJNI.pulse(m_handle, pulseLength);
+  }
+
   /**
    * Generate a single pulse. Write a pulse to the specified digital output channel. There can only
    * be a single pulse going at any time.
    *
-   * @param channel     The channel to pulse.
+   * @param channel     Unused
    * @param pulseLength The length of the pulse.
+   * @deprecated Use {@link #pulse(double)} instead.
    */
+  @Deprecated
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public void pulse(final int channel, final double pulseLength) {
     DIOJNI.pulse(m_handle, pulseLength);
   }
 
   /**
-   * @param channel     The channel to pulse.
+   * @param channel     Unused
    * @param pulseLength The length of the pulse.
    * @deprecated Generate a single pulse. Write a pulse to the specified digital output channel.
    *             There can only be a single pulse going at any time.
    */
   @Deprecated
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public void pulse(final int channel, final int pulseLength) {
     double convertedPulse = pulseLength / 1.0e9 * (DIOJNI.getLoopTiming() * 25);
     System.err

wpilibj/src/athena/java/edu/wpi/first/wpilibj/I2C.java

@@ -294,7 +294,7 @@ public class I2C extends SensorBase {
         < count;
   }
 
-  /**
+  /*
    * Send a broadcast write to all devices on the I2C bus.
    *
    * <p>This is not currently implemented!
@@ -302,8 +302,8 @@ public class I2C extends SensorBase {
    * @param registerAddress The register to write on all devices on the bus.
    * @param data            The value to write to the devices.
    */
-  public void broadcast(int registerAddress, int data) {
-  }
+  // public void broadcast(int registerAddress, int data) {
+  // }
 
   /**
    * Verify that a device's registers contain expected values.

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

@@ -201,6 +201,7 @@ public class Joystick extends JoystickBase {
    *             GenericHID interface.
    * @return The state of the trigger.
    */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public boolean getTrigger(Hand hand) {
     return getRawButton(m_buttons[ButtonType.kTrigger.value]);
   }
@@ -214,6 +215,7 @@ public class Joystick extends JoystickBase {
    *             GenericHID interface.
    * @return The state of the top button.
    */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public boolean getTop(Hand hand) {
     return getRawButton(m_buttons[ButtonType.kTop.value]);
   }
@@ -236,6 +238,7 @@ public class Joystick extends JoystickBase {
    *             GenericHID interface.
    * @return The state of the bumper (always false)
    */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public boolean getBumper(Hand hand) {
     return false;
   }

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

@@ -75,7 +75,6 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
 
   private int m_forwardHandle = 0;
   private int m_reverseHandle = 0;
-  private long m_port;
 
   private Direction m_direction;
 

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

@@ -189,6 +189,7 @@ public abstract class RobotBase {
   /**
    * Starting point for the applications.
    */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public static void main(String... args) {
     initializeHardwareConfiguration();
 

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

@@ -40,10 +40,6 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
 
   // Time (sec) for the ping trigger pulse.
   private static final double kPingTime = 10 * 1e-6;
-  // Priority that the ultrasonic round robin task runs.
-  private static final int kPriority = 90;
-  // Max time (ms) between readings.
-  private static final double kMaxUltrasonicTime = 0.1;
   private static final double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
   // head of the ultrasonic sensor list
   private static Ultrasonic m_firstSensor = null;
@@ -84,7 +80,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
         }
         if (ultrasonic.isEnabled()) {
           // Do the ping
-          ultrasonic.m_pingChannel.pulse(m_pingChannel.getChannel(), kPingTime);
+          ultrasonic.m_pingChannel.pulse(kPingTime);
         }
         ultrasonic = ultrasonic.m_nextSensor;
         Timer.delay(.1); // wait for ping to return
@@ -288,7 +284,7 @@ public class Ultrasonic extends SensorBase implements PIDSource, LiveWindowSenda
     // single sensor
     m_counter.reset(); // reset the counter to zero (invalid data now)
     // do the ping to start getting a single range
-    m_pingChannel.pulse(m_pingChannel.getChannel(), kPingTime);
+    m_pingChannel.pulse(kPingTime);
   }
 
   /**

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

@@ -100,6 +100,7 @@ public class XboxController extends GamepadBase {
    *             GenericHID interface.
    * @return The state of the trigger (always false)
    */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public boolean getTrigger(Hand hand) {
     return false;
   }
@@ -112,6 +113,7 @@ public class XboxController extends GamepadBase {
    *             GenericHID interface.
    * @return The state of the top button (always false)
    */
+  @SuppressWarnings("PMD.UnusedFormalParameter")
   public boolean getTop(Hand hand) {
     return false;
   }

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

@@ -57,6 +57,7 @@ public class HLUsageReporting {
     public void reportScheduler() {
     }
 
+    @SuppressWarnings("PMD.UnusedFormalParameter")
     public void reportPIDController(int num) {
     }