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[build] Enable spotbugs (#3601)

Browse Source 
Benign spotbugs warnings were suppressed, and all others were fixed. Bug
descriptions are documented here:
https://spotbugs.readthedocs.io/en/stable/bugDescriptions.html

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
This commit is contained in:
Tyler Veness
2021-09-24 16:04:02 -07:00
committed by GitHub
parent b65fce86bf
commit 95dd20a151
73 changed files with 356 additions and 558 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
.github/workflows/lint-format.yml vendored
View File

@@ -69,29 +69,8 @@ jobs:
run: wpiformat -list-changed-files
- name: Run clang-tidy
run: wpiformat -clang 12 -no-format -tidy-changed -compile-commands=build/compile_commands/linuxx86-64 -vv
spotless:
name: "Spotless"
runs-on: ubuntu-latest
container: wpilib/ubuntu-base:18.04
steps:
- uses: actions/checkout@v2
with:
fetch-depth: 0
- name: Run spotless
run: ./gradlew spotlessCheck
- name: Apply Spotless
run: ./gradlew :spotlessApply
if: ${{ failure() }}
- name: Generate diff
run: git diff HEAD > spotless-fixes.patch
if: ${{ failure() }}
- uses: actions/upload-artifact@v2
with:
name: spotless fixes
path: spotless-fixes.patch
if: ${{ failure() }}
javaformat:
name: "Checkstyle and PMD"
name: "Java format"
runs-on: ubuntu-latest
container: wpilib/ubuntu-base:18.04
steps:
@@ -99,4 +78,9 @@ jobs:
with:
fetch-depth: 0
- name: Run Java format
run: ./gradlew javaFormat
run: ./gradlew javaFormat spotbugsMain spotbugsTest spotbugsDev
- name: Check output
run: git --no-pager diff --exit-code HEAD
- name: Generate diff
run: git diff HEAD > javaformat-fixes.patch
if: ${{ failure() }}

4
README.md
View File

@@ -120,7 +120,9 @@ wpiformat can be executed anywhere in the repository via `py -3 -m wpiformat` on
#### Java Code Quality Tools
The Java code quality tools Checkstyle and PMD can be run via `./gradlew javaFormat`. Spotless can be run via `./gradlew spotlessCheck` to preview changes, and via `./gradlew spotlessApply` to immediately apply changes. These tools will all be run automatically by the build task. To disable this behavior, pass the `-PskipJavaFormat` flag.
The Java code quality tools Checkstyle, PMD, and Spotless can be run via `./gradlew javaFormat`. SpotBugs can be run via the `spotbugsMain`, `spotbugsTest`, and `spotbugsDev` tasks. These tools will all be run automatically by the `build` task. To disable this behavior, pass the `-PskipJavaFormat` flag.
If you only want to run the Java autoformatter, run `./gradlew spotlessApply`.
### CMake

2
azure-pipelines-testbench.yaml
View File

@@ -29,7 +29,7 @@ stages:
publishJUnitResults: false
testResultsFiles: "**/TEST-*.xml"
tasks: "copyWpilibJIntegrationTestJarToOutput copyWpilibCTestLibrariesToOutput"
options: "-Ponlylinuxathena -PbuildServer"
options: "-Ponlylinuxathena -PbuildServer -PskipJavaFormat"
- task: PublishPipelineArtifact@0
inputs:

49
build.gradle
View File

@@ -20,7 +20,8 @@ plugins {
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'
id 'com.diffplug.spotless' version '5.5.0' apply false
id 'com.github.spotbugs' version '5.0.0-beta.1' apply false
}
wpilibVersioning.buildServerMode = project.hasProperty('buildServer')
@@ -145,52 +146,6 @@ ext.getCurrentArch = {
return NativePlatforms.desktop
}
spotless {
if (project.hasProperty('skipJavaFormat')) {
enforceCheck false
}
java {
target fileTree('.') {
include '**/*.java'
exclude '**/build/**', '**/build-*/**'
}
toggleOffOn()
googleJavaFormat()
removeUnusedImports()
trimTrailingWhitespace()
endWithNewline()
}
groovyGradle {
target fileTree('.') {
include '**/*.gradle'
exclude '**/build/**', '**/build-*/**'
}
greclipse()
indentWithSpaces(4)
trimTrailingWhitespace()
endWithNewline()
}
format 'xml', {
target fileTree('.') {
include '**/*.xml'
exclude '**/build/**', '**/build-*/**'
}
eclipseWtp('xml')
trimTrailingWhitespace()
indentWithSpaces(2)
endWithNewline()
}
format 'misc', {
target fileTree('.') {
include '**/*.md', '**/.gitignore'
exclude '**/build/**', '**/build-*/**'
}
trimTrailingWhitespace()
indentWithSpaces(2)
endWithNewline()
}
}
wrapper {
gradleVersion = '7.1.1'
}

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

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

13
cscore/src/main/java/edu/wpi/first/cscore/ImageSource.java
View File

@@ -133,17 +133,4 @@ public abstract class ImageSource extends VideoSource {
public void setEnumPropertyChoices(VideoProperty property, String[] choices) {
CameraServerJNI.setSourceEnumPropertyChoices(m_handle, property.m_handle, choices);
}
/**
* Configure enum property choices.
*
* @param property Property
* @param choices Choices
* @deprecated Use {@code setEnumPropertyChoices} instead.
*/
@Deprecated
@SuppressWarnings("MethodName")
public void SetEnumPropertyChoices(VideoProperty property, String[] choices) {
setEnumPropertyChoices(property, choices);
}
}

2
cscore/src/test/java/edu/wpi/first/cscore/UsbCameraTest.java
View File

@@ -21,7 +21,7 @@ import org.junit.jupiter.api.condition.OS;
class UsbCameraTest {
@Nested
@EnabledOnOs(OS.LINUX)
class ConnectVerbose {
static class ConnectVerbose {
@Test
void setConnectVerboseEnabledTest() {
try (UsbCamera camera = new UsbCamera("Nonexistant Camera", getNonexistentCameraDev())) {

2
hal/src/main/java/edu/wpi/first/hal/can/CANJNI.java
View File

@@ -26,5 +26,5 @@ public class CANJNI extends JNIWrapper {
IntBuffer messageID, int messageIDMask, ByteBuffer timeStamp);
@SuppressWarnings("MethodName")
public static native void GetCANStatus(CANStatus status);
public static native void getCANStatus(CANStatus status);
}

4
hal/src/main/native/cpp/jni/CANJNI.cpp
View File

@@ -69,11 +69,11 @@ Java_edu_wpi_first_hal_can_CANJNI_FRCNetCommCANSessionMuxReceiveMessage
/*
* Class: edu_wpi_first_hal_can_CANJNI
* Method: GetCANStatus
* Method: getCANStatus
* Signature: (Ljava/lang/Object;)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_can_CANJNI_GetCANStatus
Java_edu_wpi_first_hal_can_CANJNI_getCANStatus
(JNIEnv* env, jclass, jobject canStatus)
{
float percentBusUtilization = 0;

4
shared/java/javacommon.gradle
View File

@@ -1,6 +1,5 @@
apply plugin: 'maven-publish'
apply plugin: 'java-library'
//apply plugin: 'net.ltgt.errorprone'
apply plugin: 'jacoco'
def baseArtifactId = project.baseId
@@ -110,9 +109,6 @@ dependencies {
testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.4.2'
devImplementation sourceSets.main.output
//errorprone 'com.google.errorprone:error_prone_core:2.3.2-SNAPSHOT'
//errorproneJavac 'com.google.errorprone:error_prone_core:2.3.1'
}
task run(type: JavaExec) {

54
shared/java/javastyle.gradle
View File

@@ -16,9 +16,63 @@ if (!project.hasProperty('skipJavaFormat')) {
ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
ruleSets = []
}
apply plugin: 'com.diffplug.spotless'
spotless {
java {
target fileTree('.') {
include '**/*.java'
exclude '**/build/**', '**/build-*/**'
}
toggleOffOn()
googleJavaFormat()
removeUnusedImports()
trimTrailingWhitespace()
endWithNewline()
}
groovyGradle {
target fileTree('.') {
include '**/*.gradle'
exclude '**/build/**', '**/build-*/**'
}
greclipse()
indentWithSpaces(4)
trimTrailingWhitespace()
endWithNewline()
}
format 'xml', {
target fileTree('.') {
include '**/*.xml'
exclude '**/build/**', '**/build-*/**'
}
eclipseWtp('xml')
trimTrailingWhitespace()
indentWithSpaces(2)
endWithNewline()
}
format 'misc', {
target fileTree('.') {
include '**/*.md', '**/.gitignore'
exclude '**/build/**', '**/build-*/**'
}
trimTrailingWhitespace()
indentWithSpaces(2)
endWithNewline()
}
}
apply plugin: 'com.github.spotbugs'
spotbugs {
ignoreFailures = false
effort = 'max'
excludeFilter = file("${project.rootDir}/styleguide/spotbugs-exclude.xml")
}
}
task javaFormat {
dependsOn(tasks.withType(Checkstyle))
dependsOn(tasks.withType(Pmd))
}
javaFormat.dependsOn 'spotlessApply'

0
styleguide/suppressions.xml → styleguide/checkstyle-suppressions.xml
View File

3
styleguide/checkstyle.xml
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@@ -12,7 +12,8 @@ module PUBLIC "-//Puppy Crawl//DTD Check Configuration 1.3//EN"
<property name="charset" value="UTF-8" />
<property name="severity" value="error" />
<module name="SuppressionFilter">
<property name="file" value="${config_loc}/suppressions.xml" />
<property name="file"
value="${config_loc}/checkstyle-suppressions.xml" />
</module>
<property name="fileExtensions" value="java, properties, xml" />
<!-- Checks for whitespace -->

81
styleguide/spotbugs-exclude.xml Normal file
View File

@@ -0,0 +1,81 @@
<?xml version="1.0" encoding="UTF-8"?>
<FindBugsFilter>
<Match>
<Bug pattern="DM_DEFAULT_ENCODING" />
</Match>
<Match>
<Bug pattern="DMI_HARDCODED_ABSOLUTE_FILENAME" />
</Match>
<Match>
<Bug pattern="DMI_RANDOM_USED_ONLY_ONCE" />
</Match>
<Match>
<Bug pattern="EI_EXPOSE_REP" />
</Match>
<Match>
<Bug pattern="EI_EXPOSE_REP2" />
</Match>
<Match>
<Bug pattern="MS_CANNOT_BE_FINAL" />
<Class name="edu.wpi.first.wpilibj.examples.pacgoat.Robot" />
</Match>
<Match>
<Bug pattern="MS_EXPOSE_REP" />
</Match>
<Match>
<Bug pattern="MS_MUTABLE_ARRAY" />
</Match>
<Match>
<Bug pattern="NM_CLASS_NAMING_CONVENTION" />
<Source name="FRCNetComm.java" />
</Match>
<Match>
<Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
<Source name="ParallelCommandGroup.java" />
</Match>
<Match>
<Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
<Source name="ParallelDeadlineGroup.java" />
</Match>
<Match>
<Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
<Source name="ParallelRaceGroup.java" />
</Match>
<Match>
<Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
<Source name="ProxyScheduleCommand.java" />
</Match>
<Match>
<Bug pattern="NS_DANGEROUS_NON_SHORT_CIRCUIT" />
<Source name="SequentialCommandGroup.java" />
</Match>
<Match>
<Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
<Source name="AntJunitLauncher.java" />
</Match>
<Match>
<Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
<Source name="CombinedRuntimeLoader.java" />
</Match>
<Match>
<Bug pattern="RV_RETURN_VALUE_IGNORED_BAD_PRACTICE" />
<Source name="RuntimeLoader.java" />
</Match>
<Match>
<Bug pattern="ST_WRITE_TO_STATIC_FROM_INSTANCE_METHOD" />
</Match>
<Match>
<Bug pattern="UC_USELESS_VOID_METHOD" />
<Class name="edu.wpi.first.wpilibj.templates.romitimed.Robot" />
</Match>
<Match>
<Bug pattern="UC_USELESS_VOID_METHOD" />
<Class name="edu.wpi.first.wpilibj.templates.timed.Robot" />
</Match>
<Match>
<Bug pattern="URF_UNREAD_PUBLIC_OR_PROTECTED_FIELD" />
</Match>
<Match>
<Bug pattern="VA_FORMAT_STRING_USES_NEWLINE" />
</Match>
</FindBugsFilter>

6
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandGroupErrorTest.java
View File

@@ -17,8 +17,7 @@ class CommandGroupErrorTest extends CommandTestBase {
MockCommandHolder command2Holder = new MockCommandHolder(true);
Command command2 = command2Holder.getMock();
@SuppressWarnings("PMD.UnusedLocalVariable")
Command group = new ParallelCommandGroup(command1, command2);
new ParallelCommandGroup(command1, command2);
assertThrows(
IllegalArgumentException.class, () -> new ParallelCommandGroup(command1, command2));
}
@@ -31,8 +30,7 @@ class CommandGroupErrorTest extends CommandTestBase {
MockCommandHolder command2Holder = new MockCommandHolder(true);
Command command2 = command2Holder.getMock();
@SuppressWarnings("PMD.UnusedLocalVariable")
Command group = new ParallelCommandGroup(command1, command2);
new ParallelCommandGroup(command1, command2);
assertThrows(IllegalArgumentException.class, () -> scheduler.schedule(command1));
}

8
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/CommandTestBase.java
View File

@@ -41,9 +41,9 @@ public abstract class CommandTestBase {
}
}
public class TestSubsystem extends SubsystemBase {}
public static class TestSubsystem extends SubsystemBase {}
public class MockCommandHolder {
public static class MockCommandHolder {
private final Command m_mockCommand = mock(Command.class);
public MockCommandHolder(boolean runWhenDisabled, Subsystem... requirements) {
@@ -61,7 +61,7 @@ public abstract class CommandTestBase {
}
}
public class Counter {
public static class Counter {
public int m_counter;
public void increment() {
@@ -69,7 +69,7 @@ public abstract class CommandTestBase {
}
}
public class ConditionHolder {
public static class ConditionHolder {
private boolean m_condition;
public void setCondition(boolean condition) {

19
wpilibOldCommands/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
View File

@@ -267,21 +267,18 @@ public class PIDBase implements PIDInterface, PIDOutput, Sendable, AutoCloseable
// Ensures m_enabled check and pidWrite() call occur atomically
m_pidWriteMutex.lock();
m_thisMutex.lock();
try {
m_thisMutex.lock();
try {
if (m_enabled) {
// Don't block other PIDController operations on pidWrite()
m_thisMutex.unlock();
if (m_enabled) {
// Don't block other PIDController operations on pidWrite()
m_thisMutex.unlock();
m_pidOutput.pidWrite(result);
}
} finally {
if (m_thisMutex.isHeldByCurrentThread()) {
m_thisMutex.unlock();
}
m_pidOutput.pidWrite(result);
}
} finally {
if (!m_enabled) {
m_thisMutex.unlock();
}
m_pidWriteMutex.unlock();
}

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

@@ -18,7 +18,7 @@ public abstract class AbstractCommandTest {
Scheduler.getInstance().enable();
}
public class ASubsystem extends Subsystem {
public static class ASubsystem extends Subsystem {
Command m_command;
@Override

1
wpilibOldCommands/src/test/java/edu/wpi/first/wpilibj/command/ConditionalCommandTest.java
View File

@@ -17,7 +17,6 @@ class ConditionalCommandTest extends AbstractCommandTest {
MockCommand m_onTrue;
MockCommand m_onFalse;
MockSubsystem m_subsys;
Boolean m_condition;
@BeforeEach
void initCommands() {

2
wpilibc/src/main/native/cpp/smartdashboard/Field2d.cpp
View File

@@ -69,9 +69,9 @@ FieldObject2d* Field2d::GetRobotObject() {
void Field2d::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Field2d");
m_table = builder.GetTable();
std::scoped_lock lock(m_mutex);
m_table = builder.GetTable();
for (auto&& obj : m_objects) {
std::scoped_lock lock2(obj->m_mutex);
obj->m_entry = m_table->GetEntry(obj->m_name);

7
wpilibc/src/main/native/cpp/smartdashboard/Mechanism2d.cpp
View File

@@ -43,12 +43,11 @@ void Mechanism2d::SetBackgroundColor(const Color8Bit& color) {
void Mechanism2d::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("Mechanism2d");
m_table = builder.GetTable();
m_table->GetEntry(kDims).SetDoubleArray({m_width, m_height});
m_table->GetEntry(kBackgroundColor).SetString(m_color);
std::scoped_lock lock(m_mutex);
m_table = builder.GetTable();
m_table->GetEntry(kDims).SetDoubleArray({m_width, m_height});
m_table->GetEntry(kBackgroundColor).SetString(m_color);
for (const auto& entry : m_roots) {
const auto& root = entry.getValue().get();
root->Update(m_table->GetSubTable(entry.getKey()));

1
wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
View File

@@ -21,6 +21,7 @@ MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
void MechanismLigament2d::UpdateEntries(
std::shared_ptr<nt::NetworkTable> table) {
std::scoped_lock lock(m_mutex);
table->GetEntry(".type").SetString("line");
m_colorEntry = table->GetEntry("color");

2
wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
View File

@@ -20,12 +20,14 @@ void MechanismRoot2d::SetPosition(double x, double y) {
}
void MechanismRoot2d::UpdateEntries(std::shared_ptr<nt::NetworkTable> table) {
std::scoped_lock lock(m_mutex);
m_xEntry = table->GetEntry("x");
m_yEntry = table->GetEntry("y");
Flush();
}
inline void MechanismRoot2d::Flush() {
std::scoped_lock lock(m_mutex);
if (m_xEntry) {
m_xEntry.SetDouble(m_x);
}

11
wpilibj/src/main/java/edu/wpi/first/wpilibj/DigitalGlitchFilter.java
View File

@@ -21,7 +21,8 @@ import java.util.concurrent.locks.ReentrantLock;
public class DigitalGlitchFilter implements Sendable, AutoCloseable {
/** Configures the Digital Glitch Filter to its default settings. */
public DigitalGlitchFilter() {
synchronized (m_mutex) {
m_mutex.lock();
try {
int index = 0;
while (m_filterAllocated[index] && index < m_filterAllocated.length) {
index++;
@@ -32,6 +33,8 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
HAL.report(tResourceType.kResourceType_DigitalGlitchFilter, m_channelIndex + 1, 0);
SendableRegistry.addLW(this, "DigitalGlitchFilter", index);
}
} finally {
m_mutex.unlock();
}
}
@@ -39,9 +42,13 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
public void close() {
SendableRegistry.remove(this);
if (m_channelIndex >= 0) {
synchronized (m_mutex) {
m_mutex.lock();
try {
m_filterAllocated[m_channelIndex] = false;
} finally {
m_mutex.unlock();
}
m_channelIndex = -1;
}
}

14
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -188,12 +188,15 @@ public class DriverStation {
int currentReplayNumber;
int currentMatchType;
int currentControlWord;
synchronized (DriverStation.m_cacheDataMutex) {
m_cacheDataMutex.lock();
try {
currentEventName = DriverStation.m_matchInfo.eventName;
currentGameSpecificMessage = DriverStation.m_matchInfo.gameSpecificMessage;
currentMatchNumber = DriverStation.m_matchInfo.matchNumber;
currentReplayNumber = DriverStation.m_matchInfo.replayNumber;
currentMatchType = DriverStation.m_matchInfo.matchType;
} finally {
m_cacheDataMutex.unlock();
}
currentControlWord = HAL.nativeGetControlWord();
@@ -1178,9 +1181,12 @@ public class DriverStation {
/** Forces waitForData() to return immediately. */
public static void wakeupWaitForData() {
m_waitForDataMutex.lock();
m_waitForDataCount++;
m_waitForDataCond.signalAll();
m_waitForDataMutex.unlock();
try {
m_waitForDataCount++;
m_waitForDataCond.signalAll();
} finally {
m_waitForDataMutex.unlock();
}
}
/**

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -348,20 +348,20 @@ public abstract class RobotBase implements AutoCloseable {
m_runMutex.unlock();
if (isReal()) {
final File file = new File("/tmp/frc_versions/FRC_Lib_Version.ini");
try {
final File file = new File("/tmp/frc_versions/FRC_Lib_Version.ini");
if (file.exists()) {
file.delete();
if (file.exists() && !file.delete()) {
throw new IOException("Failed to delete FRC_Lib_Version.ini");
}
file.createNewFile();
if (!file.createNewFile()) {
throw new IOException("Failed to create new FRC_Lib_Version.ini");
}
try (OutputStream output = Files.newOutputStream(file.toPath())) {
output.write("Java ".getBytes(StandardCharsets.UTF_8));
output.write(WPILibVersion.Version.getBytes(StandardCharsets.UTF_8));
}
} catch (IOException ex) {
DriverStation.reportError(
"Could not write FRC_Lib_Version.ini: " + ex.toString(), ex.getStackTrace());

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

@@ -220,7 +220,7 @@ public final class RobotController {
*/
public static CANStatus getCANStatus() {
CANStatus status = new CANStatus();
CANJNI.GetCANStatus(status);
CANJNI.getCANStatus(status);
return status;
}
}

15
wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
View File

@@ -19,7 +19,7 @@ import java.util.PriorityQueue;
*/
public class TimedRobot extends IterativeRobotBase {
@SuppressWarnings("MemberName")
class Callback implements Comparable<Callback> {
static class Callback implements Comparable<Callback> {
public Runnable func;
public double period;
public double expirationTime;
@@ -43,6 +43,19 @@ public class TimedRobot extends IterativeRobotBase {
+ this.period;
}
@Override
public boolean equals(Object rhs) {
if (rhs instanceof Callback) {
return Double.compare(expirationTime, ((Callback) rhs).expirationTime) == 0;
}
return false;
}
@Override
public int hashCode() {
return Double.hashCode(expirationTime);
}
@Override
public int compareTo(Callback rhs) {
// Elements with sooner expiration times are sorted as lesser. The head of

21
wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
View File

@@ -60,20 +60,12 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
disable();
}
@Override
public int compareTo(Watchdog rhs) {
// Elements with sooner expiration times are sorted as lesser. The head of
// Java's PriorityQueue is the least element.
return Double.compare(m_expirationTimeSeconds, rhs.m_expirationTimeSeconds);
}
@Override
public boolean equals(Object obj) {
if (!(obj instanceof Watchdog)) {
return false;
if (obj instanceof Watchdog) {
return Double.compare(m_expirationTimeSeconds, ((Watchdog) obj).m_expirationTimeSeconds) == 0;
}
Watchdog oth = (Watchdog) obj;
return oth.m_expirationTimeSeconds == m_expirationTimeSeconds;
return false;
}
@Override
@@ -81,6 +73,13 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
return Double.hashCode(m_expirationTimeSeconds);
}
@Override
public int compareTo(Watchdog rhs) {
// Elements with sooner expiration times are sorted as lesser. The head of
// Java's PriorityQueue is the least element.
return Double.compare(m_expirationTimeSeconds, rhs.m_expirationTimeSeconds);
}
/**
* Returns the time in seconds since the watchdog was last fed.
*

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Field2d.java
View File

@@ -76,7 +76,7 @@ public class Field2d implements NTSendable {
*/
public synchronized FieldObject2d getObject(String name) {
for (FieldObject2d obj : m_objects) {
if (obj.m_name == name) {
if (obj.m_name.equals(name)) {
return obj;
}
}
@@ -102,9 +102,9 @@ public class Field2d implements NTSendable {
@Override
public void initSendable(NTSendableBuilder builder) {
builder.setSmartDashboardType("Field2d");
m_table = builder.getTable();
synchronized (this) {
m_table = builder.getTable();
for (FieldObject2d obj : m_objects) {
synchronized (obj) {
obj.m_entry = m_table.getEntry(obj.m_name);

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/Mechanism2d.java
View File

@@ -97,10 +97,10 @@ public final class Mechanism2d implements NTSendable {
@Override
public void initSendable(NTSendableBuilder builder) {
builder.setSmartDashboardType("Mechanism2d");
m_table = builder.getTable();
m_table.getEntry("dims").setDoubleArray(m_dims);
m_table.getEntry(kBackgroundColor).setString(m_color);
synchronized (this) {
m_table = builder.getTable();
m_table.getEntry("dims").setDoubleArray(m_dims);
m_table.getEntry(kBackgroundColor).setString(m_color);
for (Entry<String, MechanismRoot2d> entry : m_roots.entrySet()) {
String name = entry.getKey();
MechanismRoot2d root = entry.getValue();

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismLigament2d.java
View File

@@ -128,7 +128,7 @@ public class MechanismLigament2d extends MechanismObject2d {
}
@Override
protected void updateEntries(NetworkTable table) {
protected synchronized void updateEntries(NetworkTable table) {
table.getEntry(".type").setString("line");
m_angleEntry = table.getEntry("angle");
m_lengthEntry = table.getEntry("length");

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/MechanismRoot2d.java
View File

@@ -72,7 +72,7 @@ public final class MechanismRoot2d {
m_y = y;
}
void update(NetworkTable table) {
synchronized void update(NetworkTable table) {
m_table = table;
m_xEntry = m_table.getEntry("x");
m_yEntry = m_table.getEntry("y");
@@ -86,7 +86,7 @@ public final class MechanismRoot2d {
return m_name;
}
private void flush() {
private synchronized void flush() {
if (m_xEntry != null) {
m_xEntry.setDouble(m_x);
}

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

@@ -95,7 +95,7 @@ class PreferencesTest {
() -> assertEquals(0.2, m_prefs.getDouble("checkedValueDouble", 0), 1e-6),
() -> assertEquals("Hello. How are you?", m_prefs.getString("checkedValueString", "")),
() -> assertEquals(2, m_prefs.getInt("checkedValueInt", 0)),
() -> assertEquals(3.14, m_prefs.getFloat("checkedValueFloat", 0), 1e-6),
() -> assertEquals(3.4, m_prefs.getFloat("checkedValueFloat", 0), 1e-6),
() -> assertFalse(m_prefs.getBoolean("checkedValueBoolean", true)));
}

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

@@ -15,7 +15,7 @@ import org.junit.jupiter.api.Test;
import org.junit.jupiter.api.parallel.ResourceLock;
class TimedRobotTest {
class MockRobot extends TimedRobot {
static class MockRobot extends TimedRobot {
public final AtomicInteger m_robotInitCount = new AtomicInteger(0);
public final AtomicInteger m_simulationInitCount = new AtomicInteger(0);
public final AtomicInteger m_disabledInitCount = new AtomicInteger(0);

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

@@ -16,6 +16,6 @@ class CANStatusTest {
void canStatusGetDoesntThrow() {
HAL.initialize(500, 0);
CANStatus status = new CANStatus();
assertDoesNotThrow(() -> CANJNI.GetCANStatus(status));
assertDoesNotThrow(() -> CANJNI.getCANStatus(status));
}
}

3
wpilibj/src/test/resources/edu/wpi/first/wpilibj/PreferencesTestDefault.ini
View File

@@ -1,7 +1,8 @@
[NetworkTables Storage 3.0]
double "/Preferences/checkedValueInt"=2
; The omission of a leading zero is intentional for testing purposes
double "/Preferences/checkedValueDouble"=.2
double "/Preferences/checkedValueFloat"=3.14
double "/Preferences/checkedValueFloat"=3.4
double "/Preferences/checkedValueLong"=172
string "/Preferences/checkedValueString"="Hello. How are you?"
boolean "/Preferences/checkedValueBoolean"=false

10
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java
View File

@@ -30,11 +30,11 @@ public class Robot extends TimedRobot {
public static OI oi;
// Initialize the subsystems
public static Drivetrain drivetrain = new Drivetrain();
public static Collector collector = new Collector();
public static Shooter shooter = new Shooter();
public static Pneumatics pneumatics = new Pneumatics();
public static Pivot pivot = new Pivot();
public static final Drivetrain drivetrain = new Drivetrain();
public static final Collector collector = new Collector();
public static final Shooter shooter = new Shooter();
public static final Pneumatics pneumatics = new Pneumatics();
public static final Pivot pivot = new Pivot();
public SendableChooser<Command> m_autoChooser;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/templates/oldcommandbased/Robot.java
View File

@@ -19,7 +19,7 @@ import edu.wpi.first.wpilibj.templates.oldcommandbased.subsystems.ExampleSubsyst
* project.
*/
public class Robot extends TimedRobot {
public static ExampleSubsystem m_subsystem = new ExampleSubsystem();
public static final ExampleSubsystem m_subsystem = new ExampleSubsystem();
public static OI m_oi;
Command m_autonomousCommand;

2
wpilibjIntegrationTests/build.gradle
View File

@@ -11,7 +11,7 @@ ext {
apply from: "${rootDir}/shared/opencv.gradle"
mainClassName = 'edu.wpi.first.wpilibj.test.AntJunitLanucher'
mainClassName = 'edu.wpi.first.wpilibj.test.AntJunitLauncher'
apply plugin: 'com.github.johnrengelman.shadow'

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

@@ -183,6 +183,6 @@ public class PIDTest extends AbstractComsSetup {
@Test(expected = RuntimeException.class)
public void testOnTargetNoToleranceSet() {
setupIntegratorRange();
m_controller.atSetpoint();
assertFalse(m_controller.atSetpoint());
}
}

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/can/CANStatusTest.java
View File

@@ -12,7 +12,7 @@ public class CANStatusTest {
@Test
public void canStatusGetDoesntThrow() {
CANStatus status = new CANStatus();
CANJNI.GetCANStatus(status);
CANJNI.getCANStatus(status);
// Nothing we can assert, so just make sure it didn't throw.
}
}

9
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/AnalogCrossConnectFixture.java
View File

@@ -34,10 +34,9 @@ public abstract class AnalogCrossConnectFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
public boolean setup() {
public void setup() {
initialize();
m_output.setVoltage(0);
return true;
}
/*
@@ -46,9 +45,8 @@ public abstract class AnalogCrossConnectFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
public boolean reset() {
public void reset() {
initialize();
return true;
}
/*
@@ -57,10 +55,9 @@ public abstract class AnalogCrossConnectFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
public void teardown() {
m_input.close();
m_output.close();
return true;
}
/** Analog Output. */

10
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java
View File

@@ -55,24 +55,20 @@ public class DIOCrossConnectFixture implements ITestFixture {
}
@Override
public boolean setup() {
return true;
}
public void setup() {}
@Override
public boolean reset() {
public void reset() {
m_output.set(false);
return true;
}
@Override
public boolean teardown() {
public void teardown() {
logger.log(Level.FINE, "Beginning teardown");
if (m_allocated) {
m_input.close();
m_output.close();
m_allocated = false;
}
return true;
}
}

10
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeCounterFixture.java
View File

@@ -67,9 +67,7 @@ public class FakeCounterFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
public boolean setup() {
return true;
}
public void setup() {}
/*
* (non-Javadoc)
@@ -77,9 +75,8 @@ public class FakeCounterFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
public boolean reset() {
public void reset() {
m_counter.reset();
return true;
}
/*
@@ -88,7 +85,7 @@ public class FakeCounterFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
public void teardown() {
logger.log(Level.FINE, "Beginning teardown");
m_counter.close();
m_source.close();
@@ -96,6 +93,5 @@ public class FakeCounterFixture implements ITestFixture {
m_dio.teardown();
m_allocated = false;
}
return true;
}
}

10
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/FakeEncoderFixture.java
View File

@@ -68,9 +68,7 @@ public class FakeEncoderFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
public boolean setup() {
return true;
}
public void setup() {}
/*
* (non-Javadoc)
@@ -78,11 +76,10 @@ public class FakeEncoderFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
public boolean reset() {
public void reset() {
m_dio1.reset();
m_dio2.reset();
m_encoder.reset();
return true;
}
/*
@@ -91,7 +88,7 @@ public class FakeEncoderFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
public void teardown() {
logger.fine("Beginning teardown");
m_source.close();
logger.finer("Source freed " + m_sourcePort[0] + ", " + m_sourcePort[1]);
@@ -101,6 +98,5 @@ public class FakeEncoderFixture implements ITestFixture {
m_dio1.teardown();
m_dio2.teardown();
}
return true;
}
}

12
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/ITestFixture.java
View File

@@ -18,10 +18,8 @@ public interface ITestFixture {
/**
* Performs any required setup for this fixture, ensuring that all fixture elements are ready for
* testing.
*
* @return True if the fixture is ready for testing
*/
boolean setup();
void setup();
/**
* Resets the fixture back to test start state. This should be called by the test class in the
@@ -29,16 +27,12 @@ public interface ITestFixture {
* ITestFixture#setup()} as that is called once, before the class is constructed, so it may need
* to start sensors. This method should not have to start anything, just reset sensors and ensure
* that motors are stopped.
*
* @return True if the fixture is ready for testing
*/
boolean reset();
void reset();
/**
* Performs any required teardown after use of the fixture, ensuring that future tests will not
* run into conflicts.
*
* @return True if the teardown succeeded
*/
boolean teardown();
void teardown();
}

49
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/MotorEncoderFixture.java
View File

@@ -82,9 +82,8 @@ public abstract class MotorEncoderFixture<T extends MotorController> implements
}
@Override
public boolean setup() {
public void setup() {
initialize();
return true;
}
/**
@@ -136,7 +135,7 @@ public abstract class MotorEncoderFixture<T extends MotorController> implements
}
@Override
public boolean reset() {
public void reset() {
initialize();
m_motor.setInverted(false);
m_motor.set(0);
@@ -145,15 +144,6 @@ public abstract class MotorEncoderFixture<T extends MotorController> implements
for (Counter c : m_counters) {
c.reset();
}
boolean wasReset = true;
wasReset = wasReset && m_motor.get() == 0;
wasReset = wasReset && m_encoder.get() == 0;
for (Counter c : m_counters) {
wasReset = wasReset && c.get() == 0;
}
return wasReset;
}
/**
@@ -163,62 +153,37 @@ public abstract class MotorEncoderFixture<T extends MotorController> implements
*/
@Override
@SuppressWarnings("Regexp")
public boolean teardown() {
String type;
if (m_motor != null) {
type = getType();
} else {
type = "null";
}
public void teardown() {
if (!m_tornDown) {
boolean wasNull = false;
if (m_motor instanceof PWM && m_motor != null) {
((PWM) m_motor).close();
if (m_motor != null) {
if (m_motor instanceof PWM) {
((PWM) m_motor).close();
}
m_motor = null;
} else if (m_motor == null) {
wasNull = true;
}
if (m_encoder != null) {
m_encoder.close();
m_encoder = null;
} else {
wasNull = true;
}
if (m_counters[0] != null) {
m_counters[0].close();
m_counters[0] = null;
} else {
wasNull = true;
}
if (m_counters[1] != null) {
m_counters[1].close();
m_counters[1] = null;
} else {
wasNull = true;
}
if (m_alphaSource != null) {
m_alphaSource.close();
m_alphaSource = null;
} else {
wasNull = true;
}
if (m_betaSource != null) {
m_betaSource.close();
m_betaSource = null;
} else {
wasNull = true;
}
m_tornDown = true;
if (wasNull) {
throw new NullPointerException("MotorEncoderFixture had null params at teardown");
}
} else {
throw new RuntimeException(type + " Motor Encoder torn down multiple times");
}
return true;
}
@Override

9
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/RelayCrossConnectFixture.java
View File

@@ -54,9 +54,8 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#setup()
*/
@Override
public boolean setup() {
public void setup() {
initialize();
return true;
}
/*
@@ -65,9 +64,8 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#reset()
*/
@Override
public boolean reset() {
public void reset() {
initialize();
return true;
}
/*
@@ -76,7 +74,7 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
* @see edu.wpi.first.wpilibj.fixtures.ITestFixture#teardown()
*/
@Override
public boolean teardown() {
public void teardown() {
if (!m_freed) {
m_relay.close();
m_inputOne.close();
@@ -88,6 +86,5 @@ public abstract class RelayCrossConnectFixture implements ITestFixture {
+ RelayCrossConnectFixture.class.getSimpleName()
+ " multiple times");
}
return true;
}
}

9
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/SampleFixture.java
View File

@@ -10,35 +10,32 @@ package edu.wpi.first.wpilibj.fixtures;
*/
public class SampleFixture implements ITestFixture {
@Override
public boolean setup() {
public void setup() {
/*
* If this fixture actually accessed the hardware, here is where it would
* set up the starting state of the test bench. For example, reseting
* encoders, ensuring motors are stopped, reseting any serial communication
* if necessary, etc.
*/
return true;
}
@Override
public boolean reset() {
public void reset() {
/*
* This is where the fixture would reset any sensors or motors used by the
* fixture to test default state. This method should not worry about whether
* or not the sensors have been allocated correctly, that is the job of the
* setup function.
*/
return false;
}
@Override
public boolean teardown() {
public void teardown() {
/*
* This is where the fixture would deallocate and reset back to normal
* conditions any necessary hardware. This includes ensuring motors are
* stopped, stoppable sensors are actually stopped, ensuring serial
* communications are ready for the next test, etc.
*/
return true;
}
}

11
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/TiltPanCameraFixture.java
View File

@@ -35,8 +35,7 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
public TiltPanCameraFixture() {}
@Override
public boolean setup() {
boolean wasSetup = false;
public void setup() {
if (!m_initialized) {
m_initialized = true;
m_tilt = giveTilt();
@@ -48,17 +47,14 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
logger.fine("Initializing the gyro");
m_gyro = giveGyro();
m_gyro.reset();
wasSetup = true;
}
return wasSetup;
}
@Override
public boolean reset() {
public void reset() {
if (m_gyro != null) {
m_gyro.reset();
}
return true;
}
public Servo getTilt() {
@@ -89,7 +85,7 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
}
@Override
public boolean teardown() {
public void teardown() {
m_tilt.close();
m_tilt = null;
m_pan.close();
@@ -102,6 +98,5 @@ public abstract class TiltPanCameraFixture implements ITestFixture {
m_gyroParam.close();
m_gyroParam = null;
}
return true;
}
}

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeCounterSource.java
View File

@@ -16,7 +16,7 @@ public class FakeCounterSource implements AutoCloseable {
private boolean m_allocated;
/** Thread object that allows emulation of an encoder. */
private class EncoderThread extends Thread {
private static class EncoderThread extends Thread {
FakeCounterSource m_encoder;
EncoderThread(FakeCounterSource encode) {

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/mockhardware/FakeEncoderSource.java
View File

@@ -18,7 +18,7 @@ public class FakeEncoderSource implements AutoCloseable {
private final boolean m_allocatedOutputs;
/** Thread object that allows emulation of a quadrature encoder. */
private class QuadEncoderThread extends Thread {
private static class QuadEncoderThread extends Thread {
FakeEncoderSource m_encoder;
QuadEncoderThread(FakeEncoderSource encode) {

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractComsSetup.java
View File

@@ -201,7 +201,7 @@ public abstract class AbstractComsSetup {
* Provided as a replacement to lambda functions to allow for repeatable checks to see if a
* correct state is reached.
*/
public abstract class BooleanCheck {
public abstract static class BooleanCheck {
public BooleanCheck() {}
/**

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java
View File

@@ -59,7 +59,7 @@ public abstract class AbstractTestSuite {
* Stores a method name and method class pair. Used when searching for methods matching a given
* regex text.
*/
protected class ClassMethodPair {
protected static class ClassMethodPair {
public final Class<?> m_methodClass;
public final String m_methodName;

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuiteTest.java
View File

@@ -35,7 +35,7 @@ public class AbstractTestSuiteTest {
ExampleSubSuite.class,
EmptySuite.class
})
class TestForAbstractTestSuite extends AbstractTestSuite {}
static class TestForAbstractTestSuite extends AbstractTestSuite {}
TestForAbstractTestSuite m_testSuite;

2
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLanucher.java → wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLauncher.java
View File

@@ -16,7 +16,7 @@ import org.apache.tools.ant.taskdefs.optional.junit.JUnitTest;
* Provides an entry point for tests to run with ANT. This allows ant to output JUnit XML test
* results for Jenkins.
*/
public class AntJunitLanucher {
public class AntJunitLauncher {
/**
* Main entry point for jenkins.
*

9
wpilibjIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java
View File

@@ -42,6 +42,11 @@ public class TestSuite extends AbstractTestSuite {
Logger.getAnonymousLogger().severe("Could not load default logging.properties file");
Logger.getAnonymousLogger().severe(ex.getMessage());
}
try {
inputStream.close();
} catch (IOException e) {
throw new RuntimeException(e.getMessage());
}
TestBench.out().println("Starting Tests");
}
@@ -172,11 +177,11 @@ public class TestSuite extends AbstractTestSuite {
for (String s : args) {
if (Pattern.matches(METHOD_NAME_FILTER + ".*", s)) {
methodFilter = true;
methodRegex = new String(s).replace(METHOD_NAME_FILTER, "");
methodRegex = s.replace(METHOD_NAME_FILTER, "");
}
if (Pattern.matches(METHOD_REPEAT_FILTER + ".*", s)) {
try {
repeatCount = Integer.parseInt(new String(s).replace(METHOD_REPEAT_FILTER, ""));
repeatCount = Integer.parseInt(s.replace(METHOD_REPEAT_FILTER, ""));
} catch (NumberFormatException ex) {
displayInvalidUsage(
"The argument passed to the repeat rule was not a valid integer.", args);

4
wpimath/src/main/java/edu/wpi/first/math/StateSpaceUtil.java
View File

@@ -13,6 +13,8 @@ import org.ejml.simple.SimpleMatrix;
@SuppressWarnings("ParameterName")
public final class StateSpaceUtil {
private static Random rand = new Random();
private StateSpaceUtil() {
// Utility class
}
@@ -49,8 +51,6 @@ public final class StateSpaceUtil {
* @return White noise vector.
*/
public static <N extends Num> Matrix<N, N1> makeWhiteNoiseVector(Matrix<N, N1> stdDevs) {
var rand = new Random();
Matrix<N, N1> result = new Matrix<>(new SimpleMatrix(stdDevs.getNumRows(), 1));
for (int i = 0; i < stdDevs.getNumRows(); i++) {
result.set(i, 0, rand.nextGaussian() * stdDevs.get(i, 0));

4
wpimath/src/main/java/edu/wpi/first/math/filter/MedianFilter.java
View File

@@ -57,13 +57,13 @@ public class MedianFilter {
// and remove from ordered list
if (curSize > m_size) {
m_orderedValues.remove(m_valueBuffer.removeLast());
curSize = curSize - 1;
--curSize;
}
// Add next value to circular buffer
m_valueBuffer.addFirst(next);
if (curSize % 2 == 1) {
if (curSize % 2 != 0) {
// If size is odd, return middle element of sorted list
return m_orderedValues.get(curSize / 2);
} else {

22
wpimath/src/main/java/edu/wpi/first/math/kinematics/SwerveModuleState.java
View File

@@ -5,6 +5,7 @@
package edu.wpi.first.math.kinematics;
import edu.wpi.first.math.geometry.Rotation2d;
import java.util.Objects;
/** Represents the state of one swerve module. */
@SuppressWarnings("MemberName")
@@ -29,17 +30,30 @@ public class SwerveModuleState implements Comparable<SwerveModuleState> {
this.angle = angle;
}
@Override
public boolean equals(Object obj) {
if (obj instanceof SwerveModuleState) {
return Double.compare(speedMetersPerSecond, ((SwerveModuleState) obj).speedMetersPerSecond)
== 0;
}
return false;
}
@Override
public int hashCode() {
return Objects.hash(speedMetersPerSecond);
}
/**
* Compares two swerve module states. One swerve module is "greater" than the other if its speed
* is higher than the other.
*
* @param o The other swerve module.
* @param other The other swerve module.
* @return 1 if this is greater, 0 if both are equal, -1 if other is greater.
*/
@Override
@SuppressWarnings("ParameterName")
public int compareTo(SwerveModuleState o) {
return Double.compare(this.speedMetersPerSecond, o.speedMetersPerSecond);
public int compareTo(SwerveModuleState other) {
return Double.compare(this.speedMetersPerSecond, other.speedMetersPerSecond);
}
@Override

4
wpimath/src/main/native/include/frc/filter/MedianFilter.h
View File

@@ -45,13 +45,13 @@ class MedianFilter {
m_orderedValues.erase(std::find(m_orderedValues.begin(),
m_orderedValues.end(),
m_valueBuffer.pop_back()));
curSize = curSize - 1;
--curSize;
}
// Add next value to circular buffer
m_valueBuffer.push_front(next);
if (curSize % 2 == 1) {
if (curSize % 2 != 0) {
// If size is odd, return middle element of sorted list
return m_orderedValues[curSize / 2];
} else {

19
wpimath/src/test/java/edu/wpi/first/math/controller/ControlAffinePlantInversionFeedforwardTest.java
View File

@@ -38,23 +38,14 @@ class ControlAffinePlantInversionFeedforwardTest {
@SuppressWarnings("ParameterName")
protected Matrix<N2, N1> getDynamics(Matrix<N2, N1> x, Matrix<N1, N1> u) {
var result = new Matrix<>(Nat.N2(), Nat.N1());
result =
Matrix.mat(Nat.N2(), Nat.N2())
.fill(1.000, 0, 0, 1.000)
.times(x)
.plus(VecBuilder.fill(0, 1).times(u));
return result;
return Matrix.mat(Nat.N2(), Nat.N2())
.fill(1.000, 0, 0, 1.000)
.times(x)
.plus(VecBuilder.fill(0, 1).times(u));
}
@SuppressWarnings("ParameterName")
protected Matrix<N2, N1> getStateDynamics(Matrix<N2, N1> x) {
var result = new Matrix<>(Nat.N2(), Nat.N1());
result = Matrix.mat(Nat.N2(), Nat.N2()).fill(1.000, 0, 0, 1.000).times(x);
return result;
return Matrix.mat(Nat.N2(), Nat.N2()).fill(1.000, 0, 0, 1.000).times(x);
}
}

3
wpimath/src/test/java/edu/wpi/first/math/controller/HolonomicDriveControllerTest.java
View File

@@ -30,7 +30,8 @@ class HolonomicDriveControllerTest {
new HolonomicDriveController(
new PIDController(1.0, 0.0, 0.0),
new PIDController(1.0, 0.0, 0.0),
new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(6.28, 3.14)));
new ProfiledPIDController(
1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(2.0 * Math.PI, Math.PI)));
Pose2d robotPose = new Pose2d(2.7, 23.0, Rotation2d.fromDegrees(0.0));
List<Pose2d> waypoints = new ArrayList<>();

35
wpimath/src/test/java/edu/wpi/first/math/controller/LinearQuadraticRegulatorTest.java
View File

@@ -7,52 +7,27 @@ package edu.wpi.first.math.controller;
import static org.junit.jupiter.api.Assertions.assertEquals;
import edu.wpi.first.math.VecBuilder;
import edu.wpi.first.math.numbers.N1;
import edu.wpi.first.math.numbers.N2;
import edu.wpi.first.math.system.LinearSystem;
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 {
public static LinearSystem<N2, N1, N1> elevatorPlant;
static LinearSystem<N2, N1, N1> armPlant;
static {
createArm();
createElevator();
}
@Test
@SuppressWarnings("LocalVariableName")
public static void createArm() {
var motors = DCMotor.getVex775Pro(2);
var m = 4.0;
var r = 0.4;
var J = 1d / 3d * m * r * r;
var G = 100.0;
armPlant = LinearSystemId.createSingleJointedArmSystem(motors, J, G);
}
@SuppressWarnings("LocalVariableName")
public static void createElevator() {
public void testLQROnElevator() {
var motors = DCMotor.getVex775Pro(2);
var m = 5.0;
var r = 0.0181864;
var G = 1.0;
elevatorPlant = LinearSystemId.createElevatorSystem(motors, m, r, G);
}
@Test
@SuppressWarnings("LocalVariableName")
public void testLQROnElevator() {
var plant = LinearSystemId.createElevatorSystem(motors, m, r, G);
var qElms = VecBuilder.fill(0.02, 0.4);
var rElms = VecBuilder.fill(12.0);
var dt = 0.00505;
var controller = new LinearQuadraticRegulator<>(elevatorPlant, qElms, rElms, dt);
var controller = new LinearQuadraticRegulator<>(plant, qElms, rElms, dt);
var k = controller.getK();

26
wpimath/src/test/java/edu/wpi/first/math/controller/LinearSystemLoopTest.java
View File

@@ -18,8 +18,6 @@ import edu.wpi.first.math.system.LinearSystemLoop;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;
@@ -103,12 +101,6 @@ public class LinearSystemLoopTest {
loop.setNextR(references);
List<Double> timeData = new ArrayList<>();
List<Double> xHat = new ArrayList<>();
List<Double> volt = new ArrayList<>();
List<Double> reference = new ArrayList<>();
List<Double> error = new ArrayList<>();
var time = 0.0;
while (time < 10) {
if (time > 10) {
@@ -128,27 +120,9 @@ public class LinearSystemLoopTest {
assertTrue(u >= -12.1 && u <= 12.1, "U out of bounds! Got " + u);
xHat.add(loop.getXHat(0) / 2d / Math.PI * 60);
volt.add(u);
timeData.add(time);
reference.add(references.get(0, 0) / 2d / Math.PI * 60);
error.add(loop.getError(0) / 2d / Math.PI * 60);
time += kDt;
}
// XYChart bigChart = new XYChartBuilder().build();
// bigChart.addSeries("Xhat, RPM", timeData, xHat);
// bigChart.addSeries("Reference, RPM", timeData, reference);
// bigChart.addSeries("Error, RPM", timeData, error);
// XYChart smolChart = new XYChartBuilder().build();
// smolChart.addSeries("Volts, V", timeData, volt);
// try {
// new SwingWrapper<>(List.of(bigChart, smolChart)).displayChartMatrix();
// Thread.sleep(10000000);
// } catch (InterruptedException e) { e.printStackTrace(); }
assertEquals(0.0, loop.getError(0), 0.1);
}
}

29
wpimath/src/test/java/edu/wpi/first/math/estimator/ExtendedKalmanFilterTest.java
View File

@@ -22,7 +22,6 @@ import edu.wpi.first.math.system.NumericalJacobian;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import org.junit.jupiter.api.Test;
@@ -127,12 +126,6 @@ public class ExtendedKalmanFilterTest {
Matrix<N5, N1> nextR = new Matrix<>(Nat.N5(), Nat.N1());
Matrix<N2, N1> u = new Matrix<>(Nat.N2(), Nat.N1());
List<Double> trajXs = new ArrayList<>();
List<Double> trajYs = new ArrayList<>();
List<Double> observerXs = new ArrayList<>();
List<Double> observerYs = new ArrayList<>();
var B =
NumericalJacobian.numericalJacobianU(
Nat.N5(),
@@ -177,12 +170,6 @@ public class ExtendedKalmanFilterTest {
ExtendedKalmanFilterTest::getDynamics, groundTruthX, u, dtSeconds);
r = nextR;
trajXs.add(ref.poseMeters.getTranslation().getX());
trajYs.add(ref.poseMeters.getTranslation().getY());
observerXs.add(observer.getXhat().get(0, 0));
observerYs.add(observer.getXhat().get(1, 0));
}
var localY = getLocalMeasurementModel(observer.getXhat(), u);
@@ -192,22 +179,6 @@ public class ExtendedKalmanFilterTest {
var R = StateSpaceUtil.makeCostMatrix(VecBuilder.fill(0.01, 0.01, 0.0001, 0.5, 0.5));
observer.correct(Nat.N5(), u, globalY, ExtendedKalmanFilterTest::getGlobalMeasurementModel, R);
// var chartBuilder = new XYChartBuilder();
// chartBuilder.title = "The Magic of Sensor Fusion, now with a "
// + observer.getClass().getSimpleName();
// var xyPosChart = chartBuilder.build();
//
// xyPosChart.setXAxisTitle("X pos, meters");
// xyPosChart.setYAxisTitle("Y pos, meters");
// xyPosChart.addSeries("Trajectory", trajXs, trajYs);
// xyPosChart.addSeries("xHat", observerXs, observerYs);
// new SwingWrapper<>(xyPosChart).displayChart();
// try {
// Thread.sleep(1000000000);
// } catch (InterruptedException ex) {
// ex.printStackTrace();
// }
var finalPosition = trajectory.sample(trajectory.getTotalTimeSeconds());
assertEquals(finalPosition.poseMeters.getTranslation().getX(), observer.getXhat(0), 1.0);
assertEquals(finalPosition.poseMeters.getTranslation().getY(), observer.getXhat(1), 1.0);

56
wpimath/src/test/java/edu/wpi/first/math/estimator/KalmanFilterTest.java
View File

@@ -21,7 +21,6 @@ import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.ArrayList;
import java.util.List;
import java.util.Random;
import org.junit.jupiter.api.Test;
@@ -84,11 +83,6 @@ public class KalmanFilterTest {
VecBuilder.fill(2, 2, 2), // measurement weights
0.020);
List<Double> xhatsX = new ArrayList<>();
List<Double> measurementsX = new ArrayList<>();
List<Double> xhatsY = new ArrayList<>();
List<Double> measurementsY = new ArrayList<>();
Matrix<N3, N1> measurement;
for (int i = 0; i < 100; i++) {
// the robot is at [0, 0, 0] so we just park here
@@ -98,21 +92,8 @@ public class KalmanFilterTest {
// we continue to not accelerate
filter.predict(VecBuilder.fill(0.0, 0.0, 0.0), 0.020);
measurementsX.add(measurement.get(0, 0));
measurementsY.add(measurement.get(1, 0));
xhatsX.add(filter.getXhat(0));
xhatsY.add(filter.getXhat(1));
}
// var chart = new XYChartBuilder().build();
// chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
// chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
// try {
// new SwingWrapper<>(chart).displayChart();
// Thread.sleep(10000000);
// } catch (Exception ign) {
// }
assertEquals(0.0, filter.getXhat(0), 0.3);
assertEquals(0.0, filter.getXhat(0), 0.3);
}
@@ -131,11 +112,6 @@ public class KalmanFilterTest {
VecBuilder.fill(4, 4, 4), // measurement weights
0.020);
List<Double> xhatsX = new ArrayList<>();
List<Double> measurementsX = new ArrayList<>();
List<Double> xhatsY = new ArrayList<>();
List<Double> measurementsY = new ArrayList<>();
// we set the velocity of the robot so that it's moving forward slowly
filter.setXhat(0, 0.5);
filter.setXhat(1, 0.5);
@@ -153,21 +129,8 @@ public class KalmanFilterTest {
// we continue to not accelerate
filter.predict(VecBuilder.fill(0.0, 0.0, 0.0), 0.020);
measurementsX.add(measurement.get(0, 0));
measurementsY.add(measurement.get(1, 0));
xhatsX.add(filter.getXhat(0));
xhatsY.add(filter.getXhat(1));
}
// var chart = new XYChartBuilder().build();
// chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
// chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
// try {
// new SwingWrapper<>(chart).displayChart();
// Thread.sleep(10000000);
// } catch (Exception ign) {}
assertEquals(0.0, filter.getXhat(0), 0.2);
assertEquals(0.0, filter.getXhat(1), 0.2);
}
@@ -187,11 +150,6 @@ public class KalmanFilterTest {
VecBuilder.fill(4, 4, 4), // measurement weights
0.020);
List<Double> xhatsX = new ArrayList<>();
List<Double> measurementsX = new ArrayList<>();
List<Double> xhatsY = new ArrayList<>();
List<Double> measurementsY = new ArrayList<>();
var trajectory =
TrajectoryGenerator.generateTrajectory(
List.of(new Pose2d(0, 0, new Rotation2d()), new Pose2d(5, 5, new Rotation2d())),
@@ -218,23 +176,9 @@ public class KalmanFilterTest {
filter.correct(u, measurement);
filter.predict(u, 0.020);
measurementsX.add(measurement.get(0, 0));
measurementsY.add(measurement.get(1, 0));
xhatsX.add(filter.getXhat(0));
xhatsY.add(filter.getXhat(1));
time += 0.020;
}
// var chart = new XYChartBuilder().build();
// chart.addSeries("Xhat, x/y", xhatsX, xhatsY);
// chart.addSeries("Measured position, x/y", measurementsX, measurementsY);
// try {
// new SwingWrapper<>(chart).displayChart();
// Thread.sleep(10000000);
// } catch (Exception ign) {
// }
assertEquals(
trajectory.sample(trajectory.getTotalTimeSeconds()).poseMeters.getTranslation().getX(),
filter.getXhat(0),

113
wpimath/src/test/java/edu/wpi/first/math/estimator/UnscentedKalmanFilterTest.java
View File

@@ -25,7 +25,6 @@ import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.math.system.plant.LinearSystemId;
import edu.wpi.first.math.trajectory.TrajectoryConfig;
import edu.wpi.first.math.trajectory.TrajectoryGenerator;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import org.junit.jupiter.api.Test;
@@ -109,22 +108,6 @@ public class UnscentedKalmanFilterTest {
double dtSeconds = 0.00505;
double rbMeters = 0.8382 / 2.0; // Robot radius
List<Double> trajXs = new ArrayList<>();
List<Double> trajYs = new ArrayList<>();
List<Double> observerXs = new ArrayList<>();
List<Double> observerYs = new ArrayList<>();
List<Double> observerC = new ArrayList<>();
List<Double> observerS = new ArrayList<>();
List<Double> observervl = new ArrayList<>();
List<Double> observervr = new ArrayList<>();
List<Double> inputVl = new ArrayList<>();
List<Double> inputVr = new ArrayList<>();
List<Double> timeData = new ArrayList<>();
List<Matrix<?, ?>> rdots = new ArrayList<>();
UnscentedKalmanFilter<N6, N2, N4> observer =
new UnscentedKalmanFilter<>(
Nat.N6(),
@@ -190,25 +173,6 @@ public class UnscentedKalmanFilterTest {
var rdot = nextR.minus(r).div(dtSeconds);
u = new Matrix<>(B.solve(rdot.minus(getDynamics(r, new Matrix<>(Nat.N2(), Nat.N1())))));
rdots.add(rdot);
trajXs.add(ref.poseMeters.getTranslation().getX());
trajYs.add(ref.poseMeters.getTranslation().getY());
observerXs.add(observer.getXhat().get(0, 0));
observerYs.add(observer.getXhat().get(1, 0));
observerC.add(observer.getXhat(2));
observerS.add(observer.getXhat(3));
observervl.add(observer.getXhat(4));
observervr.add(observer.getXhat(5));
inputVl.add(u.get(0, 0));
inputVr.add(u.get(1, 0));
timeData.add(i * dtSeconds);
r = nextR;
observer.predict(u, dtSeconds);
trueXhat =
@@ -233,53 +197,6 @@ public class UnscentedKalmanFilterTest {
final var finalPosition = trajectory.sample(trajectory.getTotalTimeSeconds());
// var chartBuilder = new XYChartBuilder();
// chartBuilder.title = "The Magic of Sensor Fusion, now with a "
// + observer.getClass().getSimpleName();
// var xyPosChart = chartBuilder.build();
// xyPosChart.setXAxisTitle("X pos, meters");
// xyPosChart.setYAxisTitle("Y pos, meters");
// xyPosChart.addSeries("Trajectory", trajXs, trajYs);
// xyPosChart.addSeries("xHat", observerXs, observerYs);
// var stateChart = new XYChartBuilder()
// .title("States (x-hat)").build();
// stateChart.addSeries("Cos", timeData, observerC);
// stateChart.addSeries("Sin", timeData, observerS);
// stateChart.addSeries("vl, m/s", timeData, observervl);
// stateChart.addSeries("vr, m/s", timeData, observervr);
// var inputChart = new XYChartBuilder().title("Inputs").build();
// inputChart.addSeries("Left voltage", timeData, inputVl);
// inputChart.addSeries("Right voltage", timeData, inputVr);
// var rdotChart = new XYChartBuilder().title("Rdot").build();
// rdotChart.addSeries("xdot, or vx", timeData, rdots.stream().map(it -> it.get(0, 0))
// .collect(Collectors.toList()));
// rdotChart.addSeries("ydot, or vy", timeData, rdots.stream().map(it -> it.get(1, 0))
// .collect(Collectors.toList()));
// rdotChart.addSeries("cos dot", timeData, rdots.stream().map(it -> it.get(2, 0))
// .collect(Collectors.toList()));
// rdotChart.addSeries("sin dot", timeData, rdots.stream().map(it -> it.get(3, 0))
// .collect(Collectors.toList()));
// rdotChart.addSeries("vl dot, or al", timeData, rdots.stream().map(it -> it.get(4, 0))
// .collect(Collectors.toList()));
// rdotChart.addSeries("vr dot, or ar", timeData, rdots.stream().map(it -> it.get(5, 0))
// .collect(Collectors.toList()));
// List<XYChart> charts = new ArrayList<>();
// charts.add(xyPosChart);
// charts.add(stateChart);
// charts.add(inputChart);
// charts.add(rdotChart);
// new SwingWrapper<>(charts).displayChartMatrix();
// try {
// Thread.sleep(1000000000);
// } catch (InterruptedException ex) {
// ex.printStackTrace();
// }
assertEquals(finalPosition.poseMeters.getTranslation().getX(), observer.getXhat(0), 0.25);
assertEquals(finalPosition.poseMeters.getTranslation().getY(), observer.getXhat(1), 0.25);
assertEquals(finalPosition.poseMeters.getRotation().getRadians(), observer.getXhat(2), 1.0);
@@ -302,12 +219,6 @@ public class UnscentedKalmanFilterTest {
VecBuilder.fill(1.0),
dt);
var time = new ArrayList<Double>();
var refData = new ArrayList<Double>();
var xhat = new ArrayList<Double>();
var udata = new ArrayList<Double>();
var xdotData = new ArrayList<Double>();
var discABPair = Discretization.discretizeAB(plant.getA(), plant.getB(), dt);
var discA = discABPair.getFirst();
var discB = discABPair.getSecond();
@@ -315,36 +226,12 @@ public class UnscentedKalmanFilterTest {
Matrix<N1, N1> ref = VecBuilder.fill(100);
Matrix<N1, N1> u = VecBuilder.fill(0);
Matrix<N1, N1> xdot;
for (int i = 0; i < (2.0 / dt); i++) {
observer.predict(u, dt);
u = discB.solve(ref.minus(discA.times(ref)));
xdot = plant.getA().times(observer.getXhat()).plus(plant.getB().times(u));
time.add(i * dt);
refData.add(ref.get(0, 0));
xhat.add(observer.getXhat(0));
udata.add(u.get(0, 0));
xdotData.add(xdot.get(0, 0));
}
// var chartBuilder = new XYChartBuilder();
// chartBuilder.title = "The Magic of Sensor Fusion";
// var chart = chartBuilder.build();
// chart.addSeries("Ref", time, refData);
// chart.addSeries("xHat", time, xhat);
// chart.addSeries("input", time, udata);
//// chart.addSeries("xdot", time, xdotData);
// new SwingWrapper<>(chart).displayChart();
// try {
// Thread.sleep(1000000000);
// } catch (InterruptedException e) {
// }
assertEquals(ref.get(0, 0), observer.getXhat(0), 5);
}

4
wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
View File

@@ -8,6 +8,7 @@
#include "frc/controller/HolonomicDriveController.h"
#include "frc/trajectory/TrajectoryGenerator.h"
#include "gtest/gtest.h"
#include "units/angular_acceleration.h"
#include "units/math.h"
#include "units/time.h"
@@ -24,7 +25,8 @@ TEST(HolonomicDriveControllerTest, ReachesReference) {
frc::ProfiledPIDController<units::radian>{
1.0, 0.0, 0.0,
frc::TrapezoidProfile<units::radian>::Constraints{
6.28_rad_per_s, 3.14_rad_per_s / 1_s}}};
units::radians_per_second_t{2.0 * wpi::numbers::pi},
units::radians_per_second_squared_t{wpi::numbers::pi}}}};
frc::Pose2d robotPose{2.7_m, 23_m, frc::Rotation2d{0_deg}};

6
wpiutil/src/main/java/edu/wpi/first/util/CombinedRuntimeLoader.java
View File

@@ -100,7 +100,11 @@ public final class CombinedRuntimeLoader {
if (outputFile.toFile().exists()) {
continue;
}
outputFile.getParent().toFile().mkdirs();
var parent = outputFile.getParent();
if (parent == null) {
throw new IOException("Output file has no parent");
}
parent.toFile().mkdirs();
try (var os = Files.newOutputStream(outputFile)) {
int readBytes;

3
wpiutil/src/main/java/edu/wpi/first/util/RuntimeDetector.java
View File

@@ -135,6 +135,9 @@ public final class RuntimeDetector {
public static boolean isRaspbian() {
try (BufferedReader reader = Files.newBufferedReader(Paths.get("/etc/os-release"))) {
String value = reader.readLine();
if (value == null) {
return false;
}
return value.contains("Raspbian");
} catch (IOException ex) {
return false;

16
wpiutil/src/main/java/edu/wpi/first/util/RuntimeLoader.java
View File

@@ -105,7 +105,13 @@ public final class RuntimeLoader<T> {
if (resIs == null) {
throw new IOException(getLoadErrorMessage(ule));
}
jniLibrary.getParentFile().mkdirs();
var parentFile = jniLibrary.getParentFile();
if (parentFile == null) {
throw new IOException("JNI library has no parent file");
}
parentFile.mkdirs();
try (OutputStream os = Files.newOutputStream(jniLibrary.toPath())) {
byte[] buffer = new byte[0xFFFF]; // 64K copy buffer
int readBytes;
@@ -171,7 +177,13 @@ public final class RuntimeLoader<T> {
if (resIs == null) {
throw new IOException(getLoadErrorMessage(ule));
}
jniLibrary.getParentFile().mkdirs();
var parentFile = jniLibrary.getParentFile();
if (parentFile == null) {
throw new IOException("JNI library has no parent file");
}
parentFile.mkdirs();
try (OutputStream os = Files.newOutputStream(jniLibrary.toPath())) {
byte[] buffer = new byte[0xFFFF]; // 64K copy buffer
int readBytes;