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[build] Apply spotless for java formatting (#1768)

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Update checkstyle config to be compatible with spotless.

Co-authored-by: Austin Shalit <austinshalit@gmail.com>
This commit is contained in:
Peter Johnson
2020-12-29 22:45:16 -08:00
committed by GitHub
parent e563a0b7db
commit a751fa22d2
883 changed files with 16526 additions and 17751 deletions
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235
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
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@@ -4,14 +4,6 @@
package edu.wpi.first.wpilibj;
import java.io.File;
import java.io.IOException;
import java.io.OutputStream;
import java.nio.charset.StandardCharsets;
import java.nio.file.Files;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.Supplier;
import edu.wpi.cscore.CameraServerJNI;
import edu.wpi.first.cameraserver.CameraServerShared;
import edu.wpi.first.cameraserver.CameraServerSharedStore;
@@ -26,6 +18,13 @@ import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.util.WPILibVersion;
import java.io.File;
import java.io.IOException;
import java.io.OutputStream;
import java.nio.charset.StandardCharsets;
import java.nio.file.Files;
import java.util.concurrent.locks.ReentrantLock;
import java.util.function.Supplier;
/**
* Implement a Robot Program framework. The RobotBase class is intended to be subclassed by a user
@@ -35,94 +34,93 @@ import edu.wpi.first.wpilibj.util.WPILibVersion;
* might be spawned as a task, then killed at the end of the Autonomous period.
*/
public abstract class RobotBase implements AutoCloseable {
/**
* The ID of the main Java thread.
*/
/** The ID of the main Java thread. */
// This is usually 1, but it is best to make sure
private static long m_threadId = -1;
private static void setupCameraServerShared() {
CameraServerShared shared = new CameraServerShared() {
CameraServerShared shared =
new CameraServerShared() {
@Override
public void reportVideoServer(int id) {
HAL.report(tResourceType.kResourceType_PCVideoServer, id + 1);
}
@Override
public void reportVideoServer(int id) {
HAL.report(tResourceType.kResourceType_PCVideoServer, id + 1);
}
@Override
public void reportUsbCamera(int id) {
HAL.report(tResourceType.kResourceType_UsbCamera, id + 1);
}
@Override
public void reportUsbCamera(int id) {
HAL.report(tResourceType.kResourceType_UsbCamera, id + 1);
}
@Override
public void reportDriverStationError(String error) {
DriverStation.reportError(error, true);
}
@Override
public void reportDriverStationError(String error) {
DriverStation.reportError(error, true);
}
@Override
public void reportAxisCamera(int id) {
HAL.report(tResourceType.kResourceType_AxisCamera, id + 1);
}
@Override
public void reportAxisCamera(int id) {
HAL.report(tResourceType.kResourceType_AxisCamera, id + 1);
}
@Override
public Long getRobotMainThreadId() {
return RobotBase.getMainThreadId();
}
@Override
public Long getRobotMainThreadId() {
return RobotBase.getMainThreadId();
}
@Override
public boolean isRoboRIO() {
return RobotBase.isReal();
}
};
@Override
public boolean isRoboRIO() {
return RobotBase.isReal();
}
};
CameraServerSharedStore.setCameraServerShared(shared);
}
private static void setupMathShared() {
MathSharedStore.setMathShared(new MathShared() {
@Override
public void reportError(String error, StackTraceElement[] stackTrace) {
DriverStation.reportError(error, stackTrace);
}
MathSharedStore.setMathShared(
new MathShared() {
@Override
public void reportError(String error, StackTraceElement[] stackTrace) {
DriverStation.reportError(error, stackTrace);
}
@Override
public void reportUsage(MathUsageId id, int count) {
switch (id) {
case kKinematics_DifferentialDrive:
HAL.report(tResourceType.kResourceType_Kinematics,
tInstances.kKinematics_DifferentialDrive);
break;
case kKinematics_MecanumDrive:
HAL.report(tResourceType.kResourceType_Kinematics,
tInstances.kKinematics_MecanumDrive);
break;
case kKinematics_SwerveDrive:
HAL.report(tResourceType.kResourceType_Kinematics,
tInstances.kKinematics_SwerveDrive);
break;
case kTrajectory_TrapezoidProfile:
HAL.report(tResourceType.kResourceType_TrapezoidProfile, count);
break;
case kFilter_Linear:
HAL.report(tResourceType.kResourceType_LinearFilter, count);
break;
case kOdometry_DifferentialDrive:
HAL.report(tResourceType.kResourceType_Odometry,
tInstances.kOdometry_DifferentialDrive);
break;
case kOdometry_SwerveDrive:
HAL.report(tResourceType.kResourceType_Odometry,
tInstances.kOdometry_SwerveDrive);
break;
case kOdometry_MecanumDrive:
HAL.report(tResourceType.kResourceType_Odometry,
tInstances.kOdometry_MecanumDrive);
break;
default:
break;
}
}
});
@Override
public void reportUsage(MathUsageId id, int count) {
switch (id) {
case kKinematics_DifferentialDrive:
HAL.report(
tResourceType.kResourceType_Kinematics,
tInstances.kKinematics_DifferentialDrive);
break;
case kKinematics_MecanumDrive:
HAL.report(
tResourceType.kResourceType_Kinematics, tInstances.kKinematics_MecanumDrive);
break;
case kKinematics_SwerveDrive:
HAL.report(
tResourceType.kResourceType_Kinematics, tInstances.kKinematics_SwerveDrive);
break;
case kTrajectory_TrapezoidProfile:
HAL.report(tResourceType.kResourceType_TrapezoidProfile, count);
break;
case kFilter_Linear:
HAL.report(tResourceType.kResourceType_LinearFilter, count);
break;
case kOdometry_DifferentialDrive:
HAL.report(
tResourceType.kResourceType_Odometry, tInstances.kOdometry_DifferentialDrive);
break;
case kOdometry_SwerveDrive:
HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_SwerveDrive);
break;
case kOdometry_MecanumDrive:
HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_MecanumDrive);
break;
default:
break;
}
}
});
}
protected final DriverStation m_ds;
@@ -133,8 +131,7 @@ public abstract class RobotBase implements AutoCloseable {
* completion before Autonomous is entered.
*
* <p>This must be used to ensure that the communications code starts. In the future it would be
* nice
* to put this code into it's own task that loads on boot so ensure that it runs.
* nice to put this code into it's own task that loads on boot so ensure that it runs.
*/
protected RobotBase() {
final NetworkTableInstance inst = NetworkTableInstance.getDefault();
@@ -159,8 +156,7 @@ public abstract class RobotBase implements AutoCloseable {
}
@Override
public void close() {
}
public void close() {}
/**
* Get if the robot is a simulation.
@@ -199,8 +195,7 @@ public abstract class RobotBase implements AutoCloseable {
}
/**
* Determine if the robot is currently in Autonomous mode as determined by the field
* controls.
* Determine if the robot is currently in Autonomous mode as determined by the field controls.
*
* @return True if the robot is currently operating Autonomously.
*/
@@ -209,8 +204,8 @@ public abstract class RobotBase implements AutoCloseable {
}
/**
* Determine if the robot is current in Autonomous mode and enabled as determined by
* the field controls.
* Determine if the robot is current in Autonomous mode and enabled as determined by the field
* controls.
*
* @return True if the robot is currently operating autonomously while enabled.
*/
@@ -219,8 +214,7 @@ public abstract class RobotBase implements AutoCloseable {
}
/**
* Determine if the robot is currently in Test mode as determined by the driver
* station.
* Determine if the robot is currently in Test mode as determined by the driver station.
*
* @return True if the robot is currently operating in Test mode.
*/
@@ -239,8 +233,8 @@ public abstract class RobotBase implements AutoCloseable {
}
/**
* Determine if the robot is current in Operator Control mode and enabled as determined by
* the field controls.
* Determine if the robot is current in Operator Control mode and enabled as determined by the
* field controls.
*
* @return True if the robot is currently operating in Tele-Op mode while enabled.
*/
@@ -257,14 +251,10 @@ public abstract class RobotBase implements AutoCloseable {
return m_ds.isNewControlData();
}
/**
* Provide an alternate "main loop" via startCompetition().
*/
/** Provide an alternate "main loop" via startCompetition(). */
public abstract void startCompetition();
/**
* Ends the main loop in startCompetition().
*/
/** Ends the main loop in startCompetition(). */
public abstract void endCompetition();
@SuppressWarnings("MissingJavadocMethod")
@@ -286,11 +276,11 @@ public abstract class RobotBase implements AutoCloseable {
private static RobotBase m_robotCopy;
private static boolean m_suppressExitWarning;
/**
* Run the robot main loop.
*/
@SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
/** Run the robot main loop. */
@SuppressWarnings({
"PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
"PMD.CyclomaticComplexity", "PMD.NPathComplexity"
})
private static <T extends RobotBase> void runRobot(Supplier<T> robotSupplier) {
System.out.println("********** Robot program starting **********");
@@ -307,8 +297,9 @@ public abstract class RobotBase implements AutoCloseable {
if (elements.length > 0) {
robotName = elements[0].getClassName();
}
DriverStation.reportError("Unhandled exception instantiating robot " + robotName + " "
+ throwable.toString(), elements);
DriverStation.reportError(
"Unhandled exception instantiating robot " + robotName + " " + throwable.toString(),
elements);
DriverStation.reportWarning("Robots should not quit, but yours did!", false);
DriverStation.reportError("Could not instantiate robot " + robotName + "!", false);
return;
@@ -334,8 +325,8 @@ public abstract class RobotBase implements AutoCloseable {
}
} catch (IOException ex) {
DriverStation.reportError("Could not write FRC_Lib_Version.ini: " + ex.toString(),
ex.getStackTrace());
DriverStation.reportError(
"Could not write FRC_Lib_Version.ini: " + ex.toString(), ex.getStackTrace());
}
}
@@ -347,8 +338,8 @@ public abstract class RobotBase implements AutoCloseable {
if (cause != null) {
throwable = cause;
}
DriverStation.reportError("Unhandled exception: " + throwable.toString(),
throwable.getStackTrace());
DriverStation.reportError(
"Unhandled exception: " + throwable.toString(), throwable.getStackTrace());
errorOnExit = true;
} finally {
m_runMutex.lock();
@@ -360,7 +351,8 @@ public abstract class RobotBase implements AutoCloseable {
if (errorOnExit) {
DriverStation.reportError(
"The startCompetition() method (or methods called by it) should have "
+ "handled the exception above.", false);
+ "handled the exception above.",
false);
} else {
DriverStation.reportError("Unexpected return from startCompetition() method.", false);
}
@@ -368,18 +360,14 @@ public abstract class RobotBase implements AutoCloseable {
}
}
/**
* Suppress the "Robots should not quit" message.
*/
/** Suppress the "Robots should not quit" message. */
public static void suppressExitWarning(boolean value) {
m_runMutex.lock();
m_suppressExitWarning = value;
m_runMutex.unlock();
}
/**
* Starting point for the applications.
*/
/** Starting point for the applications. */
public static <T extends RobotBase> void startRobot(Supplier<T> robotSupplier) {
if (!HAL.initialize(500, 0)) {
throw new IllegalStateException("Failed to initialize. Terminating");
@@ -389,14 +377,17 @@ public abstract class RobotBase implements AutoCloseable {
// Needed because all the OpenCV JNI functions don't have built in loading
CameraServerJNI.enumerateSinks();
HAL.report(tResourceType.kResourceType_Language, tInstances.kLanguage_Java, 0,
WPILibVersion.Version);
HAL.report(
tResourceType.kResourceType_Language, tInstances.kLanguage_Java, 0, WPILibVersion.Version);
if (HAL.hasMain()) {
Thread thread = new Thread(() -> {
runRobot(robotSupplier);
HAL.exitMain();
}, "robot main");
Thread thread =
new Thread(
() -> {
runRobot(robotSupplier);
HAL.exitMain();
},
"robot main");
thread.setDaemon(true);
thread.start();
HAL.runMain();