mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
Applies Google Styleguide to Java parts of the library (#23)
This was partially applied to simulation but simulation is a bit of a mess and has a lot of duplicated code.
This commit is contained in:
Jonathan Leitschuh
committed by
Peter Johnson
Peter Johnson
parent
64ab6e51fe
commit
a834fff7b2
@@ -10,29 +10,28 @@ package edu.wpi.first.wpilibj;
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import java.nio.ByteBuffer;
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import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary;
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import edu.wpi.first.wpilibj.communication.HALControlWord;
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import edu.wpi.first.wpilibj.communication.HALAllianceStationID;
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import edu.wpi.first.wpilibj.communication.HALControlWord;
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import edu.wpi.first.wpilibj.hal.HALUtil;
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import edu.wpi.first.wpilibj.hal.PowerJNI;
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/**
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* Provide access to the network communication data to / from the Driver
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* Station.
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* Provide access to the network communication data to / from the Driver Station.
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*/
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public class DriverStation implements RobotState.Interface {
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/**
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* Number of Joystick Ports
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* Number of Joystick Ports.
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*/
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public static final int kJoystickPorts = 6;
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private class HALJoystickButtons {
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public int buttons;
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public byte count;
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public int m_buttons;
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public byte m_count;
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}
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/**
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* The robot alliance that the robot is a part of
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* The robot alliance that the robot is a part of.
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*/
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public enum Alliance {
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Red, Blue, Invalid
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@@ -69,7 +68,7 @@ public class DriverStation implements RobotState.Interface {
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private Thread m_thread;
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private final Object m_dataSem;
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private volatile boolean m_thread_keepalive = true;
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private volatile boolean m_threadKeepAlive = true;
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private boolean m_userInDisabled = false;
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private boolean m_userInAutonomous = false;
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private boolean m_userInTeleop = false;
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@@ -90,8 +89,8 @@ public class DriverStation implements RobotState.Interface {
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/**
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* DriverStation constructor.
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*
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* The single DriverStation instance is created statically with the instance
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* static member variable.
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* <p>The single DriverStation instance is created statically with the instance static member
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* variable.
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*/
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protected DriverStation() {
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m_dataSem = new Object();
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@@ -110,18 +109,18 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Kill the thread
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* Kill the thread.
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*/
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public void release() {
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m_thread_keepalive = false;
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m_threadKeepAlive = false;
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}
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/**
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* Provides the service routine for the DS polling thread.
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* Provides the service routine for the DS polling m_thread.
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*/
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private void task() {
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int safetyCounter = 0;
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while (m_thread_keepalive) {
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while (m_threadKeepAlive) {
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HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex);
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synchronized (this) {
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getData();
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@@ -156,8 +155,8 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Wait for new data or for timeout, which ever comes first. If timeout is 0,
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* wait for new data only.
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* Wait for new data or for timeout, which ever comes first. If timeout is 0, wait for new data
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* only.
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*
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* @param timeout The maximum time in milliseconds to wait.
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*/
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@@ -166,14 +165,14 @@ public class DriverStation implements RobotState.Interface {
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try {
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m_dataSem.wait(timeout);
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} catch (InterruptedException ex) {
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Thread.currentThread().interrupt();
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}
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}
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}
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/**
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* Copy data from the DS task for the user. If no new data exists, it will
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* just be returned, otherwise the data will be copied from the DS polling
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* loop.
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* Copy data from the DS task for the user. If no new data exists, it will just be returned,
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* otherwise the data will be copied from the DS polling loop.
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*/
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protected synchronized void getData() {
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@@ -182,9 +181,9 @@ public class DriverStation implements RobotState.Interface {
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m_joystickAxes[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickAxes(stick);
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m_joystickPOVs[stick] = FRCNetworkCommunicationsLibrary.HALGetJoystickPOVs(stick);
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ByteBuffer countBuffer = ByteBuffer.allocateDirect(1);
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m_joystickButtons[stick].buttons =
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FRCNetworkCommunicationsLibrary.HALGetJoystickButtons((byte) stick, countBuffer);
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m_joystickButtons[stick].count = countBuffer.get();
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m_joystickButtons[stick].m_buttons =
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FRCNetworkCommunicationsLibrary.HALGetJoystickButtons(stick, countBuffer);
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m_joystickButtons[stick].m_count = countBuffer.get();
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}
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m_newControlData = true;
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@@ -200,8 +199,8 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Reports errors related to unplugged joysticks Throttles the errors so that
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* they don't overwhelm the DS
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* Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm
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* the DS.
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*/
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private void reportJoystickUnpluggedError(String message) {
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double currentTime = Timer.getFPGATimestamp();
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@@ -212,8 +211,8 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Reports errors related to unplugged joysticks Throttles the errors so that
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* they don't overwhelm the DS
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* Reports errors related to unplugged joysticks Throttles the errors so that they don't overwhelm
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* the DS.
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*/
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private void reportJoystickUnpluggedWarning(String message) {
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double currentTime = Timer.getFPGATimestamp();
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@@ -224,11 +223,11 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Get the value of the axis on a joystick. This depends on the mapping of the
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* joystick connected to the specified port.
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* Get the value of the axis on a joystick. This depends on the mapping of the joystick connected
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* to the specified port.
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*
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* @param stick The joystick to read.
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* @param axis The analog axis value to read from the joystick.
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* @param axis The analog axis value to read from the joystick.
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* @return The value of the axis on the joystick.
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*/
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public synchronized double getStickAxis(int stick, int axis) {
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@@ -256,7 +255,7 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Returns the number of axes on a given joystick port
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* Returns the number of axes on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of axes on the indicated joystick
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@@ -294,7 +293,7 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Returns the number of POVs on a given joystick port
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* Returns the number of POVs on a given joystick port.
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*
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* @param stick The joystick port number
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* @return The number of POVs on the indicated joystick
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@@ -319,13 +318,13 @@ public class DriverStation implements RobotState.Interface {
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throw new RuntimeException("Joystick index is out of range, should be 0-3");
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}
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return m_joystickButtons[stick].buttons;
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return m_joystickButtons[stick].m_buttons;
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}
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/**
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* The state of one joystick button. Button indexes begin at 1.
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*
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* @param stick The joystick to read.
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* @param stick The joystick to read.
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* @param button The button index, beginning at 1.
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* @return The state of the joystick button.
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*/
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@@ -335,7 +334,7 @@ public class DriverStation implements RobotState.Interface {
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}
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if (button > m_joystickButtons[stick].count) {
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if (button > m_joystickButtons[stick].m_count) {
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reportJoystickUnpluggedWarning("Joystick Button " + button + " on port " + stick
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+ " not available, check if controller is plugged in");
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return false;
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@@ -344,11 +343,11 @@ public class DriverStation implements RobotState.Interface {
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reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java");
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return false;
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}
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return ((0x1 << (button - 1)) & m_joystickButtons[stick].buttons) != 0;
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return ((0x1 << (button - 1)) & m_joystickButtons[stick].m_buttons) != 0;
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}
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/**
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* Gets the number of buttons on a joystick
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* Gets the number of buttons on a joystick.
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*
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* @param stick The joystick port number
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* @return The number of buttons on the indicated joystick
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@@ -360,11 +359,11 @@ public class DriverStation implements RobotState.Interface {
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}
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return m_joystickButtons[stick].count;
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return m_joystickButtons[stick].m_count;
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}
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/**
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* Gets the value of isXbox on a joystick
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* Gets the value of isXbox on a joystick.
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*
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* @param stick The joystick port number
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* @return A boolean that returns the value of isXbox
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@@ -376,7 +375,7 @@ public class DriverStation implements RobotState.Interface {
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}
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// TODO: Remove this when calling for descriptor on empty stick no longer
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// crashes
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if (1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
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if (1 > m_joystickButtons[stick].m_count && 1 > m_joystickAxes[stick].length) {
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reportJoystickUnpluggedWarning("Joystick on port " + stick
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+ " not available, check if controller is plugged in");
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return false;
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@@ -389,7 +388,7 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Gets the value of type on a joystick
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* Gets the value of type on a joystick.
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*
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* @param stick The joystick port number
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* @return The value of type
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@@ -401,7 +400,7 @@ public class DriverStation implements RobotState.Interface {
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}
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// TODO: Remove this when calling for descriptor on empty stick no longer
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// crashes
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if (1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
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if (1 > m_joystickButtons[stick].m_count && 1 > m_joystickAxes[stick].length) {
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reportJoystickUnpluggedWarning("Joystick on port " + stick
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+ " not available, check if controller is plugged in");
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return -1;
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@@ -410,7 +409,7 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Gets the name of the joystick at a port
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* Gets the name of the joystick at a port.
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*
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* @param stick The joystick port number
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* @return The value of name
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@@ -422,7 +421,7 @@ public class DriverStation implements RobotState.Interface {
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}
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// TODO: Remove this when calling for descriptor on empty stick no longer
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// crashes
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if (1 > m_joystickButtons[stick].count && 1 > m_joystickAxes[stick].length) {
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if (1 > m_joystickButtons[stick].m_count && 1 > m_joystickAxes[stick].length) {
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reportJoystickUnpluggedWarning("Joystick on port " + stick
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+ " not available, check if controller is plugged in");
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return "";
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@@ -431,8 +430,7 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Gets a value indicating whether the Driver Station requires the robot to be
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* enabled.
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* Gets a value indicating whether the Driver Station requires the robot to be enabled.
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*
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* @return True if the robot is enabled, false otherwise.
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*/
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@@ -442,8 +440,7 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Gets a value indicating whether the Driver Station requires the robot to be
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* disabled.
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* Gets a value indicating whether the Driver Station requires the robot to be disabled.
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*
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* @return True if the robot should be disabled, false otherwise.
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*/
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@@ -452,8 +449,8 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Gets a value indicating whether the Driver Station requires the robot to be
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* running in autonomous mode.
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* Gets a value indicating whether the Driver Station requires the robot to be running in
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* autonomous mode.
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*
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* @return True if autonomous mode should be enabled, false otherwise.
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*/
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@@ -463,9 +460,9 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Gets a value indicating whether the Driver Station requires the robot to be
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* running in test mode.
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*$
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* Gets a value indicating whether the Driver Station requires the robot to be running in test
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* mode.
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*
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* @return True if test mode should be enabled, false otherwise.
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*/
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public boolean isTest() {
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@@ -474,20 +471,18 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Gets a value indicating whether the Driver Station requires the robot to be
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* running in operator-controlled mode.
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* Gets a value indicating whether the Driver Station requires the robot to be running in
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* operator-controlled mode.
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*
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* @return True if operator-controlled mode should be enabled, false
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* otherwise.
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* @return True if operator-controlled mode should be enabled, false otherwise.
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*/
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public boolean isOperatorControl() {
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return !(isAutonomous() || isTest());
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}
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/**
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* Gets a value indicating whether the FPGA outputs are enabled. The outputs
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* may be disabled if the robot is disabled or e-stopped, the watdhog has
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* expired, or if the roboRIO browns out.
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* Gets a value indicating whether the FPGA outputs are enabled. The outputs may be disabled if
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* the robot is disabled or e-stopped, the watdhog has expired, or if the roboRIO browns out.
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*
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* @return True if the FPGA outputs are enabled.
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*/
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@@ -497,7 +492,7 @@ public class DriverStation implements RobotState.Interface {
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/**
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* Check if the system is browned out.
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*$
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*
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* @return True if the system is browned out
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*/
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public boolean isBrownedOut() {
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@@ -505,9 +500,9 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Has a new control packet from the driver station arrived since the last
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* time this function was called?
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*$
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* Has a new control packet from the driver station arrived since the last time this function was
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* called?
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*
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* @return True if the control data has been updated since the last call.
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*/
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public synchronized boolean isNewControlData() {
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@@ -517,8 +512,8 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Get the current alliance from the FMS
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*$
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* Get the current alliance from the FMS.
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*
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* @return the current alliance
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*/
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public Alliance getAlliance() {
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@@ -574,11 +569,10 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Is the driver station attached to a Field Management System? Note: This
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* does not work with the Blue DS.
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*$
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* @return True if the robot is competing on a field being controlled by a
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* Field Management System
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* Is the driver station attached to a Field Management System? Note: This does not work with the
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* Blue DS.
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*
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* @return True if the robot is competing on a field being controlled by a Field Management System
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*/
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public boolean isFMSAttached() {
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HALControlWord controlWord = FRCNetworkCommunicationsLibrary.HALGetControlWord();
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@@ -591,14 +585,12 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Return the approximate match time The FMS does not send an official match
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* time to the robots, but does send an approximate match time. The value will
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* count down the time remaining in the current period (auto or teleop).
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* Warning: This is not an official time (so it cannot be used to dispute ref
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* calls or guarantee that a function will trigger before the match ends) The
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* Practice Match function of the DS approximates the behaviour seen on the
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* field.
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*$
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* Return the approximate match time The FMS does not send an official match time to the robots,
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* but does send an approximate match time. The value will count down the time remaining in the
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* current period (auto or teleop). Warning: This is not an official time (so it cannot be used to
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* dispute ref calls or guarantee that a function will trigger before the match ends) The
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* Practice Match function of the DS approximates the behaviour seen on the field.
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*
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* @return Time remaining in current match period (auto or teleop) in seconds
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*/
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public double getMatchTime() {
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@@ -606,9 +598,9 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Report error to Driver Station. Also prints error to System.err Optionally
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* appends Stack trace to error message
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*$
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* Report error to Driver Station. Also prints error to System.err Optionally appends Stack trace
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* to error message.
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*
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* @param printTrace If true, append stack trace to error string
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*/
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public static void reportError(String error, boolean printTrace) {
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@@ -616,25 +608,26 @@ public class DriverStation implements RobotState.Interface {
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}
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/**
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* Report warning to Driver Station. Also prints error to System.err Optionally
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* appends Stack trace to warning message
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*$
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* Report warning to Driver Station. Also prints error to System.err Optionally appends Stack
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* trace to warning message.
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*
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* @param printTrace If true, append stack trace to warning string
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*/
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public static void reportWarning(String error, boolean printTrace) {
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reportErrorImpl(false, 1, error, printTrace);
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}
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private static void reportErrorImpl(boolean is_error, int code, String error, boolean printTrace) {
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private static void reportErrorImpl(boolean isError, int code, String error, boolean
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printTrace) {
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StackTraceElement[] traces = Thread.currentThread().getStackTrace();
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String locString;
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if (traces.length > 3)
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if (traces.length > 3) {
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locString = traces[3].toString();
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else
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} else {
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locString = new String();
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}
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boolean haveLoc = false;
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String traceString = new String();
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traceString = " at ";
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String traceString = " at ";
|
||||
for (int i = 3; i < traces.length; i++) {
|
||||
String loc = traces[i].toString();
|
||||
traceString += loc + "\n";
|
||||
@@ -644,48 +637,50 @@ public class DriverStation implements RobotState.Interface {
|
||||
haveLoc = true;
|
||||
}
|
||||
}
|
||||
FRCNetworkCommunicationsLibrary.HALSendError(is_error, code, false, error, locString, printTrace ? traceString : "", true);
|
||||
FRCNetworkCommunicationsLibrary.HALSendError(isError, code, false, error, locString,
|
||||
printTrace ? traceString : "", true);
|
||||
}
|
||||
|
||||
/**
|
||||
* Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing for diagnostic purposes only
|
||||
*$
|
||||
* @param entering If true, starting disabled code; if false, leaving disabled
|
||||
* code
|
||||
* Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
|
||||
* purposes only.
|
||||
*
|
||||
* @param entering If true, starting disabled code; if false, leaving disabled code
|
||||
*/
|
||||
@SuppressWarnings("MethodName")
|
||||
public void InDisabled(boolean entering) {
|
||||
m_userInDisabled = entering;
|
||||
}
|
||||
|
||||
/**
|
||||
* Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing for diagnostic purposes only
|
||||
*$
|
||||
* @param entering If true, starting autonomous code; if false, leaving
|
||||
* autonomous code
|
||||
* Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
|
||||
* purposes only.
|
||||
*
|
||||
* @param entering If true, starting autonomous code; if false, leaving autonomous code
|
||||
*/
|
||||
@SuppressWarnings("MethodName")
|
||||
public void InAutonomous(boolean entering) {
|
||||
m_userInAutonomous = entering;
|
||||
}
|
||||
|
||||
/**
|
||||
* Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing for diagnostic purposes only
|
||||
*$
|
||||
* @param entering If true, starting teleop code; if false, leaving teleop
|
||||
* code
|
||||
* Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
|
||||
* purposes only.
|
||||
*
|
||||
* @param entering If true, starting teleop code; if false, leaving teleop code
|
||||
*/
|
||||
@SuppressWarnings("MethodName")
|
||||
public void InOperatorControl(boolean entering) {
|
||||
m_userInTeleop = entering;
|
||||
}
|
||||
|
||||
/**
|
||||
* Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing for diagnostic purposes only
|
||||
*$
|
||||
* Only to be used to tell the Driver Station what code you claim to be executing for diagnostic
|
||||
* purposes only.
|
||||
*
|
||||
* @param entering If true, starting test code; if false, leaving test code
|
||||
*/
|
||||
@SuppressWarnings("MethodName")
|
||||
public void InTest(boolean entering) {
|
||||
m_userInTest = entering;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user