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Applies Google Styleguide to Java parts of the library (#23)

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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
2016-05-20 12:07:40 -04:00
committed by Peter Johnson
parent 64ab6e51fe
commit a834fff7b2
266 changed files with 15574 additions and 14718 deletions
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128
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Relay.java
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@@ -18,27 +18,28 @@ import edu.wpi.first.wpilibj.tables.ITableListener;
import edu.wpi.first.wpilibj.util.AllocationException;
import edu.wpi.first.wpilibj.util.CheckedAllocationException;
import static java.util.Objects.requireNonNull;
/**
* Class for VEX Robotics Spike style relay outputs. Relays are intended to be
* connected to Spikes or similar relays. The relay channels controls a pair of
* pins that are either both off, one on, the other on, or both on. This
* translates into two Spike outputs at 0v, one at 12v and one at 0v, one at 0v
* and the other at 12v, or two Spike outputs at 12V. This allows off, full
* forward, or full reverse control of motors without variable speed. It also
* allows the two channels (forward and reverse) to be used independently for
* something that does not care about voltage polarity (like a solenoid).
* Class for VEX Robotics Spike style relay outputs. Relays are intended to be connected to Spikes
* or similar relays. The relay channels controls a pair of pins that are either both off, one on,
* the other on, or both on. This translates into two Spike outputs at 0v, one at 12v and one at 0v,
* one at 0v and the other at 12v, or two Spike outputs at 12V. This allows off, full forward, or
* full reverse control of motors without variable speed. It also allows the two channels (forward
* and reverse) to be used independently for something that does not care about voltage polarity
* (like a solenoid).
*/
public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable {
private MotorSafetyHelper m_safetyHelper;
/**
* This class represents errors in trying to set relay values contradictory to
* the direction to which the relay is set.
* This class represents errors in trying to set relay values contradictory to the direction to
* which the relay is set.
*/
public class InvalidValueException extends RuntimeException {
/**
* Create a new exception with the given message
* Create a new exception with the given message.
*
* @param message the message to pass with the exception
*/
@@ -50,30 +51,31 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
/**
* The state to drive a Relay to.
*/
public static enum Value {
public enum Value {
/**
* value: off
* value: off.
*/
kOff(0),
/**
* value: on for relays with defined direction
* value: on for relays with defined direction.
*/
kOn(1),
/**
* value: forward
* value: forward.
*/
kForward(2),
/**
* value: reverse
* value: reverse.
*/
kReverse(3);
/**
* The integer value representing this enumeration
* The integer value representing this enumeration.
*/
@SuppressWarnings("MemberName")
public final int value;
private Value(int value) {
Value(int value) {
this.value = value;
}
}
@@ -81,27 +83,28 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
/**
* The Direction(s) that a relay is configured to operate in.
*/
public static enum Direction {
public enum Direction {
/**
* direction: both directions are valid
* direction: both directions are valid.
*/
kBoth(0),
/**
* direction: Only forward is valid
* direction: Only forward is valid.
*/
kForward(1),
/**
* direction: only reverse is valid
* direction: only reverse is valid.
*/
kReverse(2);
/**
* The integer value representing this enumeration
* The integer value representing this enumeration.
*/
@SuppressWarnings("MemberName")
public final int value;
private Direction(int value) {
Direction(int value) {
this.value = value;
}
@@ -114,9 +117,9 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
private static Resource relayChannels = new Resource(kRelayChannels * 2);
/**
* Common relay initialization method. This code is common to all Relay
* constructors and initializes the relay and reserves all resources that need
* to be locked. Initially the relay is set to both lines at 0v.
* Common relay initialization method. This code is common to all Relay constructors and
* initializes the relay and reserves all resources that need to be locked. Initially the relay is
* set to both lines at 0v.
*/
private void initRelay() {
SensorBase.checkRelayChannel(m_channel);
@@ -129,7 +132,7 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
relayChannels.allocate(m_channel * 2 + 1);
UsageReporting.report(tResourceType.kResourceType_Relay, m_channel + 128);
}
} catch (CheckedAllocationException e) {
} catch (CheckedAllocationException ex) {
throw new AllocationException("Relay channel " + m_channel + " is already allocated");
}
@@ -144,14 +147,12 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
/**
* Relay constructor given a channel.
*
* @param channel The channel number for this relay (0 - 3).
* @param channel The channel number for this relay (0 - 3).
* @param direction The direction that the Relay object will control.
*/
public Relay(final int channel, Direction direction) {
if (direction == null)
throw new NullPointerException("Null Direction was given");
m_channel = channel;
m_direction = direction;
m_direction = requireNonNull( direction, "Null Direction was given");
initRelay();
set(Value.kOff);
}
@@ -185,15 +186,13 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
/**
* Set the relay state.
*
* Valid values depend on which directions of the relay are controlled by the
* object.
* <p>Valid values depend on which directions of the relay are controlled by the object.
*
* When set to kBothDirections, the relay can be set to any of the four
* states: 0v-0v, 12v-0v, 0v-12v, 12v-12v
* <p>When set to kBothDirections, the relay can be set to any of the four states: 0v-0v, 12v-0v,
* 0v-12v, 12v-12v
*
* When set to kForwardOnly or kReverseOnly, you can specify the constant for
* the direction or you can simply specify kOff_val and kOn_val. Using only
* kOff_val and kOn_val is recommended.
* <p>When set to kForwardOnly or kReverseOnly, you can specify the constant for the direction or
* you can simply specify kOff_val and kOn_val. Using only kOff_val and kOn_val is recommended.
*
* @param value The state to set the relay.
*/
@@ -216,8 +215,10 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
break;
case kForward:
if (m_direction == Direction.kReverse)
throw new InvalidValueException("A relay configured for reverse cannot be set to forward");
if (m_direction == Direction.kReverse) {
throw new InvalidValueException("A relay configured for reverse cannot be set to "
+ "forward");
}
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
RelayJNI.setRelayForward(m_port, true);
}
@@ -226,8 +227,10 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
break;
case kReverse:
if (m_direction == Direction.kForward)
throw new InvalidValueException("A relay configured for forward cannot be set to reverse");
if (m_direction == Direction.kForward) {
throw new InvalidValueException("A relay configured for forward cannot be set to "
+ "reverse");
}
if (m_direction == Direction.kBoth) {
RelayJNI.setRelayForward(m_port, false);
}
@@ -241,11 +244,11 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
/**
* Get the Relay State
* Get the Relay State.
*
* Gets the current state of the relay.
* <p>Gets the current state of the relay.
*
* When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
* <p>When set to kForwardOnly or kReverseOnly, value is returned as kOn/kOff not
* kForward/kReverse (per the recommendation in Set)
*
* @return The current state of the relay as a Relay::Value
@@ -319,18 +322,18 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
/**
* Set the Relay Direction
* Set the Relay Direction.
*
* Changes which values the relay can be set to depending on which direction
* is used
* <p>Changes which values the relay can be set to depending on which direction is used
*
* Valid inputs are kBothDirections, kForwardOnly, and kReverseOnly
* <p>Valid inputs are kBothDirections, kForwardOnly, and kReverseOnly
*
* @param direction The direction for the relay to operate in
*/
public void setDirection(Direction direction) {
if (direction == null)
if (direction == null) {
throw new NullPointerException("Null Direction was given");
}
if (m_direction == direction) {
return;
}
@@ -351,28 +354,19 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
private ITable m_table;
private ITableListener m_table_listener;
private ITableListener m_tableListener;
/**
* {@inheritDoc}
*/
@Override
public void initTable(ITable subtable) {
m_table = subtable;
updateTable();
}
/**
* {@inheritDoc}
*/
@Override
public ITable getTable() {
return m_table;
}
/**
* {@inheritDoc}
*/
@Override
public void updateTable() {
if (m_table != null) {
@@ -388,12 +382,9 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
}
/**
* {@inheritDoc}
*/
@Override
public void startLiveWindowMode() {
m_table_listener = new ITableListener() {
m_tableListener = new ITableListener() {
@Override
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
String val = ((String) value);
@@ -408,15 +399,12 @@ public class Relay extends SensorBase implements MotorSafety, LiveWindowSendable
}
}
};
m_table.addTableListener("Value", m_table_listener, true);
m_table.addTableListener("Value", m_tableListener, true);
}
/**
* {@inheritDoc}
*/
@Override
public void stopLiveWindowMode() {
// TODO: Broken, should only remove the listener from "Value" only.
m_table.removeTableListener(m_table_listener);
m_table.removeTableListener(m_tableListener);
}
}