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[build] Upgrade to PMD 7.2.0 (#6718)

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This commit is contained in:
Gold856
2024-06-09 01:08:23 -04:00
committed by GitHub
parent e2dcbd016d
commit b0cc84a9c7
64 changed files with 148 additions and 183 deletions
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4
apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java
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@@ -281,11 +281,11 @@ public class AprilTagFieldLayout {
private static class FieldDimensions {
@SuppressWarnings("MemberName")
@JsonProperty(value = "length")
public double fieldLength;
public final double fieldLength;
@SuppressWarnings("MemberName")
@JsonProperty(value = "width")
public double fieldWidth;
public final double fieldWidth;
@JsonCreator()
FieldDimensions(

2
cscore/src/main/java/edu/wpi/first/cscore/OpenCvLoader.java
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@@ -15,7 +15,7 @@ public final class OpenCvLoader {
static boolean libraryLoaded;
/** Sets whether JNI should be loaded in the static block. */
public static class Helper {
public static final class Helper {
private static AtomicBoolean extractOnStaticLoad = new AtomicBoolean(true);
/**

3
cscore/src/main/java/edu/wpi/first/cscore/VideoListener.java
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@@ -64,7 +64,10 @@ public class VideoListener implements AutoCloseable {
private static final ReentrantLock s_lock = new ReentrantLock();
private static final Map<Integer, Consumer<VideoEvent>> s_listeners = new HashMap<>();
@SuppressWarnings("PMD.SingularField")
private static Thread s_thread;
private static int s_poller;
private static boolean s_waitQueue;
private static final Condition s_waitQueueCond = s_lock.newCondition();

2
cscore/src/main/java/edu/wpi/first/cscore/VideoProperty.java
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@@ -212,5 +212,5 @@ public class VideoProperty {
}
int m_handle;
private Kind m_kind;
private final Kind m_kind;
}

1
hal/src/generate/FRCNetComm.java.in
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@@ -9,6 +9,7 @@ package edu.wpi.first.hal;
/**
* JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
*/
@SuppressWarnings("PMD.MissingStaticMethodInNonInstantiatableClass")
public final class FRCNetComm {
/**
* Resource type from UsageReporting.

1
hal/src/generated/main/java/edu/wpi/first/hal/FRCNetComm.java generated
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@@ -9,6 +9,7 @@ package edu.wpi.first.hal;
/**
* JNI wrapper for library <b>FRC_NetworkCommunication</b><br>.
*/
@SuppressWarnings("PMD.MissingStaticMethodInNonInstantiatableClass")
public final class FRCNetComm {
/**
* Resource type from UsageReporting.

4
hal/src/main/java/edu/wpi/first/hal/HAL.java
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@@ -82,7 +82,7 @@ public final class HAL extends JNIWrapper {
private static final List<Runnable> s_simPeriodicBefore = new ArrayList<>();
public static class SimPeriodicBeforeCallback implements AutoCloseable {
public static final class SimPeriodicBeforeCallback implements AutoCloseable {
private SimPeriodicBeforeCallback(Runnable r) {
m_run = r;
}
@@ -128,7 +128,7 @@ public final class HAL extends JNIWrapper {
private static final List<Runnable> s_simPeriodicAfter = new ArrayList<>();
public static class SimPeriodicAfterCallback implements AutoCloseable {
public static final class SimPeriodicAfterCallback implements AutoCloseable {
private SimPeriodicAfterCallback(Runnable r) {
m_run = r;
}

9
ntcore/src/generate/main/java/NetworkTableEntry.java.jinja
View File

@@ -541,14 +541,7 @@ public final class NetworkTableEntry implements Publisher, Subscriber {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
if (!(other instanceof NetworkTableEntry)) {
return false;
}
return m_handle == ((NetworkTableEntry) other).m_handle;
return other == this || other instanceof NetworkTableEntry entry && m_handle == entry.m_handle;
}
@Override

9
ntcore/src/generate/main/java/NetworkTableInstance.java.jinja
View File

@@ -43,7 +43,6 @@ import us.hebi.quickbuf.ProtoMessage;
* kept to the NetworkTableInstance returned by this function to keep it from being garbage
* collected.
*/
@SuppressWarnings("PMD.CouplingBetweenObjects")
public final class NetworkTableInstance implements AutoCloseable {
/** Client/server mode flag values (as returned by {@link #getNetworkMode()}). */
public enum NetworkMode {
@@ -493,7 +492,10 @@ public final class NetworkTableInstance implements AutoCloseable {
private static class ListenerStorage implements AutoCloseable {
private final ReentrantLock m_lock = new ReentrantLock();
private final Map<Integer, Consumer<NetworkTableEvent>> m_listeners = new HashMap<>();
@SuppressWarnings("PMD.SingularField")
private Thread m_thread;
private int m_poller;
private boolean m_waitQueue;
private final Event m_waitQueueEvent = new Event();
@@ -1239,10 +1241,7 @@ public final class NetworkTableInstance implements AutoCloseable {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
return other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
return other == this || other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
}
@Override

10
ntcore/src/generate/main/java/NetworkTableValue.java.jinja
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@@ -154,12 +154,10 @@ public final class NetworkTableValue {
{% endfor %}
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
return other instanceof NetworkTableValue ntOther
&& m_type == ntOther.m_type
&& m_value.equals(ntOther.m_value);
return other == this
|| other instanceof NetworkTableValue ntOther
&& m_type == ntOther.m_type
&& m_value.equals(ntOther.m_value);
}
@Override

9
ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableEntry.java generated
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@@ -942,14 +942,7 @@ public final class NetworkTableEntry implements Publisher, Subscriber {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
if (!(other instanceof NetworkTableEntry)) {
return false;
}
return m_handle == ((NetworkTableEntry) other).m_handle;
return other == this || other instanceof NetworkTableEntry entry && m_handle == entry.m_handle;
}
@Override

9
ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableInstance.java generated
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@@ -43,7 +43,6 @@ import us.hebi.quickbuf.ProtoMessage;
* kept to the NetworkTableInstance returned by this function to keep it from being garbage
* collected.
*/
@SuppressWarnings("PMD.CouplingBetweenObjects")
public final class NetworkTableInstance implements AutoCloseable {
/** Client/server mode flag values (as returned by {@link #getNetworkMode()}). */
public enum NetworkMode {
@@ -773,7 +772,10 @@ public final class NetworkTableInstance implements AutoCloseable {
private static class ListenerStorage implements AutoCloseable {
private final ReentrantLock m_lock = new ReentrantLock();
private final Map<Integer, Consumer<NetworkTableEvent>> m_listeners = new HashMap<>();
@SuppressWarnings("PMD.SingularField")
private Thread m_thread;
private int m_poller;
private boolean m_waitQueue;
private final Event m_waitQueueEvent = new Event();
@@ -1519,10 +1521,7 @@ public final class NetworkTableInstance implements AutoCloseable {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
return other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
return other == this || other instanceof NetworkTableInstance inst && m_handle == inst.m_handle;
}
@Override

10
ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableValue.java generated
View File

@@ -646,12 +646,10 @@ public final class NetworkTableValue {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
return other instanceof NetworkTableValue ntOther
&& m_type == ntOther.m_type
&& m_value.equals(ntOther.m_value);
return other == this
|| other instanceof NetworkTableValue ntOther
&& m_type == ntOther.m_type
&& m_value.equals(ntOther.m_value);
}
@Override

1
ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java
View File

@@ -18,7 +18,6 @@ import java.util.function.Consumer;
import us.hebi.quickbuf.ProtoMessage;
/** A network table that knows its subtable path. */
@SuppressWarnings("PMD.CouplingBetweenObjects")
public final class NetworkTable {
/** The path separator for sub-tables and keys. */
public static final char PATH_SEPARATOR = '/';

10
ntcore/src/main/java/edu/wpi/first/networktables/ProtobufTopic.java
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@@ -164,12 +164,10 @@ public final class ProtobufTopic<T> extends Topic {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
return other instanceof ProtobufTopic<?> topic
&& super.equals(topic)
&& m_proto == topic.m_proto;
return other == this
|| other instanceof ProtobufTopic<?> topic
&& super.equals(topic)
&& m_proto == topic.m_proto;
}
@Override

10
ntcore/src/main/java/edu/wpi/first/networktables/StructArrayTopic.java
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@@ -164,12 +164,10 @@ public final class StructArrayTopic<T> extends Topic {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
return other instanceof StructArrayTopic<?> topic
&& super.equals(topic)
&& m_struct == topic.m_struct;
return other == this
|| other instanceof StructArrayTopic<?> topic
&& super.equals(topic)
&& m_struct == topic.m_struct;
}
@Override

10
ntcore/src/main/java/edu/wpi/first/networktables/StructTopic.java
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@@ -163,12 +163,10 @@ public final class StructTopic<T> extends Topic {
@Override
public boolean equals(Object other) {
if (other == this) {
return true;
}
return other instanceof StructTopic<?> topic
&& super.equals(topic)
&& m_struct == topic.m_struct;
return other == this
|| other instanceof StructTopic<?> topic
&& super.equals(topic)
&& m_struct == topic.m_struct;
}
@Override

2
shared/java/javastyle.gradle
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@@ -13,7 +13,7 @@ checkstyle {
apply plugin: 'pmd'
pmd {
toolVersion = '6.55.0'
toolVersion = '7.2.0'
consoleOutput = true
reportsDir = file("$project.buildDir/reports/pmd")
ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))

17
styleguide/pmd-ruleset.xml
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@@ -38,24 +38,28 @@
value=".*'.*Arguments\(\)'.*" />
</properties>
</rule>
<rule ref="category/java/bestpractices.xml/UnusedLocalVariable">
<properties>
<property name="violationSuppressXPath" value="//Resource"/>
</properties>
</rule>
<rule ref="category/java/design.xml">
<exclude name="AvoidThrowingRawExceptionTypes" />
<exclude name="AvoidThrowingNewInstanceOfSameException" />
<exclude name="CognitiveComplexity" />
<exclude name="CouplingBetweenObjects" />
<exclude name="CyclomaticComplexity" />
<exclude name="DataClass" />
<exclude name="ExcessiveClassLength" />
<exclude name="ExceptionAsFlowControl" />
<exclude name="ExcessiveImports" />
<exclude name="ExcessiveMethodLength" />
<exclude name="ExcessiveParameterList" />
<exclude name="ExcessivePublicCount" />
<exclude name="GodClass" />
<exclude name="LawOfDemeter" />
<exclude name="LoosePackageCoupling" />
<exclude name="NPathComplexity" />
<exclude name="NcssConstructorCount" />
<exclude name="NcssCount" />
<exclude name="NcssMethodCount" />
<exclude name="TooManyFields" />
<exclude name="TooManyMethods" />
</rule>
@@ -67,10 +71,8 @@
<exclude name="AvoidLiteralsInIfCondition" />
<exclude name="CloseResource" />
<exclude name="ConstructorCallsOverridableMethod" />
<exclude name="DataflowAnomalyAnalysis" />
<exclude name="DoNotTerminateVM" />
<exclude name="EmptyCatchBlock" />
<exclude name="EmptyWhileStmt" />
<exclude name="FinalizeDoesNotCallSuperFinalize" />
<exclude name="JUnitSpelling" />
<exclude name="MissingSerialVersionUID" />
@@ -86,7 +88,6 @@
</rule>
<rule ref="category/java/performance.xml">
<exclude name="AvoidUsingShortType" />
<exclude name="AvoidInstantiatingObjectsInLoops" />
</rule>
@@ -98,7 +99,7 @@
<!-- Custom Rules -->
<rule name="UseRequireNonNull"
message="Use Objects.requireNonNull() instead of throwing a NullPointerException yourself."
language="java" class="net.sourceforge.pmd.lang.rule.XPathRule">
language="java" class="net.sourceforge.pmd.lang.rule.xpath.XPathRule">
<description>Use Objects.requireNonNull() instead of throwing a
NullPointerException yourself.</description>
<properties>

1
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroup.java
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@@ -41,6 +41,7 @@ public class ParallelRaceGroup extends Command {
*
* @param commands Commands to add to the group.
*/
@SuppressWarnings("PMD.UseArraysAsList")
public final void addCommands(Command... commands) {
if (!m_finished) {
throw new IllegalStateException(

1
wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/SequentialCommandGroup.java
View File

@@ -38,6 +38,7 @@ public class SequentialCommandGroup extends Command {
*
* @param commands Commands to add, in order of execution.
*/
@SuppressWarnings("PMD.UseArraysAsList")
public final void addCommands(Command... commands) {
if (m_currentCommandIndex != -1) {
throw new IllegalStateException(

2
wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SwerveControllerCommandTest.java
View File

@@ -51,7 +51,7 @@ class SwerveControllerCommandTest {
new SwerveModuleState(0, Rotation2d.kZero)
};
private SwerveModulePosition[] m_modulePositions =
private final SwerveModulePosition[] m_modulePositions =
new SwerveModulePosition[] {
new SwerveModulePosition(0, Rotation2d.kZero),
new SwerveModulePosition(0, Rotation2d.kZero),

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
View File

@@ -840,7 +840,7 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
if (calc_crc == imu_crc) {
// Timestamp is at buffer[i]
m_dt = ((double) buffer[i] - previous_timestamp) / 1000000.0;
m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
// Scale sensor data
gyro_rate_x = (toShort(buffer[i + 5], buffer[i + 6]) * 0.04);

2
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -825,7 +825,7 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
// Could be multiple data sets in the buffer. Handle each one.
for (int i = 0; i < data_to_read; i += dataset_len) {
// Timestamp is at buffer[i]
m_dt = ((double) buffer[i] - previous_timestamp) / 1000000.0;
m_dt = (buffer[i] - previous_timestamp) / 1000000.0;
/*
* System.out.println(((toInt(buffer[i + 3], buffer[i + 4], buffer[i + 5],

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

@@ -168,7 +168,7 @@ public class DigitalGlitchFilter implements Sendable, AutoCloseable {
public long getPeriodNanoSeconds() {
int fpgaCycles = getPeriodCycles();
return (long) fpgaCycles * 1000L / (long) (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
return fpgaCycles * 1000L / (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
}
@Override

32
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -11,7 +11,6 @@ import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.MatchInfoData;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.IntegerPublisher;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.StringPublisher;
import edu.wpi.first.util.EventVector;
@@ -32,13 +31,13 @@ public final class DriverStation {
/** Number of Joystick ports. */
public static final int kJoystickPorts = 6;
private static class HALJoystickButtons {
private static final class HALJoystickButtons {
public int m_buttons;
public byte m_count;
}
private static class HALJoystickAxes {
public float[] m_axes;
public final float[] m_axes;
public int m_count;
HALJoystickAxes(int count) {
@@ -47,7 +46,7 @@ public final class DriverStation {
}
private static class HALJoystickAxesRaw {
public int[] m_axes;
public final int[] m_axes;
@SuppressWarnings("unused")
public int m_count;
@@ -58,7 +57,7 @@ public final class DriverStation {
}
private static class HALJoystickPOVs {
public short[] m_povs;
public final short[] m_povs;
public int m_count;
HALJoystickPOVs(int count) {
@@ -94,16 +93,14 @@ public final class DriverStation {
@SuppressWarnings("MemberName")
private static class MatchDataSender {
NetworkTable table;
StringPublisher typeMetadata;
StringPublisher gameSpecificMessage;
StringPublisher eventName;
IntegerPublisher matchNumber;
IntegerPublisher replayNumber;
IntegerPublisher matchType;
BooleanPublisher alliance;
IntegerPublisher station;
IntegerPublisher controlWord;
final StringPublisher gameSpecificMessage;
final StringPublisher eventName;
final IntegerPublisher matchNumber;
final IntegerPublisher replayNumber;
final IntegerPublisher matchType;
final BooleanPublisher alliance;
final IntegerPublisher station;
final IntegerPublisher controlWord;
boolean oldIsRedAlliance = true;
int oldStationNumber = 1;
String oldEventName = "";
@@ -114,9 +111,8 @@ public final class DriverStation {
int oldControlWord;
MatchDataSender() {
table = NetworkTableInstance.getDefault().getTable("FMSInfo");
typeMetadata = table.getStringTopic(".type").publish();
typeMetadata.set("FMSInfo");
var table = NetworkTableInstance.getDefault().getTable("FMSInfo");
table.getStringTopic(".type").publish().set("FMSInfo");
gameSpecificMessage = table.getStringTopic("GameSpecificMessage").publish();
gameSpecificMessage.set("");
eventName = table.getStringTopic("EventName").publish();

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

@@ -25,7 +25,7 @@ public class PneumaticHub implements PneumaticsBase {
private int m_refCount;
private int m_reservedMask;
private boolean m_compressorReserved;
public int[] m_oneShotDurMs = new int[PortsJNI.getNumREVPHChannels()];
public final int[] m_oneShotDurMs = new int[PortsJNI.getNumREVPHChannels()];
private final Object m_reserveLock = new Object();
DataStore(int module) {

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/SPI.java
View File

@@ -54,8 +54,7 @@ public class SPI implements AutoCloseable {
}
}
private int m_port;
private int m_mode;
private final int m_port;
/**
* Constructor.
@@ -67,8 +66,7 @@ public class SPI implements AutoCloseable {
SPIJNI.spiInitialize(m_port);
m_mode = 0;
SPIJNI.spiSetMode(m_port, m_mode);
SPIJNI.spiSetMode(m_port, 0);
HAL.report(tResourceType.kResourceType_SPI, port.value + 1);
}
@@ -115,8 +113,7 @@ public class SPI implements AutoCloseable {
* @param mode The mode to set.
*/
public final void setMode(Mode mode) {
m_mode = mode.value & 0x3;
SPIJNI.spiSetMode(m_port, m_mode);
SPIJNI.spiSetMode(m_port, mode.value & 0x3);
}
/** Configure the chip select line to be active high. */

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

@@ -44,7 +44,9 @@ public class Ultrasonic implements Sendable, AutoCloseable {
private static Thread m_task;
private static int m_instances;
@SuppressWarnings("PMD.SingularField")
private SimDevice m_simDevice;
private SimBoolean m_simRangeValid;
private SimDouble m_simRange;
@@ -57,7 +59,7 @@ public class Ultrasonic implements Sendable, AutoCloseable {
* certainly break. Make sure to disable automatic mode before changing anything with the
* sensors!!
*/
private static class UltrasonicChecker extends Thread {
private static final class UltrasonicChecker extends Thread {
@Override
public synchronized void run() {
while (m_automaticEnabled) {

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/event/EventLoop.java
View File

@@ -31,6 +31,7 @@ public final class EventLoop {
}
/** Poll all bindings. */
@SuppressWarnings("PMD.UnusedAssignment")
public void poll() {
try {
m_running = true;

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

@@ -17,7 +17,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilderImpl;
* The LiveWindow class is the public interface for putting sensors and actuators on the LiveWindow.
*/
public final class LiveWindow {
private static class Component implements AutoCloseable {
private static final class Component implements AutoCloseable {
@Override
public void close() {
if (m_namePub != null) {

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

@@ -65,7 +65,7 @@ public class SendableBuilderImpl implements NTSendableBuilder {
void accept(T value, long time);
}
private static class Property<P extends Publisher, S extends Subscriber>
private static final class Property<P extends Publisher, S extends Subscriber>
implements AutoCloseable {
@Override
@SuppressWarnings("PMD.AvoidCatchingGenericException")

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

@@ -72,7 +72,7 @@ public class SysIdRoutineLog {
}
/** Logs data from a single motor during a SysIdRoutine. */
public class MotorLog {
public final class MotorLog {
private final String m_motorName;
/**

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbot/Constants.java
View File

@@ -28,7 +28,7 @@ public final class Constants {
public static final double kWheelDiameterInches = 6;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterInches * Math.PI) / kEncoderCPR;
}
public static final class ArmConstants {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/armbotoffboard/Constants.java
View File

@@ -28,7 +28,7 @@ public final class Constants {
public static final double kWheelDiameterInches = 6;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterInches * Math.PI) / kEncoderCPR;
}
public static final class ArmConstants {

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/frisbeebot/Constants.java
View File

@@ -28,7 +28,7 @@ public final class Constants {
public static final double kWheelDiameterInches = 6;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterInches * Math.PI) / kEncoderCPR;
}
public static final class ShooterConstants {
@@ -37,7 +37,7 @@ public final class Constants {
public static final int kEncoderCPR = 1024;
public static final double kEncoderDistancePerPulse =
// Distance units will be rotations
1.0 / (double) kEncoderCPR;
1.0 / kEncoderCPR;
public static final int kShooterMotorPort = 4;
public static final int kFeederMotorPort = 5;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gearsbot/Constants.java
View File

@@ -24,7 +24,7 @@ public final class Constants {
public static final double kWheelDiameterInches = 6;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterInches * Math.PI) / kEncoderCPR;
}
public static final class ClawConstants {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/gyrodrivecommands/Constants.java
View File

@@ -28,7 +28,7 @@ public final class Constants {
public static final double kWheelDiameterInches = 6;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterInches * Math.PI) / kEncoderCPR;
public static final boolean kGyroReversed = false;

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/Constants.java
View File

@@ -28,7 +28,7 @@ public final class Constants {
public static final double kWheelDiameterInches = 6;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterInches * Math.PI) / kEncoderCPR;
}
public static final class HatchConstants {

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/Constants.java
View File

@@ -28,7 +28,7 @@ public final class Constants {
public static final double kWheelDiameterInches = 6;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterInches * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterInches * Math.PI) / kEncoderCPR;
}
public static final class HatchConstants {

1
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/i2ccommunication/Robot.java
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@@ -37,6 +37,7 @@ public class Robot extends TimedRobot {
}
@Override
@SuppressWarnings("PMD.ConsecutiveLiteralAppends")
public void robotPeriodic() {
// Creates a string to hold current robot state information, including
// alliance, enabled state, operation mode, and match time. The message

2
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/mecanumcontrollercommand/Constants.java
View File

@@ -50,7 +50,7 @@ public final class Constants {
public static final double kWheelDiameterMeters = 0.15;
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterMeters * Math.PI) / kEncoderCPR;
// These are example values only - DO NOT USE THESE FOR YOUR OWN ROBOT!
// These characterization values MUST be determined either experimentally or theoretically

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/rapidreactcommandbot/Constants.java
View File

@@ -30,7 +30,7 @@ public final class Constants {
public static final double kWheelDiameterMeters = Units.inchesToMeters(6);
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterMeters * Math.PI) / kEncoderCPR;
}
public static final class ShooterConstants {
@@ -39,7 +39,7 @@ public final class Constants {
public static final int kEncoderCPR = 1024;
public static final double kEncoderDistancePerPulse =
// Distance units will be rotations
1.0 / (double) kEncoderCPR;
1.0 / kEncoderCPR;
public static final int kShooterMotorPort = 4;
public static final int kFeederMotorPort = 5;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand/Constants.java
View File

@@ -84,11 +84,11 @@ public final class Constants {
public static final double kWheelDiameterMeters = 0.15;
public static final double kDriveEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterMeters * Math.PI) / kEncoderCPR;
public static final double kTurningEncoderDistancePerPulse =
// Assumes the encoders are on a 1:1 reduction with the module shaft.
(2 * Math.PI) / (double) kEncoderCPR;
(2 * Math.PI) / kEncoderCPR;
public static final double kPModuleTurningController = 1;

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/sysid/Constants.java
View File

@@ -30,7 +30,7 @@ public final class Constants {
public static final double kWheelDiameterMeters = Units.inchesToMeters(6);
public static final double kEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * Math.PI) / (double) kEncoderCPR;
(kWheelDiameterMeters * Math.PI) / kEncoderCPR;
}
public static final class ShooterConstants {
@@ -39,7 +39,7 @@ public final class Constants {
public static final int kEncoderCPR = 1024;
public static final double kEncoderDistancePerPulse =
// Distance units will be rotations
1.0 / (double) kEncoderCPR;
1.0 / kEncoderCPR;
public static final int kShooterMotorPort = 4;
public static final int kFeederMotorPort = 5;

12
wpimath/src/main/java/edu/wpi/first/math/Matrix.java
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@@ -202,7 +202,7 @@ public class Matrix<R extends Num, C extends Num> {
* @return The mean value of this matrix.
*/
public final double mean() {
return this.elementSum() / (double) this.m_storage.getNumElements();
return this.elementSum() / this.m_storage.getNumElements();
}
/**
@@ -728,12 +728,10 @@ public class Matrix<R extends Num, C extends Num> {
*/
@Override
public boolean equals(Object other) {
if (this == other) {
return true;
}
return other instanceof Matrix<?, ?> matrix
&& !MatrixFeatures_DDRM.hasUncountable(matrix.m_storage.getDDRM())
&& MatrixFeatures_DDRM.isEquals(this.m_storage.getDDRM(), matrix.m_storage.getDDRM());
return this == other
|| other instanceof Matrix<?, ?> matrix
&& !MatrixFeatures_DDRM.hasUncountable(matrix.m_storage.getDDRM())
&& MatrixFeatures_DDRM.isEquals(this.m_storage.getDDRM(), matrix.m_storage.getDDRM());
}
@Override

10
wpimath/src/main/java/edu/wpi/first/math/Pair.java
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@@ -71,12 +71,10 @@ public class Pair<A, B> {
*/
@Override
public boolean equals(Object obj) {
if (obj == this) {
return true;
}
return obj instanceof Pair<?, ?> other
&& Objects.equals(m_first, other.getFirst())
&& Objects.equals(m_second, other.getSecond());
return obj == this
|| obj instanceof Pair<?, ?> other
&& Objects.equals(m_first, other.getFirst())
&& Objects.equals(m_second, other.getSecond());
}
@Override

2
wpimath/src/main/java/edu/wpi/first/math/estimator/KalmanFilterLatencyCompensator.java
View File

@@ -171,7 +171,7 @@ public class KalmanFilterLatencyCompensator<S extends Num, I extends Num, O exte
}
/** This class contains all the information about our observer at a given time. */
public class ObserverSnapshot {
public final class ObserverSnapshot {
/** The state estimate. */
public final Matrix<S, N1> xHat;

14
wpimath/src/main/java/edu/wpi/first/math/estimator/PoseEstimator.java
View File

@@ -271,7 +271,7 @@ public class PoseEstimator<T> {
* Represents an odometry record. The record contains the inputs provided as well as the pose that
* was observed based on these inputs, as well as the previous record and its inputs.
*/
private class InterpolationRecord implements Interpolatable<InterpolationRecord> {
private final class InterpolationRecord implements Interpolatable<InterpolationRecord> {
// The pose observed given the current sensor inputs and the previous pose.
private final Pose2d poseMeters;
@@ -325,13 +325,11 @@ public class PoseEstimator<T> {
@Override
public boolean equals(Object obj) {
if (this == obj) {
return true;
}
return obj instanceof PoseEstimator<?>.InterpolationRecord record
&& Objects.equals(gyroAngle, record.gyroAngle)
&& Objects.equals(wheelPositions, record.wheelPositions)
&& Objects.equals(poseMeters, record.poseMeters);
return this == obj
|| obj instanceof PoseEstimator<?>.InterpolationRecord record
&& Objects.equals(gyroAngle, record.gyroAngle)
&& Objects.equals(wheelPositions, record.wheelPositions)
&& Objects.equals(poseMeters, record.poseMeters);
}
@Override

12
wpimath/src/main/java/edu/wpi/first/math/kinematics/ChassisSpeeds.java
View File

@@ -391,13 +391,11 @@ public class ChassisSpeeds implements ProtobufSerializable, StructSerializable {
@Override
public boolean equals(Object o) {
if (o == this) {
return true;
}
return o instanceof ChassisSpeeds c
&& vxMetersPerSecond == c.vxMetersPerSecond
&& vyMetersPerSecond == c.vyMetersPerSecond
&& omegaRadiansPerSecond == c.omegaRadiansPerSecond;
return o == this
|| o instanceof ChassisSpeeds c
&& vxMetersPerSecond == c.vxMetersPerSecond
&& vyMetersPerSecond == c.vyMetersPerSecond
&& omegaRadiansPerSecond == c.omegaRadiansPerSecond;
}
@Override

2
wpimath/src/main/java/edu/wpi/first/math/spline/CubicHermiteSpline.java
View File

@@ -105,6 +105,7 @@ public class CubicHermiteSpline extends Spline {
*
* @return The hermite basis matrix for cubic hermite spline interpolation.
*/
@SuppressWarnings("PMD.UnnecessaryVarargsArrayCreation")
private SimpleMatrix makeHermiteBasis() {
if (hermiteBasis == null) {
// Given P(i), P'(i), P(i+1), P'(i+1), the control vectors, we want to find
@@ -148,6 +149,7 @@ public class CubicHermiteSpline extends Spline {
* @param finalVector The control vector for the final point.
* @return The control vector matrix for a dimension.
*/
@SuppressWarnings("PMD.UnnecessaryVarargsArrayCreation")
private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[] finalVector) {
if (initialVector.length < 2 || finalVector.length < 2) {
throw new IllegalArgumentException("Size of vectors must be 2 or greater.");

2
wpimath/src/main/java/edu/wpi/first/math/spline/QuinticHermiteSpline.java
View File

@@ -105,6 +105,7 @@ public class QuinticHermiteSpline extends Spline {
*
* @return The hermite basis matrix for quintic hermite spline interpolation.
*/
@SuppressWarnings("PMD.UnnecessaryVarargsArrayCreation")
private SimpleMatrix makeHermiteBasis() {
if (hermiteBasis == null) {
// Given P(i), P'(i), P"(i), P(i+1), P'(i+1), P"(i+1), the control vectors,
@@ -156,6 +157,7 @@ public class QuinticHermiteSpline extends Spline {
* @param finalVector The control vector for the final point.
* @return The control vector matrix for a dimension.
*/
@SuppressWarnings("PMD.UnnecessaryVarargsArrayCreation")
private SimpleMatrix getControlVectorFromArrays(double[] initialVector, double[] finalVector) {
if (initialVector.length != 3 || finalVector.length != 3) {
throw new IllegalArgumentException("Size of vectors must be 3");

2
wpimath/src/main/java/edu/wpi/first/math/spline/SplineHelper.java
View File

@@ -257,7 +257,7 @@ public final class SplineHelper {
CubicHermiteSpline cb = new CubicHermiteSpline(bInitial.x, bFinal.x, bInitial.y, bFinal.y);
// Calculate the second derivatives at the knot points.
SimpleMatrix bases = new SimpleMatrix(4, 1, true, new double[] {1, 1, 1, 1});
SimpleMatrix bases = new SimpleMatrix(4, 1, true, 1, 1, 1, 1);
SimpleMatrix combinedA = ca.getCoefficients().mult(bases);
double ddxA = combinedA.get(4, 0);

2
wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
View File

@@ -57,7 +57,7 @@ public final class SplineParameterizer {
}
/** Exception for malformed splines. */
public static class MalformedSplineException extends RuntimeException {
public static final class MalformedSplineException extends RuntimeException {
/**
* Create a new exception with the given message.
*

2
wpimath/src/main/java/edu/wpi/first/math/trajectory/ExponentialProfile.java
View File

@@ -70,7 +70,7 @@ public class ExponentialProfile {
}
/** Profile constraints. */
public static class Constraints {
public static final class Constraints {
/** Maximum unsigned input voltage. */
public final double maxInput;

8
wpiunits/src/main/java/edu/wpi/first/units/Measure.java
View File

@@ -299,11 +299,9 @@ public interface Measure<U extends Unit<U>> extends Comparable<Measure<U>> {
* @return true if this measure is equivalent, false otherwise
*/
default boolean isEquivalent(Measure<?> other) {
if (!this.unit().getBaseUnit().equals(other.unit().getBaseUnit())) {
return false; // Disjoint units, not compatible
}
return Math.abs(baseUnitMagnitude() - other.baseUnitMagnitude()) <= EQUIVALENCE_THRESHOLD;
// Check for disjoint units that aren't compatible
return this.unit().getBaseUnit().equals(other.unit().getBaseUnit())
&& Math.abs(baseUnitMagnitude() - other.baseUnitMagnitude()) <= EQUIVALENCE_THRESHOLD;
}
/** {@inheritDoc} */

4
wpiunits/src/main/java/edu/wpi/first/units/Mult.java
View File

@@ -66,9 +66,9 @@ public class Mult<A extends Unit<A>, B extends Unit<B>> extends Unit<Mult<A, B>>
* @param b the second unit
* @return the combined unit
*/
@SuppressWarnings({"unchecked", "rawtypes"})
@SuppressWarnings("unchecked")
public static <A extends Unit<A>, B extends Unit<B>> Mult<A, B> combine(A a, B b) {
final long key = ((long) a.hashCode()) << 32L | (((long) b.hashCode()) & 0xFFFFFFFFL);
final long key = ((long) a.hashCode()) << 32L | (b.hashCode() & 0xFFFFFFFFL);
if (cache.containsKey(key)) {
return cache.get(key);
}

3
wpiunits/src/main/java/edu/wpi/first/units/Per.java
View File

@@ -78,8 +78,7 @@ public class Per<N extends Unit<N>, D extends Unit<D>> extends Unit<Per<N, D>> {
@SuppressWarnings("unchecked")
public static <N extends Unit<N>, D extends Unit<D>> Per<N, D> combine(
N numerator, D denominator) {
final long key =
((long) numerator.hashCode()) << 32L | (((long) denominator.hashCode()) & 0xFFFFFFFFL);
final long key = ((long) numerator.hashCode()) << 32L | (denominator.hashCode() & 0xFFFFFFFFL);
var existing = cache.get(key);
if (existing != null) {

12
wpiunits/src/main/java/edu/wpi/first/units/Unit.java
View File

@@ -286,13 +286,11 @@ public class Unit<U extends Unit<U>> {
@Override
public boolean equals(Object o) {
if (this == o) {
return true;
}
return o instanceof Unit<?> that
&& m_name.equals(that.m_name)
&& m_symbol.equals(that.m_symbol)
&& this.equivalent(that);
return this == o
|| o instanceof Unit<?> that
&& m_name.equals(that.m_name)
&& m_symbol.equals(that.m_symbol)
&& this.equivalent(that);
}
@Override

4
wpiunits/src/main/java/edu/wpi/first/units/UnitBuilder.java
View File

@@ -69,7 +69,7 @@ public final class UnitBuilder<U extends Unit<U>> {
}
/** Helper class used for safely chaining mapping builder calls. */
public class MappingBuilder {
public final class MappingBuilder {
private final double m_minInput;
private final double m_maxInput;
@@ -271,7 +271,7 @@ public final class UnitBuilder<U extends Unit<U>> {
});
}
@SuppressWarnings("unchecked")
@SuppressWarnings({"unchecked", "PMD.AvoidAccessibilityAlteration"})
private static <U extends Unit<U>> Constructor<? extends Unit<U>> getConstructor(U baseUnit)
throws NoSuchMethodException {
var baseClass = baseUnit.getClass();

12
wpiunits/src/main/java/edu/wpi/first/units/Units.java
View File

@@ -419,7 +419,7 @@ public final class Units {
* @param symbol the symbol of the new derived unit
* @return the milli-unit
*/
@SuppressWarnings({"PMD.MethodName", "checkstyle:methodname"})
@SuppressWarnings("checkstyle:methodname")
public static <U extends Unit<U>> U Milli(Unit<U> baseUnit, String name, String symbol) {
return derive(baseUnit).splitInto(1000).named(name).symbol(symbol).make();
}
@@ -431,7 +431,7 @@ public final class Units {
* @param baseUnit the unit being derived from. This does not have to be the base unit of measure
* @return the milli-unit
*/
@SuppressWarnings({"PMD.MethodName", "checkstyle:methodname"})
@SuppressWarnings("checkstyle:methodname")
public static <U extends Unit<U>> U Milli(Unit<U> baseUnit) {
return Milli(
baseUnit, "Milli" + baseUnit.name().toLowerCase(Locale.ROOT), "m" + baseUnit.symbol());
@@ -447,7 +447,7 @@ public final class Units {
* @param symbol the symbol of the new derived unit
* @return the micro-unit
*/
@SuppressWarnings({"PMD.MethodName", "checkstyle:methodname"})
@SuppressWarnings("checkstyle:methodname")
public static <U extends Unit<U>> U Micro(Unit<U> baseUnit, String name, String symbol) {
return derive(baseUnit).splitInto(1_000_000).named(name).symbol(symbol).make();
}
@@ -459,7 +459,7 @@ public final class Units {
* @param baseUnit the unit being derived from. This does not have to be the base unit of measure
* @return the micro-unit
*/
@SuppressWarnings({"PMD.MethodName", "checkstyle:methodname"})
@SuppressWarnings("checkstyle:methodname")
public static <U extends Unit<U>> U Micro(Unit<U> baseUnit) {
return Micro(
baseUnit, "Micro" + baseUnit.name().toLowerCase(Locale.ROOT), "u" + baseUnit.symbol());
@@ -474,7 +474,7 @@ public final class Units {
* @param symbol the symbol of the new derived unit
* @return the kilo-unit
*/
@SuppressWarnings({"PMD.MethodName", "checkstyle:methodname"})
@SuppressWarnings("checkstyle:methodname")
public static <U extends Unit<U>> U Kilo(Unit<U> baseUnit, String name, String symbol) {
return derive(baseUnit).aggregate(1000).named(name).symbol(symbol).make();
}
@@ -486,7 +486,7 @@ public final class Units {
* @param baseUnit the unit being derived from. This does not have to be the base unit of measure
* @return the kilo-unit
*/
@SuppressWarnings({"PMD.MethodName", "checkstyle:methodname"})
@SuppressWarnings("checkstyle:methodname")
public static <U extends Unit<U>> U Kilo(Unit<U> baseUnit) {
return Kilo(
baseUnit, "Kilo" + baseUnit.name().toLowerCase(Locale.ROOT), "K" + baseUnit.symbol());

2
wpiunits/src/main/java/edu/wpi/first/units/Velocity.java
View File

@@ -33,7 +33,7 @@ public class Velocity<D extends Unit<D>> extends Unit<Velocity<D>> {
/** Generates a cache key used for cache lookups. */
private static long cacheKey(Unit<?> numerator, Unit<?> denominator) {
return ((long) numerator.hashCode()) << 32L | (((long) denominator.hashCode()) & 0xFFFFFFFFL);
return ((long) numerator.hashCode()) << 32L | (denominator.hashCode() & 0xFFFFFFFFL);
}
/**

3
wpiutil/src/main/java/edu/wpi/first/util/struct/StructDescriptorDatabase.java
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@@ -119,8 +119,7 @@ public class StructDescriptorDatabase {
} else {
// check for circular reference
if (!theStruct.checkCircular(stack)) {
StringBuilder builder = new StringBuilder();
builder.append("circular struct reference: ");
StringBuilder builder = new StringBuilder("circular struct reference: ");
boolean first = true;
for (StructDescriptor elem : stack) {
if (!first) {

5
xrpVendordep/src/main/java/edu/wpi/first/wpilibj/xrp/XRPMotor.java
View File

@@ -92,10 +92,7 @@ public class XRPMotor implements MotorController {
@Override
public boolean getInverted() {
if (m_simInverted != null) {
return m_simInverted.get();
}
return false;
return m_simInverted != null && m_simInverted.get();
}
@Override