[wpilibj] Consistently use ErrorMessages.requireNonNullParam (#4776)

Also remove wpilibj version of ErrorMessages and consistently use static import.

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogGyro.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.AnalogGyroJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;

wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.AnalogJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;

wpilibj/src/main/java/edu/wpi/first/wpilibj/AsynchronousInterrupt.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import java.util.concurrent.atomic.AtomicBoolean;
 import java.util.function.BiConsumer;

wpilibj/src/main/java/edu/wpi/first/wpilibj/Counter.java

@@ -4,8 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.CounterJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -279,7 +278,7 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    * @param source the digital source to count
    */
   public void setDownSource(DigitalSource source) {
-    requireNonNull(source, "The Digital Source given was null");
+    requireNonNullParam(source, "source", "setDownSource");
 
     if (m_downSource != null && m_allocatedDownSource) {
       m_downSource.close();
@@ -312,7 +311,9 @@ public class Counter implements CounterBase, Sendable, AutoCloseable {
    * @param fallingEdge true to count the falling edge
    */
   public void setDownSourceEdge(boolean risingEdge, boolean fallingEdge) {
-    requireNonNull(m_downSource, "Down Source must be set before setting the edge!");
+    if (m_downSource == null) {
+      throw new IllegalStateException("Down Source must be set before setting the edge!");
+    }
 
     CounterJNI.setCounterDownSourceEdge(m_counter, risingEdge, fallingEdge);
   }

wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.EncoderJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;

wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;

wpilibj/src/main/java/edu/wpi/first/wpilibj/Notifier.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.NotifierJNI;
 import java.util.concurrent.atomic.AtomicInteger;
@@ -81,7 +81,7 @@ public class Notifier implements AutoCloseable {
    *     or StartPeriodic.
    */
   public Notifier(Runnable run) {
-    requireNonNull(run);
+    requireNonNullParam(run, "run", "Notifier");
 
     m_handler = run;
     m_notifier.set(NotifierJNI.initializeNotifier());

wpilibj/src/main/java/edu/wpi/first/wpilibj/Preferences.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;

wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;

wpilibj/src/main/java/edu/wpi/first/wpilibj/SynchronousInterrupt.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.InterruptJNI;
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj;
 
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;
@@ -142,8 +142,8 @@ public class Ultrasonic implements Sendable, AutoCloseable {
    * @param echoChannel The digital input object that times the return pulse to determine the range.
    */
   public Ultrasonic(DigitalOutput pingChannel, DigitalInput echoChannel) {
-    requireNonNull(pingChannel, "Provided ping channel was null");
-    requireNonNull(echoChannel, "Provided echo channel was null");
+    requireNonNullParam(pingChannel, "pingChannel", "Ultrasonic");
+    requireNonNullParam(echoChannel, "echoChannel", "Ultrasonic");
 
     m_allocatedChannels = false;
     m_pingChannel = pingChannel;

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/ExternalDirectionCounter.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.counter;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.CounterJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;

wpilibj/src/main/java/edu/wpi/first/wpilibj/counter/Tachometer.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.counter;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.CounterJNI;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.drive;
 
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -129,8 +129,8 @@ public class DifferentialDrive extends RobotDriveBase implements Sendable, AutoC
    * @param rightMotor Right motor.
    */
   public DifferentialDrive(MotorController leftMotor, MotorController rightMotor) {
-    requireNonNull(leftMotor, "Left motor cannot be null");
-    requireNonNull(rightMotor, "Right motor cannot be null");
+    requireNonNullParam(leftMotor, "leftMotor", "DifferentialDrive");
+    requireNonNullParam(rightMotor, "rightMotor", "DifferentialDrive");
 
     m_leftMotor = leftMotor;
     m_rightMotor = rightMotor;

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.drive;
 
-import static java.util.Objects.requireNonNull;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tInstances;
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -109,10 +109,10 @@ public class MecanumDrive extends RobotDriveBase implements Sendable, AutoClosea
       MotorController rearLeftMotor,
       MotorController frontRightMotor,
       MotorController rearRightMotor) {
-    requireNonNull(frontLeftMotor, "Front-left motor cannot be null");
-    requireNonNull(rearLeftMotor, "Rear-left motor cannot be null");
-    requireNonNull(frontRightMotor, "Front-right motor cannot be null");
-    requireNonNull(rearRightMotor, "Rear-right motor cannot be null");
+    requireNonNullParam(frontLeftMotor, "frontLeftMotor", "MecanumDrive");
+    requireNonNullParam(rearLeftMotor, "rearLeftMotor", "MecanumDrive");
+    requireNonNullParam(frontRightMotor, "frontRightMotor", "MecanumDrive");
+    requireNonNullParam(rearRightMotor, "rearRightMotor", "MecanumDrive");
 
     m_frontLeftMotor = frontLeftMotor;
     m_rearLeftMotor = rearLeftMotor;

wpilibj/src/main/java/edu/wpi/first/wpilibj/event/NetworkBooleanEvent.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.event;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.networktables.BooleanSubscriber;
 import edu.wpi.first.networktables.BooleanTopic;

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ContainerHelper.java

@@ -4,20 +4,20 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.networktables.GenericPublisher;
 import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableType;
 import edu.wpi.first.util.function.FloatSupplier;
 import edu.wpi.first.util.sendable.Sendable;
 import edu.wpi.first.util.sendable.SendableRegistry;
-import edu.wpi.first.wpilibj.util.ErrorMessages;
 import java.util.ArrayList;
 import java.util.HashSet;
 import java.util.LinkedHashMap;
 import java.util.List;
 import java.util.Map;
 import java.util.NoSuchElementException;
-import java.util.Objects;
 import java.util.Set;
 import java.util.function.BiConsumer;
 import java.util.function.BooleanSupplier;
@@ -58,7 +58,7 @@ final class ContainerHelper {
   }
 
   ComplexWidget add(String title, Sendable sendable) {
-    ErrorMessages.requireNonNullParam(sendable, "sendable", "add");
+    requireNonNullParam(sendable, "sendable", "add");
     checkTitle(title);
     ComplexWidget widget = new ComplexWidget(m_container, title, sendable);
     m_components.add(widget);
@@ -66,7 +66,7 @@ final class ContainerHelper {
   }
 
   ComplexWidget add(Sendable sendable) {
-    ErrorMessages.requireNonNullParam(sendable, "sendable", "add");
+    requireNonNullParam(sendable, "sendable", "add");
     String name = SendableRegistry.getName(sendable);
     if (name.isEmpty()) {
       throw new IllegalArgumentException("Sendable must have a name");
@@ -75,13 +75,13 @@ final class ContainerHelper {
   }
 
   SimpleWidget add(String title, Object defaultValue) {
-    Objects.requireNonNull(defaultValue, "Default value cannot be null");
+    requireNonNullParam(defaultValue, "defaultValue", "add");
     return add(title, NetworkTableType.getStringFromObject(defaultValue), defaultValue);
   }
 
   SimpleWidget add(String title, String typeString, Object defaultValue) {
-    Objects.requireNonNull(title, "Title cannot be null");
-    Objects.requireNonNull(defaultValue, "Default value cannot be null");
+    requireNonNullParam(title, "title", "add");
+    requireNonNullParam(defaultValue, "defaultValue", "add");
     checkTitle(title);
     checkNtType(defaultValue);
 
@@ -92,56 +92,58 @@ final class ContainerHelper {
   }
 
   SuppliedValueWidget<String> addString(String title, Supplier<String> valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addString");
     return addSupplied(title, "string", valueSupplier, GenericPublisher::setString);
   }
 
   SuppliedValueWidget<Double> addNumber(String title, DoubleSupplier valueSupplier) {
+    requireNonNullParam(title, "title", "addNumber");
+    requireNonNullParam(valueSupplier, "valueSupplier", "addNumber");
     return addDouble(title, valueSupplier);
   }
 
   SuppliedValueWidget<Double> addDouble(String title, DoubleSupplier valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addDouble");
     return addSupplied(title, "double", valueSupplier::getAsDouble, GenericPublisher::setDouble);
   }
 
   SuppliedValueWidget<Float> addFloat(String title, FloatSupplier valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addFloat");
     return addSupplied(title, "float", valueSupplier::getAsFloat, GenericPublisher::setFloat);
   }
 
   SuppliedValueWidget<Long> addInteger(String title, LongSupplier valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addInteger");
     return addSupplied(title, "int", valueSupplier::getAsLong, GenericPublisher::setInteger);
   }
 
   SuppliedValueWidget<Boolean> addBoolean(String title, BooleanSupplier valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addBoolean");
     return addSupplied(title, "boolean", valueSupplier::getAsBoolean, GenericPublisher::setBoolean);
   }
 
   SuppliedValueWidget<String[]> addStringArray(String title, Supplier<String[]> valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addStringArray");
     return addSupplied(title, "string[]", valueSupplier, GenericPublisher::setStringArray);
   }
 
   SuppliedValueWidget<double[]> addDoubleArray(String title, Supplier<double[]> valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addDoubleArray");
     return addSupplied(title, "double[]", valueSupplier, GenericPublisher::setDoubleArray);
   }
 
   SuppliedValueWidget<float[]> addFloatArray(String title, Supplier<float[]> valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addFloatArray");
     return addSupplied(title, "float[]", valueSupplier, GenericPublisher::setFloatArray);
   }
 
   SuppliedValueWidget<long[]> addIntegerArray(String title, Supplier<long[]> valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addIntegerArray");
     return addSupplied(title, "int[]", valueSupplier, GenericPublisher::setIntegerArray);
   }
 
   SuppliedValueWidget<boolean[]> addBooleanArray(String title, Supplier<boolean[]> valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addBooleanArray");
     return addSupplied(title, "boolean[]", valueSupplier, GenericPublisher::setBooleanArray);
   }
 
@@ -151,13 +153,13 @@ final class ContainerHelper {
 
   SuppliedValueWidget<byte[]> addRaw(
       String title, String typeString, Supplier<byte[]> valueSupplier) {
-    precheck(title, valueSupplier);
+    precheck(title, valueSupplier, "addRaw");
     return addSupplied(title, typeString, valueSupplier, GenericPublisher::setRaw);
   }
 
-  private void precheck(String title, Object valueSupplier) {
-    Objects.requireNonNull(title, "Title cannot be null");
-    Objects.requireNonNull(valueSupplier, "Value supplier cannot be null");
+  private void precheck(String title, Object valueSupplier, String methodName) {
+    requireNonNullParam(title, "title", methodName);
+    requireNonNullParam(valueSupplier, "valueSupplier", methodName);
     checkTitle(title);
   }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/SendableCameraWrapper.java

@@ -4,6 +4,8 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
+
 import edu.wpi.first.cscore.VideoSource;
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.networktables.NetworkTableInstance;
@@ -112,8 +114,8 @@ public final class SendableCameraWrapper implements Sendable, AutoCloseable {
       return m_wrappers.get(cameraName);
     }
 
-    Objects.requireNonNull(cameraName, "cameraName");
-    Objects.requireNonNull(cameraUrls, "cameraUrls");
+    requireNonNullParam(cameraName, "cameraName", "wrap");
+    requireNonNullParam(cameraUrls, "cameraUrls", "wrap");
     if (cameraName.isEmpty()) {
       throw new IllegalArgumentException("Camera name not specified");
     }

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardComponent.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.networktables.NetworkTable;
 import java.util.Map;

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.hal.FRCNetComm.tResourceType;
 import edu.wpi.first.hal.HAL;

wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardLayout.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.shuffleboard;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.networktables.NetworkTable;
 import edu.wpi.first.util.function.FloatSupplier;

wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java

@@ -4,7 +4,7 @@
 
 package edu.wpi.first.wpilibj.smartdashboard;
 
-import static edu.wpi.first.wpilibj.util.ErrorMessages.requireNonNullParam;
+import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
 
 import edu.wpi.first.networktables.IntegerPublisher;
 import edu.wpi.first.networktables.IntegerTopic;

wpilibj/src/main/java/edu/wpi/first/wpilibj/util/ErrorMessages.java

@@ -1,41 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-package edu.wpi.first.wpilibj.util;
-
-import static java.util.Objects.requireNonNull;
-
-/** Utility class for common WPILib error messages. */
-public final class ErrorMessages {
-  /** Utility class, so constructor is private. */
-  private ErrorMessages() {
-    throw new UnsupportedOperationException("This is a utility class!");
-  }
-
-  /**
-   * Requires that a parameter of a method not be null; prints an error message with helpful
-   * debugging instructions if the parameter is null.
-   *
-   * @param <T> Type of object.
-   * @param obj The parameter that must not be null.
-   * @param paramName The name of the parameter.
-   * @param methodName The name of the method.
-   * @return The object parameter confirmed not to be null.
-   */
-  public static <T> T requireNonNullParam(T obj, String paramName, String methodName) {
-    return requireNonNull(
-        obj,
-        "Parameter "
-            + paramName
-            + " in method "
-            + methodName
-            + " was null when it"
-            + " should not have been!  Check the stacktrace to find the responsible line of code - "
-            + "usually, it is the first line of user-written code indicated in the stacktrace.  "
-            + "Make sure all objects passed to the method in question were properly initialized -"
-            + " note that this may not be obvious if it is being called under "
-            + "dynamically-changing conditions!  Please do not seek additional technical assistance"
-            + " without doing this first!");
-  }
-}