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Use Java 17 features (#6691)

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Uses enhanced instanceof (and simplify equals methods)
Uses switch expressions and arrow labels
Seal and finalize some Shuffleboard classes

Co-authored-by: Sam Carlberg <sam@slfc.dev>
This commit is contained in:
Gold856
2024-06-05 00:09:10 -04:00
committed by GitHub
parent d6b66bfa55
commit b99d9c1710
95 changed files with 957 additions and 1594 deletions
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30
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java
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@@ -1057,16 +1057,11 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
* @return Yaw axis angle in degrees (CCW positive).
*/
public synchronized double getAngle() {
switch (m_yaw_axis) {
case kX:
return getGyroAngleX();
case kY:
return getGyroAngleY();
case kZ:
return getGyroAngleZ();
default:
return 0.0;
}
return switch (m_yaw_axis) {
case kX -> getGyroAngleX();
case kY -> getGyroAngleY();
case kZ -> getGyroAngleZ();
};
}
/**
@@ -1075,16 +1070,11 @@ public class ADIS16448_IMU implements AutoCloseable, Sendable {
* @return Yaw axis angular rate in degrees per second (CCW positive).
*/
public synchronized double getRate() {
switch (m_yaw_axis) {
case kX:
return getGyroRateX();
case kY:
return getGyroRateY();
case kZ:
return getGyroRateZ();
default:
return 0.0;
}
return switch (m_yaw_axis) {
case kX -> getGyroRateX();
case kY -> getGyroRateY();
case kZ -> getGyroRateZ();
};
}
/**

186
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java
View File

@@ -1061,30 +1061,21 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @param angle A double in degrees (CCW positive)
*/
public void setGyroAngle(IMUAxis axis, double angle) {
switch (axis) {
case kYaw:
axis = m_yaw_axis;
break;
case kPitch:
axis = m_pitch_axis;
break;
case kRoll:
axis = m_roll_axis;
break;
default:
}
axis =
switch (axis) {
case kYaw -> m_yaw_axis;
case kPitch -> m_pitch_axis;
case kRoll -> m_roll_axis;
default -> axis;
};
switch (axis) {
case kX:
this.setGyroAngleX(angle);
break;
case kY:
this.setGyroAngleY(angle);
break;
case kZ:
this.setGyroAngleZ(angle);
break;
default:
case kX -> setGyroAngleX(angle);
case kY -> setGyroAngleY(angle);
case kZ -> setGyroAngleZ(angle);
default -> {
// NOP
}
}
}
@@ -1131,39 +1122,35 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return The axis angle in degrees (CCW positive).
*/
public synchronized double getAngle(IMUAxis axis) {
switch (axis) {
case kYaw:
axis = m_yaw_axis;
break;
case kPitch:
axis = m_pitch_axis;
break;
case kRoll:
axis = m_roll_axis;
break;
default:
}
axis =
switch (axis) {
case kYaw -> m_yaw_axis;
case kPitch -> m_pitch_axis;
case kRoll -> m_roll_axis;
default -> axis;
};
switch (axis) {
case kX:
return switch (axis) {
case kX -> {
if (m_simGyroAngleX != null) {
return m_simGyroAngleX.get();
yield m_simGyroAngleX.get();
}
return m_integ_angle_x;
case kY:
yield m_integ_angle_x;
}
case kY -> {
if (m_simGyroAngleY != null) {
return m_simGyroAngleY.get();
yield m_simGyroAngleY.get();
}
return m_integ_angle_y;
case kZ:
yield m_integ_angle_y;
}
case kZ -> {
if (m_simGyroAngleZ != null) {
return m_simGyroAngleZ.get();
yield m_simGyroAngleZ.get();
}
return m_integ_angle_z;
default:
}
return 0.0;
yield m_integ_angle_z;
}
default -> 0.0;
};
}
/**
@@ -1172,25 +1159,27 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return The Yaw axis angle in degrees (CCW positive).
*/
public synchronized double getAngle() {
switch (m_yaw_axis) {
case kX:
return switch (m_yaw_axis) {
case kX -> {
if (m_simGyroAngleX != null) {
return m_simGyroAngleX.get();
yield m_simGyroAngleX.get();
}
return m_integ_angle_x;
case kY:
yield m_integ_angle_x;
}
case kY -> {
if (m_simGyroAngleY != null) {
return m_simGyroAngleY.get();
yield m_simGyroAngleY.get();
}
return m_integ_angle_y;
case kZ:
yield m_integ_angle_y;
}
case kZ -> {
if (m_simGyroAngleZ != null) {
return m_simGyroAngleZ.get();
yield m_simGyroAngleZ.get();
}
return m_integ_angle_z;
default:
}
return 0.0;
yield m_integ_angle_z;
}
default -> 0.0;
};
}
/**
@@ -1200,38 +1189,35 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return Axis angular rate in degrees per second (CCW positive).
*/
public synchronized double getRate(IMUAxis axis) {
switch (axis) {
case kYaw:
axis = m_yaw_axis;
break;
case kPitch:
axis = m_pitch_axis;
break;
case kRoll:
axis = m_roll_axis;
break;
default:
}
axis =
switch (axis) {
case kYaw -> m_yaw_axis;
case kPitch -> m_pitch_axis;
case kRoll -> m_roll_axis;
default -> axis;
};
switch (axis) {
case kX:
return switch (axis) {
case kX -> {
if (m_simGyroRateX != null) {
return m_simGyroRateX.get();
yield m_simGyroRateX.get();
}
return m_gyro_rate_x;
case kY:
yield m_gyro_rate_x;
}
case kY -> {
if (m_simGyroRateY != null) {
return m_simGyroRateY.get();
yield m_simGyroRateY.get();
}
return m_gyro_rate_y;
case kZ:
yield m_gyro_rate_y;
}
case kZ -> {
if (m_simGyroRateZ != null) {
return m_simGyroRateZ.get();
yield m_simGyroRateZ.get();
}
return m_gyro_rate_z;
default:
}
return 0.0;
yield m_gyro_rate_z;
}
default -> 0.0;
};
}
/**
@@ -1240,25 +1226,27 @@ public class ADIS16470_IMU implements AutoCloseable, Sendable {
* @return Yaw axis angular rate in degrees per second (CCW positive).
*/
public synchronized double getRate() {
switch (m_yaw_axis) {
case kX:
return switch (m_yaw_axis) {
case kX -> {
if (m_simGyroRateX != null) {
return m_simGyroRateX.get();
yield m_simGyroRateX.get();
}
return m_gyro_rate_x;
case kY:
yield m_gyro_rate_x;
}
case kY -> {
if (m_simGyroRateY != null) {
return m_simGyroRateY.get();
yield m_simGyroRateY.get();
}
return m_gyro_rate_y;
case kZ:
yield m_gyro_rate_y;
}
case kZ -> {
if (m_simGyroRateZ != null) {
return m_simGyroRateZ.get();
yield m_simGyroRateZ.get();
}
return m_gyro_rate_z;
default:
}
return 0.0;
yield m_gyro_rate_z;
}
default -> 0.0;
};
}
/**

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_I2C.java
View File

@@ -182,23 +182,13 @@ public class ADXL345_I2C implements NTSendable, AutoCloseable {
* measure.
*/
public final void setRange(Range range) {
final byte value;
switch (range) {
case k2G:
value = 0;
break;
case k4G:
value = 1;
break;
case k8G:
value = 2;
break;
case k16G:
value = 3;
break;
default:
throw new IllegalArgumentException("Missing case for range type " + range);
}
final byte value =
switch (range) {
case k2G -> 0;
case k4G -> 1;
case k8G -> 2;
case k16G -> 3;
};
// Specify the data format to read
m_i2c.write(kDataFormatRegister, kDataFormat_FullRes | value);

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL345_SPI.java
View File

@@ -171,23 +171,13 @@ public class ADXL345_SPI implements NTSendable, AutoCloseable {
* measure.
*/
public void setRange(Range range) {
final byte value;
switch (range) {
case k2G:
value = 0;
break;
case k4G:
value = 1;
break;
case k8G:
value = 2;
break;
case k16G:
value = 3;
break;
default:
throw new IllegalArgumentException("Missing case for range type " + range);
}
final byte value =
switch (range) {
case k2G -> 0;
case k4G -> 1;
case k8G -> 2;
case k16G -> 3;
};
// Specify the data format to read
byte[] commands = new byte[] {kDataFormatRegister, (byte) (kDataFormat_FullRes | value)};

32
wpilibj/src/main/java/edu/wpi/first/wpilibj/ADXL362.java
View File

@@ -193,23 +193,21 @@ public class ADXL362 implements NTSendable, AutoCloseable {
return;
}
final byte value;
switch (range) {
case k2G:
value = kFilterCtl_Range2G;
m_gsPerLSB = 0.001;
break;
case k4G:
value = kFilterCtl_Range4G;
m_gsPerLSB = 0.002;
break;
case k8G:
value = kFilterCtl_Range8G;
m_gsPerLSB = 0.004;
break;
default:
throw new IllegalArgumentException("Missing case for range type " + range);
}
final byte value =
switch (range) {
case k2G -> {
m_gsPerLSB = 0.001;
yield kFilterCtl_Range2G;
}
case k4G -> {
m_gsPerLSB = 0.002;
yield kFilterCtl_Range4G;
}
case k8G -> {
m_gsPerLSB = 0.004;
yield kFilterCtl_Range8G;
}
};
// Specify the data format to read
byte[] commands =

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLEDBuffer.java
View File

@@ -74,24 +74,12 @@ public class AddressableLEDBuffer {
final int X = (chroma * remainder) >> 8;
switch (region) {
case 0:
setRGB(index, v, X + m, m);
break;
case 1:
setRGB(index, v - X, v, m);
break;
case 2:
setRGB(index, m, v, X + m);
break;
case 3:
setRGB(index, m, v - X, v);
break;
case 4:
setRGB(index, X + m, m, v);
break;
default:
setRGB(index, v, m, v - X);
break;
case 0 -> setRGB(index, v, X + m, m);
case 1 -> setRGB(index, v - X, v, m);
case 2 -> setRGB(index, m, v, X + m);
case 3 -> setRGB(index, m, v - X, v);
case 4 -> setRGB(index, X + m, m, v);
default -> setRGB(index, v, m, v - X);
}
}

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/AsynchronousInterrupt.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import static edu.wpi.first.util.ErrorMessages.requireNonNullParam;
import edu.wpi.first.wpilibj.SynchronousInterrupt.WaitResult;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.BiConsumer;
@@ -132,25 +131,22 @@ public class AsynchronousInterrupt implements AutoCloseable {
if (!m_keepRunning.get()) {
break;
}
if (result == WaitResult.kTimeout) {
continue;
}
boolean rising = false;
boolean falling = false;
switch (result) {
case kBoth:
case kBoth -> {
rising = true;
falling = true;
break;
case kFallingEdge:
}
case kFallingEdge -> {
falling = true;
break;
case kRisingEdge:
}
case kRisingEdge -> {
rising = true;
break;
default:
break;
}
default -> {
continue;
}
}
m_callback.accept(rising, falling);

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometer.java
View File

@@ -58,20 +58,14 @@ public class BuiltInAccelerometer implements Sendable, AutoCloseable {
public final void setRange(Range range) {
AccelerometerJNI.setAccelerometerActive(false);
switch (range) {
case k2G:
AccelerometerJNI.setAccelerometerRange(0);
break;
case k4G:
AccelerometerJNI.setAccelerometerRange(1);
break;
case k8G:
AccelerometerJNI.setAccelerometerRange(2);
break;
default:
throw new IllegalArgumentException("Missing case for range type " + range);
}
int rangeValue =
switch (range) {
case k2G -> 0;
case k4G -> 1;
case k8G -> 2;
};
AccelerometerJNI.setAccelerometerRange(rangeValue);
AccelerometerJNI.setAccelerometerActive(true);
}

16
wpilibj/src/main/java/edu/wpi/first/wpilibj/CompressorConfigType.java
View File

@@ -31,16 +31,12 @@ public enum CompressorConfigType {
* @return type
*/
public static CompressorConfigType fromValue(int value) {
switch (value) {
case REVPHJNI.COMPRESSOR_CONFIG_TYPE_HYBRID:
return Hybrid;
case REVPHJNI.COMPRESSOR_CONFIG_TYPE_ANALOG:
return Analog;
case REVPHJNI.COMPRESSOR_CONFIG_TYPE_DIGITAL:
return Digital;
default:
return Disabled;
}
return switch (value) {
case REVPHJNI.COMPRESSOR_CONFIG_TYPE_HYBRID -> Hybrid;
case REVPHJNI.COMPRESSOR_CONFIG_TYPE_ANALOG -> Analog;
case REVPHJNI.COMPRESSOR_CONFIG_TYPE_DIGITAL -> Digital;
default -> Disabled;
};
}
/**

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/DataLogManager.java
View File

@@ -382,21 +382,13 @@ public final class DataLogManager {
DriverStation.MatchType matchType = DriverStation.getMatchType();
if (matchType != DriverStation.MatchType.None) {
// rename per match info
char matchTypeChar;
switch (matchType) {
case Practice:
matchTypeChar = 'P';
break;
case Qualification:
matchTypeChar = 'Q';
break;
case Elimination:
matchTypeChar = 'E';
break;
default:
matchTypeChar = '_';
break;
}
char matchTypeChar =
switch (matchType) {
case Practice -> 'P';
case Qualification -> 'Q';
case Elimination -> 'E';
default -> '_';
};
m_log.setFilename(
"FRC_"
+ m_timeFormatter.format(LocalDateTime.now(m_utc))

21
wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
View File

@@ -125,21 +125,12 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
* @param value The value to set (Off, Forward, Reverse)
*/
public void set(final Value value) {
int setValue;
switch (value) {
case kOff:
setValue = 0;
break;
case kForward:
setValue = m_forwardMask;
break;
case kReverse:
setValue = m_reverseMask;
break;
default:
throw new AssertionError("Illegal value: " + value);
}
int setValue =
switch (value) {
case kOff -> 0;
case kForward -> m_forwardMask;
case kReverse -> m_reverseMask;
};
m_module.setSolenoids(m_mask, setValue);
}

55
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -137,34 +137,17 @@ public final class DriverStation {
private void sendMatchData() {
AllianceStationID allianceID = DriverStationJNI.getAllianceStation();
boolean isRedAlliance = false;
int stationNumber = 1;
switch (allianceID) {
case Blue1:
isRedAlliance = false;
stationNumber = 1;
break;
case Blue2:
isRedAlliance = false;
stationNumber = 2;
break;
case Blue3:
isRedAlliance = false;
stationNumber = 3;
break;
case Red1:
isRedAlliance = true;
stationNumber = 1;
break;
case Red2:
isRedAlliance = true;
stationNumber = 2;
break;
default:
isRedAlliance = true;
stationNumber = 3;
break;
}
final int stationNumber =
switch (allianceID) {
case Blue1, Red1 -> 1;
case Blue2, Red2 -> 2;
case Blue3, Red3, Unknown -> 3;
};
final boolean isRedAlliance =
switch (allianceID) {
case Blue1, Blue2, Blue3 -> false;
case Red1, Red2, Red3, Unknown -> true;
};
String currentEventName;
String currentGameSpecificMessage;
@@ -1059,16 +1042,12 @@ public final class DriverStation {
} finally {
m_cacheDataMutex.unlock();
}
switch (matchType) {
case 1:
return MatchType.Practice;
case 2:
return MatchType.Qualification;
case 3:
return MatchType.Elimination;
default:
return MatchType.None;
}
return switch (matchType) {
case 1 -> MatchType.Practice;
case 2 -> MatchType.Qualification;
case 3 -> MatchType.Elimination;
default -> MatchType.None;
};
}
/**

15
wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -562,16 +562,11 @@ public class Encoder implements CounterBase, Sendable, AutoCloseable {
* @return decoding scale factor
*/
public double getDecodingScaleFactor() {
switch (m_encodingType) {
case k1X:
return 1.0;
case k2X:
return 0.5;
case k4X:
return 0.25;
default:
return 0.0;
}
return switch (m_encodingType) {
case k1X -> 1.0;
case k2X -> 0.5;
case k4X -> 0.25;
};
}
@Override

13
wpilibj/src/main/java/edu/wpi/first/wpilibj/GenericHID.java
View File

@@ -457,17 +457,12 @@ public class GenericHID {
value = MathUtil.clamp(value, 0, 1);
int rumbleValue = (int) (value * 65535);
switch (type) {
case kLeftRumble:
this.m_leftRumble = rumbleValue;
break;
case kRightRumble:
this.m_rightRumble = rumbleValue;
break;
case kBothRumble:
default:
case kLeftRumble -> this.m_leftRumble = rumbleValue;
case kRightRumble -> this.m_rightRumble = rumbleValue;
default -> {
this.m_leftRumble = rumbleValue;
this.m_rightRumble = rumbleValue;
break;
}
}
DriverStationJNI.setJoystickOutputs(

102
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobotBase.java
View File

@@ -323,59 +323,77 @@ public abstract class IterativeRobotBase extends RobotBase {
// If mode changed, call mode exit and entry functions
if (m_lastMode != mode) {
// Call last mode's exit function
if (m_lastMode == Mode.kDisabled) {
disabledExit();
} else if (m_lastMode == Mode.kAutonomous) {
autonomousExit();
} else if (m_lastMode == Mode.kTeleop) {
teleopExit();
} else if (m_lastMode == Mode.kTest) {
if (m_lwEnabledInTest) {
LiveWindow.setEnabled(false);
Shuffleboard.disableActuatorWidgets();
switch (m_lastMode) {
case kDisabled -> disabledExit();
case kAutonomous -> autonomousExit();
case kTeleop -> teleopExit();
case kTest -> {
if (m_lwEnabledInTest) {
LiveWindow.setEnabled(false);
Shuffleboard.disableActuatorWidgets();
}
testExit();
}
default -> {
// NOP
}
testExit();
}
// Call current mode's entry function
if (mode == Mode.kDisabled) {
disabledInit();
m_watchdog.addEpoch("disabledInit()");
} else if (mode == Mode.kAutonomous) {
autonomousInit();
m_watchdog.addEpoch("autonomousInit()");
} else if (mode == Mode.kTeleop) {
teleopInit();
m_watchdog.addEpoch("teleopInit()");
} else if (mode == Mode.kTest) {
if (m_lwEnabledInTest) {
LiveWindow.setEnabled(true);
Shuffleboard.enableActuatorWidgets();
switch (mode) {
case kDisabled -> {
disabledInit();
m_watchdog.addEpoch("disabledInit()");
}
case kAutonomous -> {
autonomousInit();
m_watchdog.addEpoch("autonomousInit()");
}
case kTeleop -> {
teleopInit();
m_watchdog.addEpoch("teleopInit()");
}
case kTest -> {
if (m_lwEnabledInTest) {
LiveWindow.setEnabled(true);
Shuffleboard.enableActuatorWidgets();
}
testInit();
m_watchdog.addEpoch("testInit()");
}
default -> {
// NOP
}
testInit();
m_watchdog.addEpoch("testInit()");
}
m_lastMode = mode;
}
// Call the appropriate function depending upon the current robot mode
if (mode == Mode.kDisabled) {
DriverStationJNI.observeUserProgramDisabled();
disabledPeriodic();
m_watchdog.addEpoch("disabledPeriodic()");
} else if (mode == Mode.kAutonomous) {
DriverStationJNI.observeUserProgramAutonomous();
autonomousPeriodic();
m_watchdog.addEpoch("autonomousPeriodic()");
} else if (mode == Mode.kTeleop) {
DriverStationJNI.observeUserProgramTeleop();
teleopPeriodic();
m_watchdog.addEpoch("teleopPeriodic()");
} else {
DriverStationJNI.observeUserProgramTest();
testPeriodic();
m_watchdog.addEpoch("testPeriodic()");
switch (mode) {
case kDisabled -> {
DriverStationJNI.observeUserProgramDisabled();
disabledPeriodic();
m_watchdog.addEpoch("disabledPeriodic()");
}
case kAutonomous -> {
DriverStationJNI.observeUserProgramAutonomous();
autonomousPeriodic();
m_watchdog.addEpoch("autonomousPeriodic()");
}
case kTeleop -> {
DriverStationJNI.observeUserProgramTeleop();
teleopPeriodic();
m_watchdog.addEpoch("teleopPeriodic()");
}
case kTest -> {
DriverStationJNI.observeUserProgramTest();
testPeriodic();
m_watchdog.addEpoch("testPeriodic()");
}
default -> {
// NOP
}
}
robotPeriodic();

24
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
View File

@@ -211,22 +211,14 @@ public class PWM implements Sendable, AutoCloseable {
* @param mult The period multiplier to apply to this channel
*/
public void setPeriodMultiplier(PeriodMultiplier mult) {
switch (mult) {
case k4X:
// Squelch 3 out of 4 outputs
PWMJNI.setPWMPeriodScale(m_handle, 3);
break;
case k2X:
// Squelch 1 out of 2 outputs
PWMJNI.setPWMPeriodScale(m_handle, 1);
break;
case k1X:
// Don't squelch any outputs
PWMJNI.setPWMPeriodScale(m_handle, 0);
break;
default:
// Cannot hit this, limited by PeriodMultiplier enum
}
int scale =
switch (mult) {
case k4X -> 3; // Squelch 3 out of 4 outputs
case k2X -> 1; // Squelch 1 out of 2 outputs
case k1X -> 0; // Don't squelch any outputs
};
PWMJNI.setPWMPeriodScale(m_handle, scale);
}
/** Latches PWM to zero. */

20
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticsBase.java
View File

@@ -14,12 +14,10 @@ public interface PneumaticsBase extends AutoCloseable {
* @return module
*/
static PneumaticsBase getForType(int module, PneumaticsModuleType type) {
if (type == PneumaticsModuleType.CTREPCM) {
return new PneumaticsControlModule(module);
} else if (type == PneumaticsModuleType.REVPH) {
return new PneumaticHub(module);
}
throw new IllegalArgumentException("Unknown module type");
return switch (type) {
case CTREPCM -> new PneumaticsControlModule(module);
case REVPH -> new PneumaticHub(module);
};
}
/**
@@ -29,12 +27,10 @@ public interface PneumaticsBase extends AutoCloseable {
* @return module default
*/
static int getDefaultForType(PneumaticsModuleType type) {
if (type == PneumaticsModuleType.CTREPCM) {
return SensorUtil.getDefaultCTREPCMModule();
} else if (type == PneumaticsModuleType.REVPH) {
return SensorUtil.getDefaultREVPHModule();
}
throw new IllegalArgumentException("Unknown module type");
return switch (type) {
case CTREPCM -> SensorUtil.getDefaultCTREPCMModule();
case REVPH -> SensorUtil.getDefaultREVPHModule();
};
}
/**

19
wpilibj/src/main/java/edu/wpi/first/wpilibj/Relay.java
View File

@@ -182,23 +182,23 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
*/
public void set(Value value) {
switch (value) {
case kOff:
case kOff -> {
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
RelayJNI.setRelay(m_forwardHandle, false);
}
if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
RelayJNI.setRelay(m_reverseHandle, false);
}
break;
case kOn:
}
case kOn -> {
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
RelayJNI.setRelay(m_forwardHandle, true);
}
if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
RelayJNI.setRelay(m_reverseHandle, true);
}
break;
case kForward:
}
case kForward -> {
if (m_direction == Direction.kReverse) {
throw new InvalidValueException(
"A relay configured for reverse cannot be set to " + "forward");
@@ -209,8 +209,8 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
if (m_direction == Direction.kBoth) {
RelayJNI.setRelay(m_reverseHandle, false);
}
break;
case kReverse:
}
case kReverse -> {
if (m_direction == Direction.kForward) {
throw new InvalidValueException(
"A relay configured for forward cannot be set to " + "reverse");
@@ -221,9 +221,10 @@ public class Relay extends MotorSafety implements Sendable, AutoCloseable {
if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
RelayJNI.setRelay(m_reverseHandle, true);
}
break;
default:
}
default -> {
// Cannot hit this, limited by Value enum
}
}
}

59
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotBase.java
View File

@@ -91,43 +91,28 @@ public abstract class RobotBase implements AutoCloseable {
@Override
public void reportUsage(MathUsageId id, int count) {
switch (id) {
case kKinematics_DifferentialDrive:
HAL.report(
tResourceType.kResourceType_Kinematics,
tInstances.kKinematics_DifferentialDrive);
break;
case kKinematics_MecanumDrive:
HAL.report(
tResourceType.kResourceType_Kinematics, tInstances.kKinematics_MecanumDrive);
break;
case kKinematics_SwerveDrive:
HAL.report(
tResourceType.kResourceType_Kinematics, tInstances.kKinematics_SwerveDrive);
break;
case kTrajectory_TrapezoidProfile:
HAL.report(tResourceType.kResourceType_TrapezoidProfile, count);
break;
case kFilter_Linear:
HAL.report(tResourceType.kResourceType_LinearFilter, count);
break;
case kOdometry_DifferentialDrive:
HAL.report(
tResourceType.kResourceType_Odometry, tInstances.kOdometry_DifferentialDrive);
break;
case kOdometry_SwerveDrive:
HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_SwerveDrive);
break;
case kOdometry_MecanumDrive:
HAL.report(tResourceType.kResourceType_Odometry, tInstances.kOdometry_MecanumDrive);
break;
case kController_PIDController2:
HAL.report(tResourceType.kResourceType_PIDController2, count);
break;
case kController_ProfiledPIDController:
HAL.report(tResourceType.kResourceType_ProfiledPIDController, count);
break;
default:
break;
case kKinematics_DifferentialDrive -> HAL.report(
tResourceType.kResourceType_Kinematics, tInstances.kKinematics_DifferentialDrive);
case kKinematics_MecanumDrive -> HAL.report(
tResourceType.kResourceType_Kinematics, tInstances.kKinematics_MecanumDrive);
case kKinematics_SwerveDrive -> HAL.report(
tResourceType.kResourceType_Kinematics, tInstances.kKinematics_SwerveDrive);
case kTrajectory_TrapezoidProfile -> HAL.report(
tResourceType.kResourceType_TrapezoidProfile, count);
case kFilter_Linear -> HAL.report(tResourceType.kResourceType_LinearFilter, count);
case kOdometry_DifferentialDrive -> HAL.report(
tResourceType.kResourceType_Odometry, tInstances.kOdometry_DifferentialDrive);
case kOdometry_SwerveDrive -> HAL.report(
tResourceType.kResourceType_Odometry, tInstances.kOdometry_SwerveDrive);
case kOdometry_MecanumDrive -> HAL.report(
tResourceType.kResourceType_Odometry, tInstances.kOdometry_MecanumDrive);
case kController_PIDController2 -> HAL.report(
tResourceType.kResourceType_PIDController2, count);
case kController_ProfiledPIDController -> HAL.report(
tResourceType.kResourceType_ProfiledPIDController, count);
default -> {
// NOP
}
}
}

19
wpilibj/src/main/java/edu/wpi/first/wpilibj/RobotController.java
View File

@@ -345,18 +345,13 @@ public final class RobotController {
* @return state
*/
public static RadioLEDState fromValue(int value) {
switch (value) {
case LEDJNI.RADIO_LED_STATE_OFF:
return RadioLEDState.kOff;
case LEDJNI.RADIO_LED_STATE_GREEN:
return RadioLEDState.kGreen;
case LEDJNI.RADIO_LED_STATE_RED:
return RadioLEDState.kRed;
case LEDJNI.RADIO_LED_STATE_ORANGE:
return RadioLEDState.kOrange;
default:
return RadioLEDState.kOff;
}
return switch (value) {
case LEDJNI.RADIO_LED_STATE_OFF -> RadioLEDState.kOff;
case LEDJNI.RADIO_LED_STATE_GREEN -> RadioLEDState.kGreen;
case LEDJNI.RADIO_LED_STATE_RED -> RadioLEDState.kRed;
case LEDJNI.RADIO_LED_STATE_ORANGE -> RadioLEDState.kOrange;
default -> RadioLEDState.kOff;
};
}
}

11
wpilibj/src/main/java/edu/wpi/first/wpilibj/RuntimeType.java
View File

@@ -29,11 +29,10 @@ public enum RuntimeType {
* @return Matching runtime type
*/
public static RuntimeType getValue(int type) {
if (type == HALUtil.RUNTIME_ROBORIO) {
return RuntimeType.kRoboRIO;
} else if (type == HALUtil.RUNTIME_ROBORIO2) {
return RuntimeType.kRoboRIO2;
}
return RuntimeType.kSimulation;
return switch (type) {
case HALUtil.RUNTIME_ROBORIO -> RuntimeType.kRoboRIO;
case HALUtil.RUNTIME_ROBORIO2 -> RuntimeType.kRoboRIO2;
default -> RuntimeType.kSimulation;
};
}
}

5
wpilibj/src/main/java/edu/wpi/first/wpilibj/TimedRobot.java
View File

@@ -50,10 +50,7 @@ public class TimedRobot extends IterativeRobotBase {
@Override
public boolean equals(Object rhs) {
if (rhs instanceof Callback) {
return Double.compare(expirationTime, ((Callback) rhs).expirationTime) == 0;
}
return false;
return rhs instanceof Callback callback && expirationTime == callback.expirationTime;
}
@Override

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
View File

@@ -62,10 +62,8 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
@Override
public boolean equals(Object obj) {
if (obj instanceof Watchdog) {
return Double.compare(m_expirationTimeSeconds, ((Watchdog) obj).m_expirationTimeSeconds) == 0;
}
return false;
return obj instanceof Watchdog watchdog
&& Double.compare(m_expirationTimeSeconds, watchdog.m_expirationTimeSeconds) == 0;
}
@Override

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardContainer.java
View File

@@ -16,7 +16,8 @@ import java.util.function.LongSupplier;
import java.util.function.Supplier;
/** Common interface for objects that can contain shuffleboard components. */
public interface ShuffleboardContainer extends ShuffleboardValue {
public sealed interface ShuffleboardContainer extends ShuffleboardValue
permits ShuffleboardLayout, ShuffleboardTab {
/**
* Gets the components that are direct children of this container.
*

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/shuffleboard/ShuffleboardInstance.java
View File

@@ -103,11 +103,11 @@ final class ShuffleboardInstance implements ShuffleboardRoot {
*/
private void apply(ShuffleboardContainer container, Consumer<ComplexWidget> func) {
for (ShuffleboardComponent<?> component : container.getComponents()) {
if (component instanceof ComplexWidget) {
func.accept((ComplexWidget) component);
if (component instanceof ComplexWidget widget) {
func.accept(widget);
}
if (component instanceof ShuffleboardContainer) {
apply((ShuffleboardContainer) component, func);
if (component instanceof ShuffleboardContainer nestedContainer) {
apply(nestedContainer, func);
}
}
}

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

@@ -16,7 +16,7 @@ import java.util.function.LongSupplier;
import java.util.function.Supplier;
/** A layout in a Shuffleboard tab. Layouts can contain widgets and other layouts. */
public class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout>
public final class ShuffleboardLayout extends ShuffleboardComponent<ShuffleboardLayout>
implements ShuffleboardContainer {
private final ContainerHelper m_helper = new ContainerHelper(this);

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

@@ -59,8 +59,8 @@ public final class SimpleWidget extends ShuffleboardWidget<SimpleWidget> impleme
private void forceGenerate() {
ShuffleboardContainer parent = getParent();
while (parent instanceof ShuffleboardLayout) {
parent = ((ShuffleboardLayout) parent).getParent();
while (parent instanceof ShuffleboardLayout layout) {
parent = layout.getParent();
}
ShuffleboardTab tab = (ShuffleboardTab) parent;
tab.getRoot().update();

19
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/CallbackStore.java
View File

@@ -93,21 +93,16 @@ public class CallbackStore implements AutoCloseable {
@Override
public void close() {
switch (m_cancelType) {
case kAlreadyCancelled:
case kAlreadyCancelled -> {
// Already cancelled so do nothing so that close() is idempotent.
return;
case kNormalCancel:
m_cancelCallback.cancel(m_index, m_uid);
break;
case kChannelCancel:
m_cancelCallbackChannel.cancel(m_index, m_channel, m_uid);
break;
case kNoIndexCancel:
m_cancelCallbackNoIndex.cancel(m_uid);
break;
default:
}
case kNormalCancel -> m_cancelCallback.cancel(m_index, m_uid);
case kChannelCancel -> m_cancelCallbackChannel.cancel(m_index, m_channel, m_uid);
case kNoIndexCancel -> m_cancelCallbackNoIndex.cancel(m_uid);
default -> {
assert false;
break;
}
}
m_cancelType = kAlreadyCancelled;
}

88
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/DriverStationSim.java
View File

@@ -228,24 +228,16 @@ public final class DriverStationSim {
* @return the alliance station color and number
*/
public static AllianceStationID getAllianceStationId() {
switch (DriverStationDataJNI.getAllianceStationId()) {
case DriverStationJNI.kUnknownAllianceStation:
return AllianceStationID.Unknown;
case DriverStationJNI.kRed1AllianceStation:
return AllianceStationID.Red1;
case DriverStationJNI.kRed2AllianceStation:
return AllianceStationID.Red2;
case DriverStationJNI.kRed3AllianceStation:
return AllianceStationID.Red3;
case DriverStationJNI.kBlue1AllianceStation:
return AllianceStationID.Blue1;
case DriverStationJNI.kBlue2AllianceStation:
return AllianceStationID.Blue2;
case DriverStationJNI.kBlue3AllianceStation:
return AllianceStationID.Blue3;
default:
return AllianceStationID.Unknown;
}
return switch (DriverStationDataJNI.getAllianceStationId()) {
case DriverStationJNI.kUnknownAllianceStation -> AllianceStationID.Unknown;
case DriverStationJNI.kRed1AllianceStation -> AllianceStationID.Red1;
case DriverStationJNI.kRed2AllianceStation -> AllianceStationID.Red2;
case DriverStationJNI.kRed3AllianceStation -> AllianceStationID.Red3;
case DriverStationJNI.kBlue1AllianceStation -> AllianceStationID.Blue1;
case DriverStationJNI.kBlue2AllianceStation -> AllianceStationID.Blue2;
case DriverStationJNI.kBlue3AllianceStation -> AllianceStationID.Blue3;
default -> AllianceStationID.Unknown;
};
}
/**
@@ -254,32 +246,16 @@ public final class DriverStationSim {
* @param allianceStationId the new alliance station
*/
public static void setAllianceStationId(AllianceStationID allianceStationId) {
int allianceStation;
switch (allianceStationId) {
case Unknown:
allianceStation = DriverStationJNI.kUnknownAllianceStation;
break;
case Red1:
allianceStation = DriverStationJNI.kRed1AllianceStation;
break;
case Red2:
allianceStation = DriverStationJNI.kRed2AllianceStation;
break;
case Red3:
allianceStation = DriverStationJNI.kRed3AllianceStation;
break;
case Blue1:
allianceStation = DriverStationJNI.kBlue1AllianceStation;
break;
case Blue2:
allianceStation = DriverStationJNI.kBlue2AllianceStation;
break;
case Blue3:
allianceStation = DriverStationJNI.kBlue3AllianceStation;
break;
default:
return;
}
int allianceStation =
switch (allianceStationId) {
case Unknown -> DriverStationJNI.kUnknownAllianceStation;
case Red1 -> DriverStationJNI.kRed1AllianceStation;
case Red2 -> DriverStationJNI.kRed2AllianceStation;
case Red3 -> DriverStationJNI.kRed3AllianceStation;
case Blue1 -> DriverStationJNI.kBlue1AllianceStation;
case Blue2 -> DriverStationJNI.kBlue2AllianceStation;
case Blue3 -> DriverStationJNI.kBlue3AllianceStation;
};
DriverStationDataJNI.setAllianceStationId(allianceStation);
}
@@ -507,23 +483,13 @@ public final class DriverStationSim {
* @param type the match type
*/
public static void setMatchType(DriverStation.MatchType type) {
int matchType;
switch (type) {
case Practice:
matchType = 1;
break;
case Qualification:
matchType = 2;
break;
case Elimination:
matchType = 3;
break;
case None:
matchType = 0;
break;
default:
return;
}
int matchType =
switch (type) {
case Practice -> 1;
case Qualification -> 2;
case Elimination -> 3;
case None -> 0;
};
DriverStationDataJNI.setMatchType(matchType);
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PneumaticsBaseSim.java
View File

@@ -21,14 +21,10 @@ public abstract class PneumaticsBaseSim {
* @return the module object.
*/
public static PneumaticsBaseSim getForType(int module, PneumaticsModuleType type) {
switch (type) {
case CTREPCM:
return new CTREPCMSim(module);
case REVPH:
return new REVPHSim(module);
default:
throw new IllegalArgumentException("Unknown module type");
}
return switch (type) {
case CTREPCM -> new CTREPCMSim(module);
case REVPH -> new REVPHSim(module);
};
}
/**

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java
View File

@@ -126,20 +126,14 @@ public class Color {
// Goes from 0 to chroma as hue increases
final int X = (chroma * remainder) >> 8;
switch (region) {
case 0:
return new Color(v, X + m, m);
case 1:
return new Color(v - X, v, m);
case 2:
return new Color(m, v, X + m);
case 3:
return new Color(m, v - X, v);
case 4:
return new Color(X + m, m, v);
default:
return new Color(v, m, v - X);
}
return switch (region) {
case 0 -> new Color(v, X + m, m);
case 1 -> new Color(v - X, v, m);
case 2 -> new Color(m, v, X + m);
case 3 -> new Color(m, v - X, v);
case 4 -> new Color(X + m, m, v);
default -> new Color(v, m, v - X);
};
}
@Override