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Java cleanups (#1776)

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* Remove extra ';'s
* Remove unnecessary conversions to String
* Use StandardCharsets object
* Replace infinite while with check for interrupted thread
* Remove redundant local vars
* Remove redundant throws clause
* Remove redundant primitive wrapping
* Fix malformed Nested class test
* Remove unnecessary unboxing
* Remove unnecessary explicit type argument
* Replace lambdas with method references
* Replace statement lambdas with expression lambdas
* Replace null check with method call
* Replace number comparison with method call
* Fix broken javadoc comments
* Replace Arrays.asList with singletonLists
* Remove excessive lambda usage
* Remove redundant string operation
* Remove redundant type casts
* Remove unnecessary returns
* Remove redundant suppressions
* Fix unresolved file reference
* static analysis fixes
This commit is contained in:
Austin Shalit
2019-08-01 01:19:48 -04:00
committed by Peter Johnson
parent 39561751fc
commit df12fc2a86
43 changed files with 129 additions and 180 deletions
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2
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -282,7 +282,7 @@ public class DriverStation {
} else {
locString = "";
}
StringBuilder traceString = new StringBuilder("");
StringBuilder traceString = new StringBuilder();
if (printTrace) {
boolean haveLoc = false;
for (int i = stackTraceFirst; i < stackTrace.length; i++) {

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java
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@@ -84,11 +84,10 @@ public abstract class InterruptableSensorBase extends SendableBase {
/**
* Request one of the 8 interrupts asynchronously on this digital input.
*
* @param handler The {@link InterruptHandler} that contains the method {@link
* InterruptHandlerFunction#onInterrupt(boolean, boolean)} that will be called
* whenever there is an interrupt on this device. Request interrupts in synchronous
* mode where the user program interrupt handler will be called when an interrupt
* occurs. The default is interrupt on rising edges only.
* @param handler The {@link Consumer} that will be called whenever there is an interrupt on this
* device. Request interrupts in synchronous mode where the user program interrupt
* handler will be called when an interrupt occurs. The default is interrupt on
* rising edges only.
*/
public void requestInterrupts(Consumer<WaitResult> handler) {
if (m_interrupt != 0) {

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/IterativeRobot.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -46,7 +46,7 @@ public class IterativeRobot extends IterativeRobotBase {
HAL.observeUserProgramStarting();
// Loop forever, calling the appropriate mode-dependent function
while (true) {
while (!Thread.currentThread().isInterrupted()) {
// Wait for new data to arrive
m_ds.waitForData();

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/SerialPort.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -7,7 +7,6 @@
package edu.wpi.first.wpilibj;
import java.io.UnsupportedEncodingException;
import java.nio.charset.StandardCharsets;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
@@ -271,12 +270,7 @@ public class SerialPort implements AutoCloseable {
*/
public String readString(int count) {
byte[] out = read(count);
try {
return new String(out, 0, out.length, "US-ASCII");
} catch (UnsupportedEncodingException ex) {
ex.printStackTrace();
return "";
}
return new String(out, 0, out.length, StandardCharsets.US_ASCII);
}
/**

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/Timer.java
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@@ -100,8 +100,7 @@ public class Timer {
* clock.
*/
public synchronized void stop() {
final double temp = get();
m_accumulatedTime = temp;
m_accumulatedTime = get();
m_running = false;
}

17
wpilibj/src/main/java/edu/wpi/first/wpilibj/Watchdog.java
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@@ -42,7 +42,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
boolean m_suppressTimeoutMessage;
static {
startDaemonThread(() -> schedulerFunc());
startDaemonThread(Watchdog::schedulerFunc);
}
private static final PriorityQueue<Watchdog> m_watchdogs = new PriorityQueue<>();
@@ -69,13 +69,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
public int compareTo(Watchdog rhs) {
// Elements with sooner expiration times are sorted as lesser. The head of
// Java's PriorityQueue is the least element.
if (m_expirationTime < rhs.m_expirationTime) {
return -1;
} else if (m_expirationTime > rhs.m_expirationTime) {
return 1;
} else {
return 0;
}
return Long.compare(m_expirationTime, rhs.m_expirationTime);
}
/**
@@ -154,9 +148,7 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
long now = RobotController.getFPGATime();
if (now - m_lastEpochsPrintTime > kMinPrintPeriod) {
m_lastEpochsPrintTime = now;
m_epochs.forEach((key, value) -> {
System.out.format("\t%s: %.6fs\n", key, value / 1.0e6);
});
m_epochs.forEach((key, value) -> System.out.format("\t%s: %.6fs\n", key, value / 1.0e6));
}
}
@@ -221,11 +213,12 @@ public class Watchdog implements Closeable, Comparable<Watchdog> {
}
@SuppressWarnings("PMD.AvoidDeeplyNestedIfStmts")
private static void schedulerFunc() {
m_queueMutex.lock();
try {
while (true) {
while (!Thread.currentThread().isInterrupted()) {
if (m_watchdogs.size() > 0) {
boolean timedOut = !awaitUntil(m_schedulerWaiter, m_watchdogs.peek().m_expirationTime);
if (timedOut) {

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

@@ -66,7 +66,7 @@ public class PIDController extends SendableBase {
private double m_totalError;
enum Tolerance {
kAbsolute, kPercent;
kAbsolute, kPercent
}
private Tolerance m_toleranceType = Tolerance.kAbsolute;

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/smartdashboard/SendableChooser.java
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@@ -148,12 +148,8 @@ public class SendableChooser<V> extends SendableBase {
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("String Chooser");
builder.getEntry(INSTANCE).setDouble(m_instance);
builder.addStringProperty(DEFAULT, () -> {
return m_defaultChoice;
}, null);
builder.addStringArrayProperty(OPTIONS, () -> {
return m_map.keySet().toArray(new String[0]);
}, null);
builder.addStringProperty(DEFAULT, () -> m_defaultChoice, null);
builder.addStringArrayProperty(OPTIONS, () -> m_map.keySet().toArray(new String[0]), null);
builder.addStringProperty(ACTIVE, () -> {
m_mutex.lock();
try {

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/trajectory/TrapezoidProfile.java
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@@ -279,7 +279,6 @@ public class TrapezoidProfile {
* @param initial The initial state (usually the current state).
* @param goal The desired state when the profile is complete.
*/
@SuppressWarnings("LocalVariableName")
private static boolean shouldFlipAcceleration(State initial, State goal) {
return initial.position > goal.position;
}

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

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -80,7 +80,7 @@ public class VisionRunner<P extends VisionPipeline> {
public void runOnce() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
if (id != null && Thread.currentThread().getId() == id.longValue()) {
if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runOnce() cannot be called from the main robot thread");
}
@@ -113,7 +113,7 @@ public class VisionRunner<P extends VisionPipeline> {
public void runForever() {
Long id = CameraServerSharedStore.getCameraServerShared().getRobotMainThreadId();
if (id != null && Thread.currentThread().getId() == id.longValue()) {
if (id != null && Thread.currentThread().getId() == id) {
throw new IllegalStateException(
"VisionRunner.runForever() cannot be called from the main robot thread");
}