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Update and enable PMD 6.3.0 (#1107)

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This commit is contained in:
Austin Shalit
2018-06-03 10:00:53 -07:00
committed by Peter Johnson
parent 8eafe7f325
commit e548a5f705
156 changed files with 619 additions and 325 deletions
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8
build.gradle
View File

@@ -75,17 +75,13 @@ ext.addTaskToCopyAllOutputs = { task ->
subprojects {
apply plugin: 'eclipse'
apply plugin: 'idea'
apply plugin: 'checkstyle'
apply from: "${rootDir}/shared/java/javastyle.gradle"
repositories {
mavenCentral()
}
checkstyle {
toolVersion = "8.10"
configFile = new File(rootDir, "styleguide/checkstyle.xml")
}
// Disables doclint in java 8.
if (JavaVersion.current().isJava8Compatible()) {
tasks.withType(Javadoc) {

5
cameraserver/src/dev/java/edu/wpi/first/cameraserver/DevMain.java
View File

@@ -7,8 +7,11 @@
package edu.wpi.first.cameraserver;
public class DevMain {
public final class DevMain {
public static void main(String[] args) {
}
private DevMain() {
}
}

33
cameraserver/src/main/java/edu/wpi/first/wpilibj/CameraServer.java
View File

@@ -8,7 +8,9 @@
package edu.wpi.first.wpilibj;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Hashtable;
import java.util.Map;
import java.util.concurrent.atomic.AtomicInteger;
import edu.wpi.cscore.AxisCamera;
@@ -34,7 +36,8 @@ import edu.wpi.first.networktables.NetworkTableInstance;
* Singleton class for creating and keeping camera servers.
* Also publishes camera information to NetworkTables.
*/
public class CameraServer {
@SuppressWarnings("PMD.TooManyMethods")
public final class CameraServer {
public static final int kBasePort = 1181;
@Deprecated
@@ -57,11 +60,11 @@ public class CameraServer {
return server;
}
private AtomicInteger m_defaultUsbDevice;
private final AtomicInteger m_defaultUsbDevice;
private String m_primarySourceName;
private final Hashtable<String, VideoSource> m_sources;
private final Hashtable<String, VideoSink> m_sinks;
private final Hashtable<Integer, NetworkTable> m_tables; // indexed by source handle
private final Map<String, VideoSource> m_sources;
private final Map<String, VideoSink> m_sinks;
private final Map<Integer, NetworkTable> m_tables; // indexed by source handle
private final NetworkTable m_publishTable;
private final VideoListener m_videoListener; //NOPMD
private final int m_tableListener; //NOPMD
@@ -115,7 +118,7 @@ public class CameraServer {
// Otherwise generate for hostname and all interface addresses
values.add(makeStreamValue(CameraServerJNI.getHostname() + ".local", port));
for (String addr : m_addresses) {
if (addr.equals("127.0.0.1")) {
if ("127.0.0.1".equals(addr)) {
continue; // ignore localhost
}
values.add(makeStreamValue(addr, port));
@@ -146,10 +149,7 @@ public class CameraServer {
if (source == sinkSource
&& VideoSink.getKindFromInt(CameraServerJNI.getSinkKind(sink)) == VideoSink.Kind.kMjpeg) {
// Add USB-only passthrough
String[] finalValues = new String[values.length + 1];
for (int j = 0; j < values.length; j++) {
finalValues[j] = values[j];
}
String[] finalValues = Arrays.copyOf(values, values.length + 1);
int port = CameraServerJNI.getMjpegServerPort(sink);
finalValues[values.length] = makeStreamValue("172.22.11.2", port);
return finalValues;
@@ -238,7 +238,7 @@ public class CameraServer {
return modeStrings;
}
@SuppressWarnings("JavadocMethod")
@SuppressWarnings({"JavadocMethod", "PMD.CyclomaticComplexity"})
private static void putSourcePropertyValue(NetworkTable table, VideoEvent event, boolean isNew) {
String name;
String infoName;
@@ -286,12 +286,13 @@ public class CameraServer {
default:
break;
}
} catch (VideoException ex) {
} catch (VideoException ignored) {
// ignore
}
}
@SuppressWarnings({"JavadocMethod", "PMD.UnusedLocalVariable"})
@SuppressWarnings({"JavadocMethod", "PMD.UnusedLocalVariable", "PMD.ExcessiveMethodLength",
"PMD.NPathComplexity"})
private CameraServer() {
m_defaultUsbDevice = new AtomicInteger();
m_sources = new Hashtable<>();
@@ -329,7 +330,7 @@ public class CameraServer {
VideoMode mode = CameraServerJNI.getSourceVideoMode(event.sourceHandle);
table.getEntry("mode").setDefaultString(videoModeToString(mode));
table.getEntry("modes").setStringArray(getSourceModeValues(event.sourceHandle));
} catch (VideoException ex) {
} catch (VideoException ignored) {
// Do nothing. Let the other event handlers update this if there is an error.
}
break;
@@ -394,7 +395,7 @@ public class CameraServer {
try {
String[] choices = CameraServerJNI.getEnumPropertyChoices(event.propertyHandle);
table.getEntry("PropertyInfo/" + event.name + "/choices").setStringArray(choices);
} catch (VideoException ex) {
} catch (VideoException ignored) {
// ignore
}
}
@@ -437,7 +438,7 @@ public class CameraServer {
// handle standard names
String propName;
if (relativeKey.equals("mode")) {
if ("mode".equals(relativeKey)) {
// reset to current mode
event.getEntry().setString(videoModeToString(source.getVideoMode()));
return;

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

@@ -7,7 +7,7 @@
package edu.wpi.first.wpilibj;
public class CameraServerSharedStore {
public final class CameraServerSharedStore {
private static CameraServerShared cameraServerShared;
private CameraServerSharedStore() {

5
cscore/src/dev/java/edu/wpi/cscore/DevMain.java
View File

@@ -9,7 +9,7 @@ package edu.wpi.cscore;
import edu.wpi.first.wpiutil.RuntimeDetector;
public class DevMain {
public final class DevMain {
/**
* Main method.
*/
@@ -18,4 +18,7 @@ public class DevMain {
System.out.println(RuntimeDetector.getPlatformPath());
System.out.println(CameraServerJNI.getHostname());
}
private DevMain() {
}
}

2
cscore/src/main/java/edu/wpi/cscore/VideoEvent.java
View File

@@ -48,6 +48,7 @@ public class VideoEvent {
* @param kind The numerical representation of kind
* @return The kind
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
public static Kind getKindFromInt(int kind) {
switch (kind) {
case 0x0001: return Kind.kSourceCreated;
@@ -69,6 +70,7 @@ public class VideoEvent {
}
}
@SuppressWarnings("PMD.ExcessiveParameterList")
VideoEvent(int kind, int source, int sink, String name, int pixelFormat,
int width, int height, int fps, int property, int propertyKind,
int value, String valueStr) {

1
cscore/src/main/java/edu/wpi/cscore/VideoSink.java
View File

@@ -148,6 +148,7 @@ public class VideoSink implements AutoCloseable {
* Enumerate all existing sinks.
* @return Vector of sinks.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public static VideoSink[] enumerateSinks() {
int[] handles = CameraServerJNI.enumerateSinks();
VideoSink[] rv = new VideoSink[handles.length];

3
cscore/src/main/java/edu/wpi/cscore/VideoSource.java
View File

@@ -138,6 +138,7 @@ public class VideoSource implements AutoCloseable {
/**
* Enumerate all properties of this source.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public VideoProperty[] enumerateProperties() {
int[] handles = CameraServerJNI.enumerateSourceProperties(m_handle);
VideoProperty[] rv = new VideoProperty[handles.length];
@@ -239,6 +240,7 @@ public class VideoSource implements AutoCloseable {
* Enumerate all sinks connected to this source.
* @return Vector of sinks.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public VideoSink[] enumerateSinks() {
int[] handles = CameraServerJNI.enumerateSourceSinks(m_handle);
VideoSink[] rv = new VideoSink[handles.length];
@@ -252,6 +254,7 @@ public class VideoSource implements AutoCloseable {
* Enumerate all existing sources.
* @return Vector of sources.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
public static VideoSource[] enumerateSources() {
int[] handles = CameraServerJNI.enumerateSources();
VideoSource[] rv = new VideoSource[handles.length];

12
gen/wpilibj_frcnetcomm.py
View File

@@ -140,12 +140,12 @@ public class FRCNetComm extends JNIWrapper {
for i in range(1, len(enumCamel)):
temp.write(enumCamel[i][0].lower() + \
enumCamel[i][1:len(enumCamel[i])] + " ")
temp.write("from " + os.path.basename(fileName) + "\n"
" */\n"
" @SuppressWarnings(\"TypeName\")\n"
" public static final class " + enumName +
" {\n"
" private " + enumName + "() {\n }\n\n")
temp.write(
"from " + os.path.basename(fileName) + "\n"
" */\n"
" @SuppressWarnings({\"TypeName\", \"PMD.ConstantsInInterface\"})\n"
" public static final class " + enumName + " {\n"
" private " + enumName + "() {\n }\n\n")
# Write enum values
count = 0

5
hal/src/dev/java/DevMain.java
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@@ -5,8 +5,11 @@
/* the project. */
/*----------------------------------------------------------------------------*/
public class DevMain {
public final class DevMain {
public static void main(String[] args) {
}
private DevMain() {
}
}

1
hal/src/main/java/edu/wpi/first/wpilibj/CANData.java
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@@ -18,6 +18,7 @@ public class CANData {
/**
* API used from JNI to set the data.
*/
@SuppressWarnings("PMD.MethodReturnsInternalArray")
public byte[] setData(int length, long timestamp) {
this.length = length;
this.timestamp = timestamp;

8
hal/src/main/java/edu/wpi/first/wpilibj/can/CANExceptionFactory.java
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@@ -10,14 +10,14 @@ package edu.wpi.first.wpilibj.can;
import edu.wpi.first.wpilibj.communication.NIRioStatus;
import edu.wpi.first.wpilibj.util.UncleanStatusException;
public class CANExceptionFactory {
public final class CANExceptionFactory {
// FRC Error codes
static final int ERR_CANSessionMux_InvalidBuffer = -44086;
static final int ERR_CANSessionMux_MessageNotFound = -44087;
static final int ERR_CANSessionMux_NotAllowed = -44088;
static final int ERR_CANSessionMux_NotInitialized = -44089;
@SuppressWarnings("JavadocMethod")
@SuppressWarnings({"JavadocMethod", "PMD.CyclomaticComplexity"})
public static void checkStatus(int status, int messageID) throws CANInvalidBufferException,
CANMessageNotAllowedException, CANNotInitializedException, UncleanStatusException {
switch (status) {
@@ -41,4 +41,8 @@ public class CANExceptionFactory {
status));
}
}
private CANExceptionFactory() {
}
}

8
hal/src/main/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
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@@ -17,7 +17,7 @@ public class FRCNetComm extends JNIWrapper {
/**
* Module type from LoadOut.h
*/
@SuppressWarnings("TypeName")
@SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
public static final class tModuleType {
private tModuleType() {
}
@@ -31,7 +31,7 @@ public class FRCNetComm extends JNIWrapper {
/**
* Target class from LoadOut.h
*/
@SuppressWarnings("TypeName")
@SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
public static final class tTargetClass {
private tTargetClass() {
}
@@ -51,7 +51,7 @@ public class FRCNetComm extends JNIWrapper {
/**
* Resource type from UsageReporting.h
*/
@SuppressWarnings("TypeName")
@SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
public static final class tResourceType {
private tResourceType() {
}
@@ -132,7 +132,7 @@ public class FRCNetComm extends JNIWrapper {
/**
* Instances from UsageReporting.h
*/
@SuppressWarnings("TypeName")
@SuppressWarnings({"TypeName", "PMD.ConstantsInInterface"})
public static final class tInstances {
private tInstances() {
}

8
hal/src/main/java/edu/wpi/first/wpilibj/hal/HAL.java
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@@ -12,8 +12,8 @@ import java.nio.ByteBuffer;
/**
* JNI Wrapper for HAL<br>.
*/
@SuppressWarnings({"AbbreviationAsWordInName", "MethodName"})
public class HAL extends JNIWrapper {
@SuppressWarnings({"AbbreviationAsWordInName", "MethodName", "PMD.TooManyMethods"})
public final class HAL extends JNIWrapper {
public static native void waitForDSData();
public static native boolean initialize(int timeout, int mode);
@@ -127,4 +127,8 @@ public class HAL extends JNIWrapper {
public static native int getPortWithModule(byte module, byte channel);
public static native int getPort(byte channel);
private HAL() {
}
}

6
hal/src/main/java/edu/wpi/first/wpilibj/hal/HALUtil.java
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@@ -8,7 +8,7 @@
package edu.wpi.first.wpilibj.hal;
@SuppressWarnings("AbbreviationAsWordInName")
public class HALUtil extends JNIWrapper {
public final class HALUtil extends JNIWrapper {
public static final int NULL_PARAMETER = -1005;
public static final int SAMPLE_RATE_TOO_HIGH = 1001;
public static final int VOLTAGE_OUT_OF_RANGE = 1002;
@@ -37,4 +37,8 @@ public class HALUtil extends JNIWrapper {
public static String getHALstrerror() {
return getHALstrerror(getHALErrno());
}
private HALUtil() {
}
}

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/AccelerometerSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.AccelerometerDataJNI;
public class AccelerometerSim {
private int m_index;
private final int m_index;
public AccelerometerSim() {
m_index = 0;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/AnalogGyroSim.java
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@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.AnalogGyroDataJNI;
public class AnalogGyroSim {
private int m_index;
private final int m_index;
public AnalogGyroSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/AnalogInSim.java
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@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.AnalogInDataJNI;
public class AnalogInSim {
private int m_index;
private final int m_index;
public AnalogInSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/AnalogOutSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.AnalogOutDataJNI;
public class AnalogOutSim {
private int m_index;
private final int m_index;
public AnalogOutSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/AnalogTriggerSim.java
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@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.AnalogTriggerDataJNI;
public class AnalogTriggerSim {
private int m_index;
private final int m_index;
public AnalogTriggerSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/CallbackStore.java
View File

@@ -43,7 +43,7 @@ public class CallbackStore implements AutoCloseable {
private int index;
private int channel;
private int uid;
private final int uid;
private CancelCallbackFunc cancelCallback;
private CancelCallbackChannelFunc cancelCallbackChannel;
private CancelCallbackNoIndexFunc cancelCallbackNoIndex;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/DIOSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.DIODataJNI;
public class DIOSim {
private int m_index;
private final int m_index;
public DIOSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/DigitalPWMSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.DigitalPWMDataJNI;
public class DigitalPWMSim {
private int m_index;
private final int m_index;
public DigitalPWMSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/EncoderSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.EncoderDataJNI;
public class EncoderSim {
private int m_index;
private final int m_index;
public EncoderSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/I2CSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.I2CDataJNI;
public class I2CSim {
private int m_index;
private final int m_index;
public I2CSim(int index) {
m_index = index;

9
hal/src/main/java/edu/wpi/first/wpilibj/sim/NotifyCallback.java
View File

@@ -14,21 +14,22 @@ public interface NotifyCallback {
switch(type) {
case 0x01:
callback(name, SimValue.makeBoolean(value1 != 0));
break;
break;
case 0x02:
callback(name, SimValue.makeDouble(value2));
break;
break;
case 0x16:
callback(name, SimValue.makeEnum((int)value1));
break;
break;
case 0x32:
callback(name, SimValue.makeInt((int)value1));
break;
break;
case 0x64:
callback(name, SimValue.makeLong(value1));
break;
default:
callback(name, SimValue.makeUnassigned());
break;
}
}
}

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/PCMSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.PCMDataJNI;
public class PCMSim {
private int m_index;
private final int m_index;
public PCMSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/PDPSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.PDPDataJNI;
public class PDPSim {
private int m_index;
private final int m_index;
public PDPSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/PWMSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.PWMDataJNI;
public class PWMSim {
private int m_index;
private final int m_index;
public PWMSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/RelaySim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.RelayDataJNI;
public class RelaySim {
private int m_index;
private final int m_index;
public RelaySim(int index) {
m_index = index;

3
hal/src/main/java/edu/wpi/first/wpilibj/sim/RoboRioSim.java
View File

@@ -9,8 +9,9 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.RoboRioDataJNI;
@SuppressWarnings({"PMD.ExcessivePublicCount", "PMD.TooManyMethods"})
public class RoboRioSim {
private int m_index;
private final int m_index;
public RoboRioSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/SPIAccelerometerSim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.SPIAccelerometerDataJNI;
public class SPIAccelerometerSim {
private int m_index;
private final int m_index;
public SPIAccelerometerSim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/SPISim.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.SPIDataJNI;
public class SPISim {
private int m_index;
private final int m_index;
public SPISim(int index) {
m_index = index;

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/SimHooks.java
View File

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj.sim;
import edu.wpi.first.hal.sim.mockdata.SimulatorJNI;
public class SimHooks {
public final class SimHooks {
private SimHooks() {
}

2
hal/src/main/java/edu/wpi/first/wpilibj/sim/SimValue.java
View File

@@ -7,7 +7,7 @@
package edu.wpi.first.wpilibj.sim;
public class SimValue {
public final class SimValue {
private boolean v_boolean;
private long v_long;
private double v_double;

5
ntcore/src/dev/java/edu/wpi/first/ntcore/DevMain.java
View File

@@ -10,7 +10,7 @@ package edu.wpi.first.ntcore;
import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.wpiutil.RuntimeDetector;
public class DevMain {
public final class DevMain {
/**
* Main method.
*/
@@ -19,4 +19,7 @@ public class DevMain {
System.out.println(RuntimeDetector.getPlatformPath());
NetworkTablesJNI.flush(NetworkTablesJNI.getDefaultInstance());
}
private DevMain() {
}
}

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

@@ -134,6 +134,7 @@ public final class NetworkTable {
return m_inst;
}
@Override
public String toString() {
return "NetworkTable: " + m_path;
}

21
ntcore/src/main/java/edu/wpi/first/wpilibj/networktables/NetworkTable.java
View File

@@ -298,6 +298,7 @@ public class NetworkTable implements ITable, IRemote {
this.inst = inst;
}
@Override
public String toString() { return "NetworkTable: " + path; }
private final ConcurrentMap<String, NetworkTableEntry> entries = new ConcurrentHashMap<String, NetworkTableEntry>();
@@ -331,6 +332,7 @@ public class NetworkTable implements ITable, IRemote {
* @return True if connected, false if not connected.
* @deprecated Use {@link NetworkTableInstance#isConnected()} instead.
*/
@Override
@Deprecated
public boolean isConnected() {
return inst.isConnected();
@@ -341,6 +343,7 @@ public class NetworkTable implements ITable, IRemote {
* @return True if operating as a server, false otherwise.
* @deprecated Use {@link NetworkTableInstance#getNetworkMode()} instead.
*/
@Override
@Deprecated
public boolean isServer() {
return (inst.getNetworkMode() & NetworkTableInstance.kNetModeServer) != 0;
@@ -369,16 +372,20 @@ public class NetworkTable implements ITable, IRemote {
private static final HashMap<IRemoteConnectionListener,ConnectionListenerAdapter> globalConnectionListenerMap = new HashMap<IRemoteConnectionListener,ConnectionListenerAdapter>();
private static IRemote staticRemote = new IRemote() {
@Override
public void addConnectionListener(IRemoteConnectionListener listener, boolean immediateNotify) {
NetworkTable.addGlobalConnectionListener(listener, immediateNotify);
}
@Override
public void removeConnectionListener(IRemoteConnectionListener listener) {
NetworkTable.removeGlobalConnectionListener(listener);
}
@Override
public boolean isConnected() {
ConnectionInfo[] conns = NetworkTableInstance.getDefault().getConnections();
return conns.length > 0;
}
@Override
public boolean isServer() {
return (NetworkTableInstance.getDefault().getNetworkMode() & NetworkTableInstance.kNetModeServer) != 0;
}
@@ -420,6 +427,7 @@ public class NetworkTable implements ITable, IRemote {
* @param immediateNotify call listener immediately for all existing connections
* @deprecated Use {@link NetworkTableInstance#addConnectionListener(Consumer, boolean)} instead.
*/
@Override
@Deprecated
public synchronized void addConnectionListener(IRemoteConnectionListener listener,
boolean immediateNotify) {
@@ -435,6 +443,7 @@ public class NetworkTable implements ITable, IRemote {
* @param listener connection listener
* @deprecated Use {@link NetworkTableInstance#removeConnectionListener(int)} instead.
*/
@Override
@Deprecated
public synchronized void removeConnectionListener(IRemoteConnectionListener listener) {
ConnectionListenerAdapter adapter = connectionListenerMap.get(listener);
@@ -657,6 +666,7 @@ public class NetworkTable implements ITable, IRemote {
return getEntry(key).exists();
}
@Override
public boolean containsSubTable(String key) {
int[] handles = NetworkTablesJNI.getEntries(inst.getHandle(), pathWithSep + key + PATH_SEPARATOR, 0);
return handles.length != 0;
@@ -666,6 +676,7 @@ public class NetworkTable implements ITable, IRemote {
* @param types bitmask of types; 0 is treated as a "don't care".
* @return keys currently in the table
*/
@Override
public Set<String> getKeys(int types) {
Set<String> keys = new HashSet<String>();
int prefixLen = path.length() + 1;
@@ -718,6 +729,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultNumber(String key, double defaultValue) {
return getEntry(key).setDefaultDouble(defaultValue);
}
@@ -741,6 +753,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultString(String key, String defaultValue) {
return getEntry(key).setDefaultString(defaultValue);
}
@@ -764,6 +777,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultBoolean(String key, boolean defaultValue) {
return getEntry(key).setDefaultBoolean(defaultValue);
}
@@ -795,6 +809,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultBooleanArray(String key, boolean[] defaultValue) {
return getEntry(key).setDefaultBooleanArray(defaultValue);
}
@@ -802,6 +817,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultBooleanArray(String key, Boolean[] defaultValue) {
return getEntry(key).setDefaultBooleanArray(defaultValue);
}
@@ -841,6 +857,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultNumberArray(String key, double[] defaultValue) {
return getEntry(key).setDefaultDoubleArray(defaultValue);
}
@@ -848,6 +865,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultNumberArray(String key, Double[] defaultValue) {
return getEntry(key).setDefaultNumberArray(defaultValue);
}
@@ -879,6 +897,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultStringArray(String key, String[] defaultValue) {
return getEntry(key).setDefaultStringArray(defaultValue);
}
@@ -902,6 +921,7 @@ public class NetworkTable implements ITable, IRemote {
/**
* {@inheritDoc}
*/
@Override
public boolean setDefaultRaw(String key, byte[] defaultValue) {
return getEntry(key).setDefaultRaw(defaultValue);
}
@@ -957,6 +977,7 @@ public class NetworkTable implements ITable, IRemote {
* instead, e.g. `NetworkTable.getEntry(key).setValue(NetworkTableEntry.makeBoolean(false));`
* or `NetworkTable.getEntry(key).setValue(new Boolean(false));`
*/
@Override
@Deprecated
public boolean putValue(String key, Object value) throws IllegalArgumentException {
if (value instanceof Boolean)

9
shared/java/javacommon.gradle
View File

@@ -2,7 +2,6 @@ apply plugin: 'maven-publish'
apply plugin: 'edu.wpi.first.wpilib.versioning.WPILibVersioningPlugin'
apply plugin: 'java'
apply plugin: 'net.ltgt.errorprone'
apply plugin: 'pmd'
if (!hasProperty('releaseType')) {
WPILibVersion {
@@ -98,14 +97,6 @@ if (project.hasProperty('onlyAthena')) {
test.enabled = false
}
pmd {
sourceSets = [sourceSets.main]
consoleOutput = true
reportsDir = file("$project.buildDir/reports/pmd")
ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
ruleSets = []
}
repositories {
mavenCentral()
}

16
shared/java/javastyle.gradle Normal file
View File

@@ -0,0 +1,16 @@
apply plugin: 'checkstyle'
apply plugin: 'pmd'
checkstyle {
toolVersion = "8.10"
configFile = new File(rootDir, "styleguide/checkstyle.xml")
}
pmd {
toolVersion = '6.3.0'
consoleOutput = true
reportsDir = file("$project.buildDir/reports/pmd")
ruleSetFiles = files(new File(rootDir, "styleguide/pmd-ruleset.xml"))
ruleSets = []
}

60
styleguide/pmd-ruleset.xml
View File

@@ -4,6 +4,64 @@
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://pmd.sourceforge.net/ruleset/2.0.0 http://pmd.sourceforge.net/ruleset_2_0_0.xsd">
<description>PMD Ruleset for WPILib</description>
<exclude-pattern>.*/*JNI.*</exclude-pattern>
<exclude-pattern>.*/*Test.*</exclude-pattern>
<rule ref="category/java/bestpractices.xml">
<exclude name="AccessorClassGeneration" />
<exclude name="AccessorMethodGeneration" />
<exclude name="AvoidPrintStackTrace" />
<exclude name="AvoidReassigningParameters" />
<exclude name="JUnitAssertionsShouldIncludeMessage" />
<exclude name="JUnitTestContainsTooManyAsserts" />
<exclude name="JUnit4TestShouldUseTestAnnotation" />
<exclude name="ReplaceHashtableWithMap" />
<exclude name="ReplaceVectorWithList" />
<exclude name="SwitchStmtsShouldHaveDefault" />
<exclude name="SystemPrintln" />
<exclude name="UseVarargs" />
</rule>
<rule ref="category/java/design.xml">
<exclude name="DataClass" />
<exclude name="LawOfDemeter" />
<exclude name="LoosePackageCoupling" />
<exclude name="NcssConstructorCount" />
<exclude name="NcssCount" />
<exclude name="NcssMethodCount" />
</rule>
<rule ref="category/java/errorprone.xml">
<exclude name="AssignmentToNonFinalStatic" />
<exclude name="AvoidDuplicateLiterals" />
<exclude name="AvoidLiteralsInIfCondition" />
<exclude name="BeanMembersShouldSerialize" />
<exclude name="ConstructorCallsOverridableMethod" />
<exclude name="DataflowAnomalyAnalysis" />
<exclude name="DoNotCallSystemExit" />
<exclude name="FinalizeDoesNotCallSuperFinalize" />
<exclude name="NullAssignment" />
</rule>
<rule ref="category/java/multithreading.xml">
<exclude name="AvoidSynchronizedAtMethodLevel" />
<exclude name="AvoidUsingVolatile" />
<exclude name="DoNotUseThreads" />
</rule>
<rule ref="category/java/performance.xml">
<exclude name="AvoidUsingShortType" />
</rule>
<rule name="UnnecessaryCastRule"
language="java"
message="Avoid unnecessary casts"
class="net.sourceforge.pmd.lang.java.rule.migrating.UnnecessaryCastRule"
externalInfoUrl="https://github.com/pmd/pmd/blob/master/pmd-java/src/main/java/net/sourceforge/pmd/lang/java/rule/migrating/UnnecessaryCastRule.java" />
<!--
<rule ref="rulesets/java/basic.xml" />
<rule ref="rulesets/java/braces.xml" />
<rule ref="rulesets/java/empty.xml" />
@@ -28,6 +86,8 @@
value="true" />
</properties>
</rule>
-->
<!-- Custom Rules -->
<rule name="UseRequireNonNull"
message="Use Objects.requireNonNull() instead of throwing a NullPointerException yourself."

5
wpilibj/src/dev/java/edu/wpi/first/wpilibj/DevMain.java
View File

@@ -11,7 +11,7 @@ import edu.wpi.first.networktables.NetworkTablesJNI;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpiutil.RuntimeDetector;
public class DevMain {
public final class DevMain {
/**
* Main entry point.
*/
@@ -21,4 +21,7 @@ public class DevMain {
System.out.println(NetworkTablesJNI.now());
System.out.println(HALUtil.getHALRuntimeType());
}
private DevMain() {
}
}

14
wpilibj/src/main/java/edu/wpi/first/wpilibj/AnalogAccelerometer.java
View File

@@ -22,7 +22,7 @@ public class AnalogAccelerometer extends SendableBase implements PIDSource {
private AnalogInput m_analogChannel;
private double m_voltsPerG = 1.0;
private double m_zeroGVoltage = 2.5;
private boolean m_allocatedChannel;
private final boolean m_allocatedChannel;
protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
/**
@@ -42,8 +42,7 @@ public class AnalogAccelerometer extends SendableBase implements PIDSource {
* @param channel The channel number for the analog input the accelerometer is connected to
*/
public AnalogAccelerometer(final int channel) {
this(new AnalogInput(channel));
m_allocatedChannel = true;
this(new AnalogInput(channel), true);
addChild(m_analogChannel);
}
@@ -55,10 +54,13 @@ public class AnalogAccelerometer extends SendableBase implements PIDSource {
* @param channel The existing AnalogInput object for the analog input the accelerometer is
* connected to
*/
public AnalogAccelerometer(AnalogInput channel) {
requireNonNull(channel, "Analog Channel given was null");
public AnalogAccelerometer(final AnalogInput channel) {
this(channel, false);
}
m_allocatedChannel = false;
private AnalogAccelerometer(final AnalogInput channel, final boolean allocatedChannel) {
requireNonNull(channel, "Analog Channel given was null");
m_allocatedChannel = allocatedChannel;
m_analogChannel = channel;
initAccelerometer();
}

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

@@ -26,9 +26,9 @@ import static java.util.Objects.requireNonNull;
public class AnalogGyro extends GyroBase implements Gyro, PIDSource, Sendable {
private static final double kDefaultVoltsPerDegreePerSecond = 0.007;
protected AnalogInput m_analog;
private boolean m_channelAllocated = false;
private boolean m_channelAllocated;
private int m_gyroHandle = 0;
private int m_gyroHandle;
/**
* Initialize the gyro. Calibration is handled by calibrate().

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

@@ -41,8 +41,8 @@ public class AnalogTrigger extends SendableBase {
*/
protected int m_port;
protected int m_index;
protected AnalogInput m_analogInput = null;
protected boolean m_ownsAnalog = false;
protected AnalogInput m_analogInput;
protected boolean m_ownsAnalog;
/**
* Constructor for an analog trigger given a channel number.

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

@@ -26,7 +26,7 @@ public class CAN implements Closeable {
public static final int kTeamManufacturer = 8;
public static final int kTeamDeviceType = 10;
private int m_handle;
private final int m_handle;
/**
* Create a new CAN communication interface with the specific device ID.

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

@@ -14,10 +14,10 @@ public class CircularBuffer {
private double[] m_data;
// Index of element at front of buffer
private int m_front = 0;
private int m_front;
// Number of elements used in buffer
private int m_length = 0;
private int m_length;
/**
* Create a CircularBuffer with the provided size.

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

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.hal.PowerJNI;
* @deprecated Use RobotController class instead
*/
@Deprecated
public class ControllerPower {
public final class ControllerPower {
/**
* Get the input voltage to the robot controller.
*
@@ -157,4 +157,7 @@ public class ControllerPower {
public static int getFaultCount6V() {
return PowerJNI.getUserCurrentFaults6V();
}
private ControllerPower() {
}
}

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

@@ -146,7 +146,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
requireNonNull(downSource, "Down Source given was null");
if (encodingType != EncodingType.k1X && encodingType != EncodingType.k2X) {
throw new RuntimeException("Counters only support 1X and 2X quadrature decoding!");
throw new IllegalArgumentException("Counters only support 1X and 2X quadrature decoding!");
}
setUpSource(upSource);
@@ -253,7 +253,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
*/
public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
if (m_upSource == null) {
throw new RuntimeException("Up Source must be set before setting the edge!");
throw new IllegalStateException("Up Source must be set before setting the edge!");
}
CounterJNI.setCounterUpSourceEdge(m_counter, risingEdge, fallingEdge);
}
@@ -528,6 +528,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
*
* @param pidSource An enum to select the parameter.
*/
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
requireNonNull(pidSource, "PID Source Parameter given was null");
if (pidSource != PIDSourceType.kDisplacement && pidSource != PIDSourceType.kRate) {
@@ -537,6 +538,7 @@ public class Counter extends SendableBase implements CounterBase, PIDSource {
m_pidSource = pidSource;
}
@Override
public PIDSourceType getPIDSourceType() {
return m_pidSource;
}

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

@@ -170,6 +170,7 @@ public class DigitalGlitchFilter extends SendableBase {
/ (long) (SensorUtil.kSystemClockTicksPerMicrosecond / 4);
}
@Override
@SuppressWarnings("PMD.UnusedFormalParameter")
public void initSendable(SendableBuilder builder) {
}

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

@@ -19,8 +19,8 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
* for devices like switches etc. that aren't implemented anywhere else.
*/
public class DigitalInput extends DigitalSource {
private int m_channel = 0;
private int m_handle = 0;
private final int m_channel;
private int m_handle;
/**
* Create an instance of a Digital Input class. Creates a digital input given a channel.
@@ -43,8 +43,8 @@ public class DigitalInput extends DigitalSource {
if (m_interrupt != 0) {
cancelInterrupts();
}
DIOJNI.freeDIOPort(m_handle);
m_handle = 0;
}
/**

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

@@ -20,8 +20,8 @@ public class DigitalOutput extends SendableBase {
private static final int invalidPwmGenerator = 0;
private int m_pwmGenerator = invalidPwmGenerator;
private int m_channel = 0;
private int m_handle = 0;
private final int m_channel;
private int m_handle;
/**
* Create an instance of a digital output. Create an instance of a digital output given a

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

@@ -31,8 +31,8 @@ public class DoubleSolenoid extends SolenoidBase {
private byte m_forwardMask; // The mask for the forward channel.
private byte m_reverseMask; // The mask for the reverse channel.
private int m_forwardHandle = 0;
private int m_reverseHandle = 0;
private int m_forwardHandle;
private int m_reverseHandle;
/**
* Constructor. Uses the default PCM ID (defaults to 0).

70
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
View File

@@ -25,6 +25,9 @@ import edu.wpi.first.wpilibj.hal.PowerJNI;
/**
* Provide access to the network communication data to / from the Driver Station.
*/
@SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.ExcessiveClassLength",
"PMD.ExcessivePublicCount", "PMD.GodClass", "PMD.TooManyFields",
"PMD.TooManyMethods"})
public class DriverStation implements RobotState.Interface {
/**
* Number of Joystick Ports.
@@ -66,15 +69,16 @@ public class DriverStation implements RobotState.Interface {
}
private static final double JOYSTICK_UNPLUGGED_MESSAGE_INTERVAL = 1.0;
private double m_nextMessageTime = 0.0;
private double m_nextMessageTime;
private static class DriverStationTask implements Runnable {
private DriverStation m_ds;
private final DriverStation m_ds;
DriverStationTask(DriverStation ds) {
m_ds = ds;
}
@Override
public void run() {
m_ds.run();
}
@@ -144,12 +148,13 @@ public class DriverStation implements RobotState.Interface {
private int[] m_joystickButtonsReleased = new int[kJoystickPorts];
// preallocated byte buffer for button count
private ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
private final ByteBuffer m_buttonCountBuffer = ByteBuffer.allocateDirect(1);
private MatchDataSender m_matchDataSender;
private final MatchDataSender m_matchDataSender;
// Internal Driver Station thread
private Thread m_thread;
@SuppressWarnings("PMD.SingularField")
private final Thread m_thread;
private volatile boolean m_threadKeepAlive = true;
private final ReentrantLock m_cacheDataMutex = new ReentrantLock();
@@ -159,14 +164,14 @@ public class DriverStation implements RobotState.Interface {
private int m_waitForDataCount;
// Robot state status variables
private boolean m_userInDisabled = false;
private boolean m_userInAutonomous = false;
private boolean m_userInTeleop = false;
private boolean m_userInTest = false;
private boolean m_userInDisabled;
private boolean m_userInAutonomous;
private boolean m_userInTeleop;
private boolean m_userInTest;
// Control word variables
private final Object m_controlWordMutex;
private ControlWord m_controlWordCache;
private final ControlWord m_controlWordCache;
private long m_lastControlWordUpdate;
/**
@@ -184,6 +189,7 @@ public class DriverStation implements RobotState.Interface {
* <p>The single DriverStation instance is created statically with the instance static member
* variable.
*/
@SuppressWarnings("PMD.AvoidInstantiatingObjectsInLoops")
private DriverStation() {
HAL.initialize(500, 0);
m_waitForDataCount = 0;
@@ -277,12 +283,12 @@ public class DriverStation implements RobotState.Interface {
} else {
locString = "";
}
String traceString = "";
StringBuilder traceString = new StringBuilder("");
if (printTrace) {
boolean haveLoc = false;
for (int i = stackTraceFirst; i < stackTrace.length; i++) {
String loc = stackTrace[i].toString();
traceString += "\tat " + loc + "\n";
traceString.append("\tat ").append(loc).append('\n');
// get first user function
if (!haveLoc && !loc.startsWith("edu.wpi.first")) {
locString = loc;
@@ -290,7 +296,7 @@ public class DriverStation implements RobotState.Interface {
}
}
}
HAL.sendError(isError, code, false, error, locString, traceString, true);
HAL.sendError(isError, code, false, error, locString, traceString.toString(), true);
}
/**
@@ -302,7 +308,7 @@ public class DriverStation implements RobotState.Interface {
*/
public boolean getStickButton(final int stick, final int button) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
}
if (button <= 0) {
reportJoystickUnpluggedError("Button indexes begin at 1 in WPILib for C++ and Java\n");
@@ -338,7 +344,7 @@ public class DriverStation implements RobotState.Interface {
return false;
}
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
}
boolean error = false;
boolean retVal = false;
@@ -377,7 +383,7 @@ public class DriverStation implements RobotState.Interface {
return false;
}
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
}
boolean error = false;
boolean retVal = false;
@@ -412,10 +418,10 @@ public class DriverStation implements RobotState.Interface {
*/
public double getStickAxis(int stick, int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (axis >= HAL.kMaxJoystickAxes) {
throw new RuntimeException("Joystick axis is out of range");
throw new IllegalArgumentException("Joystick axis is out of range");
}
m_cacheDataMutex.lock();
@@ -443,10 +449,10 @@ public class DriverStation implements RobotState.Interface {
*/
public int getStickPOV(int stick, int pov) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
if (pov >= HAL.kMaxJoystickPOVs) {
throw new RuntimeException("Joystick POV is out of range");
throw new IllegalArgumentException("Joystick POV is out of range");
}
m_cacheDataMutex.lock();
@@ -474,7 +480,7 @@ public class DriverStation implements RobotState.Interface {
*/
public int getStickButtons(final int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-3");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-3");
}
m_cacheDataMutex.lock();
@@ -493,7 +499,7 @@ public class DriverStation implements RobotState.Interface {
*/
public int getStickAxisCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -512,7 +518,7 @@ public class DriverStation implements RobotState.Interface {
*/
public int getStickPOVCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -531,7 +537,7 @@ public class DriverStation implements RobotState.Interface {
*/
public int getStickButtonCount(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -550,7 +556,7 @@ public class DriverStation implements RobotState.Interface {
*/
public boolean getJoystickIsXbox(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -569,7 +575,7 @@ public class DriverStation implements RobotState.Interface {
*/
public int getJoystickType(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -588,7 +594,7 @@ public class DriverStation implements RobotState.Interface {
*/
public String getJoystickName(int stick) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -608,7 +614,7 @@ public class DriverStation implements RobotState.Interface {
*/
public int getJoystickAxisType(int stick, int axis) {
if (stick < 0 || stick >= kJoystickPorts) {
throw new RuntimeException("Joystick index is out of range, should be 0-5");
throw new IllegalArgumentException("Joystick index is out of range, should be 0-5");
}
m_cacheDataMutex.lock();
@@ -624,6 +630,7 @@ public class DriverStation implements RobotState.Interface {
*
* @return True if the robot is enabled, false otherwise.
*/
@Override
public boolean isEnabled() {
synchronized (m_controlWordMutex) {
updateControlWord(false);
@@ -636,6 +643,7 @@ public class DriverStation implements RobotState.Interface {
*
* @return True if the robot should be disabled, false otherwise.
*/
@Override
public boolean isDisabled() {
return !isEnabled();
}
@@ -646,6 +654,7 @@ public class DriverStation implements RobotState.Interface {
*
* @return True if autonomous mode should be enabled, false otherwise.
*/
@Override
public boolean isAutonomous() {
synchronized (m_controlWordMutex) {
updateControlWord(false);
@@ -659,6 +668,7 @@ public class DriverStation implements RobotState.Interface {
*
* @return True if operator-controlled mode should be enabled, false otherwise.
*/
@Override
public boolean isOperatorControl() {
return !(isAutonomous() || isTest());
}
@@ -669,6 +679,7 @@ public class DriverStation implements RobotState.Interface {
*
* @return True if test mode should be enabled, false otherwise.
*/
@Override
public boolean isTest() {
synchronized (m_controlWordMutex) {
updateControlWord(false);
@@ -1139,7 +1150,8 @@ public class DriverStation implements RobotState.Interface {
safetyCounter = 0;
}
if (++safetyCounter >= 4) {
safetyCounter++;
if (safetyCounter >= 4) {
MotorSafetyHelper.checkMotors();
safetyCounter = 0;
}

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -53,7 +53,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
/**
* The index source.
*/
protected DigitalSource m_indexSource = null; // Index on some encoders
protected DigitalSource m_indexSource; // Index on some encoders
private boolean m_allocatedA;
private boolean m_allocatedB;
private boolean m_allocatedI;
@@ -329,6 +329,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
*/
@Override
public int get() {
return EncoderJNI.getEncoder(m_encoder);
}
@@ -336,6 +337,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
/**
* Reset the Encoder distance to zero. Resets the current count to zero on the encoder.
*/
@Override
public void reset() {
EncoderJNI.resetEncoder(m_encoder);
}
@@ -350,6 +352,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
* @return Period in seconds of the most recent pulse.
* @deprecated Use getRate() in favor of this method.
*/
@Override
@Deprecated
public double getPeriod() {
return EncoderJNI.getEncoderPeriod(m_encoder);
@@ -364,6 +367,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
* @param maxPeriod The maximum time between rising and falling edges before the FPGA will report
* the device stopped. This is expressed in seconds.
*/
@Override
public void setMaxPeriod(double maxPeriod) {
EncoderJNI.setEncoderMaxPeriod(m_encoder, maxPeriod);
}
@@ -375,6 +379,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
*
* @return True if the encoder is considered stopped.
*/
@Override
public boolean getStopped() {
return EncoderJNI.getEncoderStopped(m_encoder);
}
@@ -384,6 +389,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
*
* @return The last direction the encoder value changed.
*/
@Override
public boolean getDirection() {
return EncoderJNI.getEncoderDirection(m_encoder);
}
@@ -478,6 +484,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
*
* @param pidSource An enum to select the parameter.
*/
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
m_pidSource = pidSource;
}
@@ -492,6 +499,7 @@ public class Encoder extends SendableBase implements CounterBase, PIDSource {
*
* @return The current value of the selected source parameter.
*/
@Override
public double pidGet() {
switch (m_pidSource) {
case kDisplacement:

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

@@ -18,6 +18,7 @@ public abstract class GamepadBase extends GenericHID {
super(port);
}
@Override
public abstract double getRawAxis(int axis);
/**
@@ -43,19 +44,27 @@ public abstract class GamepadBase extends GenericHID {
return getStickButton(Hand.kRight);
}
@Override
public abstract boolean getRawButton(int button);
@Override
public abstract int getPOV(int pov);
@Override
public abstract int getPOVCount();
@Override
public abstract HIDType getType();
@Override
public abstract String getName();
@Override
public abstract void setOutput(int outputNumber, boolean value);
@Override
public abstract void setOutputs(int value);
@Override
public abstract void setRumble(RumbleType type, double value);
}

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

@@ -44,6 +44,7 @@ public abstract class GenericHID {
@SuppressWarnings("MemberName")
public final int value;
@SuppressWarnings("PMD.UseConcurrentHashMap")
private static final Map<Integer, HIDType> map = new HashMap<>();
HIDType(int value) {
@@ -57,7 +58,7 @@ public abstract class GenericHID {
}
public static HIDType of(int value) {
return (HIDType) map.get(value);
return map.get(value);
}
}

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

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
* Support for high level usage reporting.
*/
@SuppressWarnings("JavadocMethod")
public class HLUsageReporting {
public final class HLUsageReporting {
private static Interface impl;
@SuppressWarnings("MethodName")
@@ -54,14 +54,20 @@ public class HLUsageReporting {
}
public static class Null implements Interface {
@Override
public void reportScheduler() {
}
@Override
@SuppressWarnings("PMD.UnusedFormalParameter")
public void reportPIDController(int num) {
}
@Override
public void reportSmartDashboard() {
}
}
private HLUsageReporting() {
}
}

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/I2C.java
View File

@@ -22,6 +22,7 @@ import static java.util.Objects.requireNonNull;
* <p>This class is intended to be used by sensor (and other I2C device) drivers. It probably should
* not be used directly.
*/
@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods"})
public class I2C implements AutoCloseable {
public enum Port {
kOnboard(0), kMXP(1);
@@ -99,6 +100,7 @@ public class I2C implements AutoCloseable {
* @param receiveSize Number of bytes to read from the device.
* @return Transfer Aborted... false for success, true for aborted.
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
public synchronized boolean transaction(ByteBuffer dataToSend, int sendSize,
ByteBuffer dataReceived, int receiveSize) {
if (dataToSend.hasArray() && dataReceived.hasArray()) {
@@ -231,7 +233,7 @@ public class I2C implements AutoCloseable {
return transaction(registerAddressArray, registerAddressArray.length, buffer, count);
}
private ByteBuffer m_readDataToSendBuffer = null;
private ByteBuffer m_readDataToSendBuffer;
/**
* Execute a read transaction with the device.
@@ -352,12 +354,11 @@ public class I2C implements AutoCloseable {
byte[] dataToSend = new byte[1];
byte[] deviceData = new byte[4];
for (int i = 0, curRegisterAddress = registerAddress;
i < count; i += 4, curRegisterAddress += 4) {
for (int i = 0; i < count; i += 4) {
int toRead = count - i < 4 ? count - i : 4;
// Read the chunk of data. Return false if the sensor does not
// respond.
dataToSend[0] = (byte) curRegisterAddress;
dataToSend[0] = (byte) (registerAddress + i);
if (transaction(dataToSend, 1, deviceData, toRead)) {
return false;
}

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

@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj.util.AllocationException;
/**
* Base for sensors to be used with interrupts.
*/
@SuppressWarnings("PMD.TooManyMethods")
public abstract class InterruptableSensorBase extends SendableBase {
@SuppressWarnings("JavadocMethod")
public enum WaitResult {
@@ -35,7 +36,7 @@ public abstract class InterruptableSensorBase extends SendableBase {
/**
* Flags if the interrupt being allocated is synchronous.
*/
protected boolean m_isSynchronousInterrupt = false;
protected boolean m_isSynchronousInterrupt;
/**
* Create a new InterrupatableSensorBase.

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

@@ -27,6 +27,7 @@ public class IterativeRobot extends IterativeRobotBase {
/**
* Provide an alternate "main loop" via startCompetition().
*/
@Override
public void startCompetition() {
robotInit();

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

@@ -40,6 +40,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
* - teleopPeriodic()
* - testPeriodic()
*/
@SuppressWarnings("PMD.TooManyMethods")
public abstract class IterativeRobotBase extends RobotBase {
private enum Mode {
kNone,
@@ -54,6 +55,7 @@ public abstract class IterativeRobotBase extends RobotBase {
/**
* Provide an alternate "main loop" via startCompetition().
*/
@Override
public abstract void startCompetition();
/* ----------- Overridable initialization code ----------------- */

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

@@ -21,6 +21,7 @@ public interface NamedSendable extends Sendable {
*
* @return the name of the subtable of SmartDashboard that the Sendable object will use.
*/
@Override
String getName();
@Override

10
wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
View File

@@ -16,11 +16,11 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
*/
public class NidecBrushless extends SendableBase implements SpeedController, MotorSafety, Sendable {
private final MotorSafetyHelper m_safetyHelper;
private boolean m_isInverted = false;
private DigitalOutput m_dio;
private PWM m_pwm;
private volatile double m_speed = 0.0;
private volatile boolean m_disabled = false;
private boolean m_isInverted;
private final DigitalOutput m_dio;
private final PWM m_pwm;
private volatile double m_speed;
private volatile boolean m_disabled;
/**
* Constructor.

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

@@ -22,15 +22,15 @@ public class Notifier implements AutoCloseable {
private final AtomicInteger m_notifier = new AtomicInteger();
// The time, in microseconds, at which the corresponding handler should be
// called. Has the same zero as Utility.getFPGATime().
private double m_expirationTime = 0;
private double m_expirationTime;
// The handler passed in by the user which should be called at the
// appropriate interval.
private Runnable m_handler;
// Whether we are calling the handler just once or periodically.
private boolean m_periodic = false;
private boolean m_periodic;
// If periodic, the period of the calling; if just once, stores how long it
// is until we call the handler.
private double m_period = 0;
private double m_period;
@Override
@SuppressWarnings("NoFinalizer")

38
wpilibj/src/main/java/edu/wpi/first/wpilibj/PIDBase.java
View File

@@ -25,9 +25,10 @@ import static java.util.Objects.requireNonNull;
* and derivative calculations. Therefore, the sample rate affects the controller's behavior for a
* given set of PID constants.
*/
@SuppressWarnings("PMD.TooManyFields")
public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
public static final double kDefaultPeriod = 0.05;
private static int instances = 0;
private static int instances;
// Factor for "proportional" control
@SuppressWarnings("MemberName")
@@ -52,34 +53,34 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
private double m_minimumOutput = -1.0;
// Maximum input - limit setpoint to this
private double m_maximumInput = 0.0;
private double m_maximumInput;
// Minimum input - limit setpoint to this
private double m_minimumInput = 0.0;
private double m_minimumInput;
// Input range - difference between maximum and minimum
private double m_inputRange = 0.0;
private double m_inputRange;
// Do the endpoints wrap around? (e.g., absolute encoder)
private boolean m_continuous = false;
private boolean m_continuous;
// Is the PID controller enabled
protected boolean m_enabled = false;
protected boolean m_enabled;
// The prior error (used to compute velocity)
private double m_prevError = 0.0;
private double m_prevError;
// The sum of the errors for use in the integral calc
private double m_totalError = 0.0;
private double m_totalError;
// The tolerance object used to check if on target
private Tolerance m_tolerance;
private double m_setpoint = 0.0;
private double m_prevSetpoint = 0.0;
private double m_setpoint;
private double m_prevSetpoint;
@SuppressWarnings("PMD.UnusedPrivateField")
private double m_error = 0.0;
private double m_result = 0.0;
private double m_error;
private double m_result;
private PIDSource m_origSource;
private LinearDigitalFilter m_filter;
@@ -110,7 +111,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
public class NullTolerance implements Tolerance {
@Override
public boolean onTarget() {
throw new RuntimeException("No tolerance value set when calling onTarget().");
throw new IllegalStateException("No tolerance value set when calling onTarget().");
}
}
@@ -198,7 +199,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
* Read the input, calculate the output accordingly, and write to the output. This should only be
* called by the PIDTask and is created during initialization.
*/
@SuppressWarnings("LocalVariableName")
@SuppressWarnings({"LocalVariableName", "PMD.ExcessiveMethodLength", "PMD.NPathComplexity"})
protected void calculate() {
if (m_origSource == null || m_pidOutput == null) {
return;
@@ -334,6 +335,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
* @param i Integral coefficient
* @param d Differential coefficient
*/
@Override
@SuppressWarnings("ParameterName")
public void setPID(double p, double i, double d) {
m_thisMutex.lock();
@@ -433,6 +435,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*
* @return proportional coefficient
*/
@Override
public double getP() {
m_thisMutex.lock();
try {
@@ -447,6 +450,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*
* @return integral coefficient
*/
@Override
public double getI() {
m_thisMutex.lock();
try {
@@ -461,6 +465,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*
* @return differential coefficient
*/
@Override
public double getD() {
m_thisMutex.lock();
try {
@@ -508,7 +513,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*/
public void setContinuous(boolean continuous) {
if (continuous && m_inputRange <= 0) {
throw new RuntimeException("No input range set when calling setContinuous().");
throw new IllegalStateException("No input range set when calling setContinuous().");
}
m_thisMutex.lock();
try {
@@ -573,6 +578,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*
* @param setpoint the desired setpoint
*/
@Override
public void setSetpoint(double setpoint) {
m_thisMutex.lock();
try {
@@ -597,6 +603,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*
* @return the current setpoint
*/
@Override
public double getSetpoint() {
m_thisMutex.lock();
try {
@@ -625,6 +632,7 @@ public class PIDBase extends SendableBase implements PIDInterface, PIDOutput {
*
* @return the current error
*/
@Override
public double getError() {
m_thisMutex.lock();
try {

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

@@ -43,7 +43,7 @@ public class PWM extends SendableBase {
k4X
}
private int m_channel;
private final int m_channel;
private int m_handle;
/**

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

@@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
* Common base class for all PWM Speed Controllers.
*/
public abstract class PWMSpeedController extends SafePWM implements SpeedController {
private boolean m_isInverted = false;
private boolean m_isInverted;
/**
* Constructor.

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

@@ -31,7 +31,7 @@ import static java.util.Objects.requireNonNull;
* <p> This will also interact with {@link NetworkTable} by creating a table called "Preferences"
* with all the key-value pairs. </p>
*/
public class Preferences {
public final class Preferences {
/**
* The Preferences table name.
*/
@@ -75,6 +75,7 @@ public class Preferences {
* Gets the vector of keys.
* @return a vector of the keys
*/
@SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
public Vector<String> getKeys() {
return new Vector<>(m_table.getKeys());
}

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

@@ -90,8 +90,8 @@ public class Relay extends SendableBase implements MotorSafety {
private final int m_channel;
private int m_forwardHandle = 0;
private int m_reverseHandle = 0;
private int m_forwardHandle;
private int m_reverseHandle;
private Direction m_direction;
@@ -150,12 +150,12 @@ public class Relay extends SendableBase implements MotorSafety {
private void freeRelay() {
try {
RelayJNI.setRelay(m_forwardHandle, false);
} catch (UncleanStatusException ex) {
} catch (UncleanStatusException ignored) {
// do nothing. Ignore
}
try {
RelayJNI.setRelay(m_reverseHandle, false);
} catch (UncleanStatusException ex) {
} catch (UncleanStatusException ignored) {
// do nothing. Ignore
}
@@ -179,6 +179,7 @@ public class Relay extends SendableBase implements MotorSafety {
*
* @param value The state to set the relay.
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
public void set(Value value) {
switch (value) {
case kOff:

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

@@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException;
* unload/reload.
*/
public final class Resource {
private static Resource resourceList = null;
private static Resource resourceList;
private final boolean[] m_numAllocated;
private final int m_size;
private final Resource m_nextResource;

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

@@ -8,9 +8,10 @@
package edu.wpi.first.wpilibj;
import java.io.File;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.OutputStream;
import java.net.URL;
import java.nio.file.Files;
import java.util.Enumeration;
import java.util.jar.Manifest;
@@ -188,9 +189,9 @@ public abstract class RobotBase implements AutoCloseable {
if (propVal == null) {
return defaultValue;
}
if (propVal.equalsIgnoreCase("false")) {
if ("false".equalsIgnoreCase(propVal)) {
return false;
} else if (propVal.equalsIgnoreCase("true")) {
} else if ("true".equalsIgnoreCase(propVal)) {
return true;
} else {
throw new IllegalStateException(propVal);
@@ -218,7 +219,8 @@ public abstract class RobotBase implements AutoCloseable {
/**
* Starting point for the applications.
*/
@SuppressWarnings("PMD.UnusedFormalParameter")
@SuppressWarnings({"PMD.AvoidInstantiatingObjectsInLoops", "PMD.AvoidCatchingThrowable",
"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
public static void main(String... args) {
if (!HAL.initialize(500, 0)) {
throw new IllegalStateException("Failed to initialize. Terminating");
@@ -232,7 +234,8 @@ public abstract class RobotBase implements AutoCloseable {
} else {
Enumeration<URL> resources = null;
try {
resources = RobotBase.class.getClassLoader().getResources("META-INF/MANIFEST.MF");
resources = Thread.currentThread()
.getContextClassLoader().getResources("META-INF/MANIFEST.MF");
} catch (IOException ex) {
ex.printStackTrace();
}
@@ -273,7 +276,7 @@ public abstract class RobotBase implements AutoCloseable {
file.createNewFile();
try (FileOutputStream output = new FileOutputStream(file)) {
try (OutputStream output = Files.newOutputStream(file.toPath())) {
output.write("Java ".getBytes());
output.write(WPILibVersion.Version.getBytes());
}

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

@@ -25,6 +25,7 @@ import static java.util.Objects.requireNonNull;
* or {@link edu.wpi.first.wpilibj.drive.MecanumDrive} classes instead.
*/
@Deprecated
@SuppressWarnings({"PMD.GodClass", "PMD.TooManyMethods"})
public class RobotDrive implements MotorSafety, AutoCloseable {
protected MotorSafetyHelper m_safetyHelper;
@@ -53,11 +54,11 @@ public class RobotDrive implements MotorSafety, AutoCloseable {
protected SpeedController m_rearLeftMotor;
protected SpeedController m_rearRightMotor;
protected boolean m_allocatedSpeedControllers;
protected static boolean kArcadeRatioCurve_Reported = false;
protected static boolean kTank_Reported = false;
protected static boolean kArcadeStandard_Reported = false;
protected static boolean kMecanumCartesian_Reported = false;
protected static boolean kMecanumPolar_Reported = false;
protected static boolean kArcadeRatioCurve_Reported;
protected static boolean kTank_Reported;
protected static boolean kArcadeStandard_Reported;
protected static boolean kMecanumCartesian_Reported;
protected static boolean kMecanumPolar_Reported;
/**
* Constructor for RobotDrive with 2 motors specified with channel numbers. Set up parameters for

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

@@ -10,7 +10,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.util.BaseSystemNotInitializedException;
@SuppressWarnings("JavadocMethod")
public class RobotState {
public final class RobotState {
private static Interface m_impl;
@SuppressWarnings("MethodName")
@@ -69,4 +69,7 @@ public class RobotState {
boolean isTest();
}
private RobotState() {
}
}

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

@@ -16,6 +16,7 @@ import edu.wpi.first.wpilibj.hal.SPIJNI;
/**
* Represents a SPI bus port.
*/
@SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.TooManyMethods"})
public class SPI implements AutoCloseable {
public enum Port {
kOnboardCS0(0), kOnboardCS1(1), kOnboardCS2(2), kOnboardCS3(3), kMXP(4);
@@ -28,7 +29,7 @@ public class SPI implements AutoCloseable {
}
}
private static int devices = 0;
private static int devices;
private int m_port;
private int m_bitOrder;
@@ -268,6 +269,7 @@ public class SPI implements AutoCloseable {
* @param dataReceived Buffer to receive data from the device.
* @param size The length of the transaction, in bytes
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
public int transaction(ByteBuffer dataToSend, ByteBuffer dataReceived, int size) {
if (dataToSend.hasArray() && dataReceived.hasArray()) {
return transaction(dataToSend.array(), dataReceived.array(), size);
@@ -420,6 +422,7 @@ public class SPI implements AutoCloseable {
private static final int kAccumulateDepth = 2048;
@SuppressWarnings("PMD.TooManyFields")
private static class Accumulator implements AutoCloseable {
Accumulator(int port, int xferSize, int validMask, int validValue, int dataShift,
int dataSize, boolean isSigned, boolean bigEndian) {
@@ -462,6 +465,7 @@ public class SPI implements AutoCloseable {
final boolean m_bigEndian; // is response big endian?
final int m_port;
@SuppressWarnings("PMD.CyclomaticComplexity")
void update() {
synchronized (m_mutex) {
boolean done = false;
@@ -527,7 +531,7 @@ public class SPI implements AutoCloseable {
}
}
private Accumulator m_accum = null;
private Accumulator m_accum;
/**
* Initialize the accumulator.

7
wpilibj/src/main/java/edu/wpi/first/wpilibj/SafePWM.java
View File

@@ -32,6 +32,7 @@ public class SafePWM extends PWM implements MotorSafety {
*
* @param timeout The timeout (in seconds) for this motor object
*/
@Override
public void setExpiration(double timeout) {
m_safetyHelper.setExpiration(timeout);
}
@@ -41,6 +42,7 @@ public class SafePWM extends PWM implements MotorSafety {
*
* @return The expiration time value.
*/
@Override
public double getExpiration() {
return m_safetyHelper.getExpiration();
}
@@ -50,6 +52,7 @@ public class SafePWM extends PWM implements MotorSafety {
*
* @return a bool value that is true if the motor has NOT timed out and should still be running.
*/
@Override
public boolean isAlive() {
return m_safetyHelper.isAlive();
}
@@ -58,6 +61,7 @@ public class SafePWM extends PWM implements MotorSafety {
* Stop the motor associated with this PWM object. This is called by the MotorSafetyHelper object
* when it has a timeout for this PWM and needs to stop it from running.
*/
@Override
public void stopMotor() {
disable();
}
@@ -67,6 +71,7 @@ public class SafePWM extends PWM implements MotorSafety {
*
* @return True if motor safety is enforced for this object
*/
@Override
public boolean isSafetyEnabled() {
return m_safetyHelper.isSafetyEnabled();
}
@@ -91,10 +96,12 @@ public class SafePWM extends PWM implements MotorSafety {
m_safetyHelper.feed();
}
@Override
public void setSafetyEnabled(boolean enabled) {
m_safetyHelper.setSafetyEnabled(enabled);
}
@Override
public String getDescription() {
return "PWM " + getChannel();
}

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

@@ -114,6 +114,8 @@ public class SampleRobot extends RobotBase {
* state to change, either the other mode starts or the robot is disabled. Then go back and wait
* for the robot to be enabled again.
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
@Override
public void startCompetition() {
robotInit();

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

@@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.hal.SerialPortJNI;
* .com/pdf/manuals/370423a.pdf and the NI-VISA Programmer's Reference Manual here:
* http://www.ni.com/pdf/manuals/370132c.pdf
*/
@SuppressWarnings("PMD.TooManyMethods")
public class SerialPort implements AutoCloseable {
private byte m_port;

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

@@ -13,15 +13,16 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
* Allows multiple {@link SpeedController} objects to be linked together.
*/
public class SpeedControllerGroup extends SendableBase implements SpeedController {
private boolean m_isInverted = false;
private boolean m_isInverted;
private final SpeedController[] m_speedControllers;
private static int instances = 0;
private static int instances;
/**
* Create a new SpeedControllerGroup with the provided SpeedControllers.
*
* @param speedControllers The SpeedControllers to add
*/
@SuppressWarnings("PMD.AvoidArrayLoops")
public SpeedControllerGroup(SpeedController speedController,
SpeedController... speedControllers) {
m_speedControllers = new SpeedController[speedControllers.length + 1];

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

@@ -9,7 +9,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.ThreadsJNI;
public class Threads {
public final class Threads {
/**
* Get the thread priority for the current thread.
* @return The current thread priority. Scaled 1-99.
@@ -39,4 +39,7 @@ public class Threads {
public static boolean setCurrentThreadPriority(boolean realTime, int priority) {
return ThreadsJNI.setCurrentThreadPriority(realTime, priority);
}
private Threads() {
}
}

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

@@ -23,14 +23,14 @@ public class TimedRobot extends IterativeRobotBase {
public static final double kDefaultPeriod = 0.02;
// Prevents loop from starting if user calls setPeriod() in robotInit()
private boolean m_startLoop = false;
private boolean m_startLoop;
// The C pointer to the notifier object. We don't use it directly, it is
// just passed to the JNI bindings.
private final int m_notifier = NotifierJNI.initializeNotifier();
// The absolute expiration time
private double m_expirationTime = 0;
private double m_expirationTime;
private double m_period = kDefaultPeriod;
@@ -49,6 +49,7 @@ public class TimedRobot extends IterativeRobotBase {
/**
* Provide an alternate "main loop" via startCompetition().
*/
@Override
public void startCompetition() {
robotInit();

17
wpilibj/src/main/java/edu/wpi/first/wpilibj/Ultrasonic.java
View File

@@ -41,19 +41,19 @@ public class Ultrasonic extends SendableBase implements PIDSource {
private static final double kPingTime = 10 * 1e-6;
private static final double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
// head of the ultrasonic sensor list
private static Ultrasonic m_firstSensor = null;
private static Ultrasonic m_firstSensor;
// automatic round robin mode
private static boolean m_automaticEnabled = false;
private static boolean m_automaticEnabled;
private DigitalInput m_echoChannel;
private DigitalOutput m_pingChannel = null;
private DigitalOutput m_pingChannel;
private boolean m_allocatedChannels;
private boolean m_enabled = false;
private Counter m_counter = null;
private Ultrasonic m_nextSensor = null;
private boolean m_enabled;
private Counter m_counter;
private Ultrasonic m_nextSensor;
// task doing the round-robin automatic sensing
private static Thread m_task = null;
private static Thread m_task;
private Unit m_units;
private static int m_instances = 0;
private static int m_instances;
protected PIDSourceType m_pidSource = PIDSourceType.kDisplacement;
/**
@@ -190,6 +190,7 @@ public class Ultrasonic extends SendableBase implements PIDSource {
* stopped, then started again after this sensor is removed (provided this wasn't the last
* sensor).
*/
@SuppressWarnings("PMD.CyclomaticComplexity")
@Override
public synchronized void close() {
super.close();

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

@@ -33,7 +33,7 @@ public class XboxController extends GenericHID {
kBack(7),
kStart(8);
@SuppressWarnings("MemberName")
@SuppressWarnings({"MemberName", "PMD.SingularField"})
private int value;
Button(int value) {

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/InternalButton.java
View File

@@ -40,6 +40,7 @@ public class InternalButton extends Button {
m_pressed = pressed;
}
@Override
public boolean get() {
return m_pressed ^ m_inverted;
}

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/JoystickButton.java
View File

@@ -33,6 +33,7 @@ public class JoystickButton extends Button {
*
* @return The value of the joystick button
*/
@Override
public boolean get() {
return m_joystick.getRawButton(m_buttonNumber);
}

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/buttons/NetworkButton.java
View File

@@ -25,6 +25,7 @@ public class NetworkButton extends Button {
m_entry = table.getEntry(field);
}
@Override
public boolean get() {
return m_entry.getInstance().isConnected() && m_entry.getBoolean(false);
}

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

@@ -24,7 +24,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
* the full functionality of the Trigger class.
*/
public abstract class Trigger extends SendableBase {
private volatile boolean m_sendablePressed = false;
private volatile boolean m_sendablePressed;
/**
* Returns whether or not the trigger is active.

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

@@ -39,6 +39,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
* @see CommandGroup
* @see IllegalUseOfCommandException
*/
@SuppressWarnings("PMD.TooManyMethods")
public abstract class Command extends SendableBase {
/**
* The time since this command was initialized.
@@ -53,7 +54,7 @@ public abstract class Command extends SendableBase {
/**
* Whether or not this command has been initialized.
*/
private boolean m_initialized = false;
private boolean m_initialized;
/**
* The required subsystems.
@@ -63,7 +64,7 @@ public abstract class Command extends SendableBase {
/**
* Whether or not it is running.
*/
private boolean m_running = false;
private boolean m_running;
/**
* Whether or not it is interruptible.
@@ -73,22 +74,22 @@ public abstract class Command extends SendableBase {
/**
* Whether or not it has been canceled.
*/
private boolean m_canceled = false;
private boolean m_canceled;
/**
* Whether or not it has been locked.
*/
private boolean m_locked = false;
private boolean m_locked;
/**
* Whether this command should run when the robot is disabled.
*/
private boolean m_runWhenDisabled = false;
private boolean m_runWhenDisabled;
/**
* Whether or not this command has completed running.
*/
private boolean m_completed = false;
private boolean m_completed;
/**
* The {@link CommandGroup} this is in.

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

@@ -31,10 +31,12 @@ import static java.util.Objects.requireNonNull;
* @see Subsystem
* @see IllegalUseOfCommandException
*/
@SuppressWarnings("PMD.TooManyMethods")
public class CommandGroup extends Command {
/**
* The commands in this group (stored in entries).
*/
@SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
private final Vector<Entry> m_commands = new Vector<>();
/*
* Intentionally package private
@@ -42,6 +44,7 @@ public class CommandGroup extends Command {
/**
* The active children in this group (stored in entries).
*/
@SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
final Vector<Entry> m_children = new Vector<>();
/**
* The current command, -1 signifies that none have been run.
@@ -206,12 +209,14 @@ public class CommandGroup extends Command {
}
}
@Override
@SuppressWarnings("MethodName")
void _initialize() {
m_currentCommandIndex = -1;
}
@SuppressWarnings("MethodName")
@Override
@SuppressWarnings({"MethodName", "PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
void _execute() {
Entry entry = null;
Command cmd = null;
@@ -278,6 +283,7 @@ public class CommandGroup extends Command {
}
}
@Override
@SuppressWarnings("MethodName")
void _end() {
// Theoretically, we don't have to check this, but we do if teams override
@@ -297,6 +303,7 @@ public class CommandGroup extends Command {
m_children.removeAllElements();
}
@Override
@SuppressWarnings("MethodName")
void _interrupted() {
_end();
@@ -311,23 +318,28 @@ public class CommandGroup extends Command {
*
* @return whether this {@link CommandGroup} is finished
*/
@Override
protected boolean isFinished() {
return m_currentCommandIndex >= m_commands.size() && m_children.isEmpty();
}
// Can be overwritten by teams
@Override
protected void initialize() {
}
// Can be overwritten by teams
@Override
protected void execute() {
}
// Can be overwritten by teams
@Override
protected void end() {
}
// Can be overwritten by teams
@Override
protected void interrupted() {
}
@@ -338,6 +350,7 @@ public class CommandGroup extends Command {
*
* @return whether or not this {@link CommandGroup} is interruptible.
*/
@Override
public synchronized boolean isInterruptible() {
if (!super.isInterruptible()) {
return false;

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

@@ -45,7 +45,7 @@ public abstract class ConditionalCommand extends Command {
/**
* Stores command chosen by condition.
*/
private Command m_chosenCommand = null;
private Command m_chosenCommand;
private void requireAll() {
if (m_onTrue != null) {

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/InstantCommand.java
View File

@@ -25,6 +25,7 @@ public class InstantCommand extends Command {
super(name);
}
@Override
protected boolean isFinished() {
return true;
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/PIDCommand.java
View File

@@ -33,13 +33,16 @@ public abstract class PIDCommand extends Command {
* A source which calls {@link PIDCommand#returnPIDInput()}.
*/
private final PIDSource m_source = new PIDSource() {
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
}
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
@Override
public double pidGet() {
return returnPIDInput();
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/PIDSubsystem.java
View File

@@ -35,13 +35,16 @@ public abstract class PIDSubsystem extends Subsystem {
* A source which calls {@link PIDCommand#returnPIDInput()}.
*/
private final PIDSource m_source = new PIDSource() {
@Override
public void setPIDSourceType(PIDSourceType pidSource) {
}
@Override
public PIDSourceType getPIDSourceType() {
return PIDSourceType.kDisplacement;
}
@Override
public double pidGet() {
return returnPIDInput();
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/PrintCommand.java
View File

@@ -16,7 +16,7 @@ public class PrintCommand extends InstantCommand {
/**
* The message to print out.
*/
private String m_message;
private final String m_message;
/**
* Instantiates a {@link PrintCommand} which will print the given message when it is run.
@@ -28,6 +28,7 @@ public class PrintCommand extends InstantCommand {
m_message = message;
}
@Override
protected void initialize() {
System.out.println(m_message);
}

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

@@ -29,7 +29,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
*
* @see Command
*/
public class Scheduler extends SendableBase {
public final class Scheduler extends SendableBase {
/**
* The Singleton Instance.
*/
@@ -50,11 +50,12 @@ public class Scheduler extends SendableBase {
/**
* A hashtable of active {@link Command Commands} to their {@link LinkedListElement}.
*/
private Hashtable<Command, LinkedListElement> m_commandTable = new Hashtable<>();
@SuppressWarnings("PMD.LooseCoupling")
private final Hashtable<Command, LinkedListElement> m_commandTable = new Hashtable<>();
/**
* The {@link Set} of all {@link Subsystem Subsystems}.
*/
private Set m_subsystems = new Set();
private final Set m_subsystems = new Set();
/**
* The first {@link Command} in the list.
*/
@@ -66,15 +67,16 @@ public class Scheduler extends SendableBase {
/**
* Whether or not we are currently adding a command.
*/
private boolean m_adding = false;
private boolean m_adding;
/**
* Whether or not we are currently disabled.
*/
private boolean m_disabled = false;
private boolean m_disabled;
/**
* A list of all {@link Command Commands} which need to be added.
*/
private Vector<Command> m_additions = new Vector<>();
@SuppressWarnings({"PMD.LooseCoupling", "PMD.UseArrayListInsteadOfVector"})
private final Vector<Command> m_additions = new Vector<>();
private NetworkTableEntry m_namesEntry;
private NetworkTableEntry m_idsEntry;
private NetworkTableEntry m_cancelEntry;
@@ -82,6 +84,7 @@ public class Scheduler extends SendableBase {
* A list of all {@link edu.wpi.first.wpilibj.buttons.Trigger.ButtonScheduler Buttons}. It is
* created lazily.
*/
@SuppressWarnings("PMD.LooseCoupling")
private Vector<ButtonScheduler> m_buttons;
private boolean m_runningCommandsChanged;
@@ -115,6 +118,7 @@ public class Scheduler extends SendableBase {
*
* @param button the button to add
*/
@SuppressWarnings("PMD.UseArrayListInsteadOfVector")
public void addButton(ButtonScheduler button) {
if (m_buttons == null) {
m_buttons = new Vector<>();
@@ -129,7 +133,7 @@ public class Scheduler extends SendableBase {
*
* @param command the {@link Command} to add
*/
@SuppressWarnings("MethodName")
@SuppressWarnings({"MethodName", "PMD.CyclomaticComplexity"})
private void _add(Command command) {
if (command == null) {
return;
@@ -189,6 +193,7 @@ public class Scheduler extends SendableBase {
* <ol> <li>Poll the Buttons</li> <li>Execute/Remove the Commands</li> <li>Send values to
* SmartDashboard</li> <li>Add Commands</li> <li>Add Defaults</li> </ol>
*/
@SuppressWarnings({"PMD.CyclomaticComplexity", "PMD.NPathComplexity"})
public void run() {
m_runningCommandsChanged = false;

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/StartCommand.java
View File

@@ -15,7 +15,7 @@ public class StartCommand extends InstantCommand {
/**
* The command to fork.
*/
private Command m_commandToFork;
private final Command m_commandToFork;
/**
* Instantiates a {@link StartCommand} which will start the given command whenever its {@link
@@ -28,6 +28,7 @@ public class StartCommand extends InstantCommand {
m_commandToFork = commandToStart;
}
@Override
protected void initialize() {
m_commandToFork.start();
}

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

@@ -32,7 +32,7 @@ public abstract class Subsystem extends SendableBase {
/**
* Whether or not getDefaultCommand() was called.
*/
private boolean m_initializedDefaultCommand = false;
private boolean m_initializedDefaultCommand;
/**
* The current command.
*/

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/TimedCommand.java
View File

@@ -34,6 +34,7 @@ public class TimedCommand extends Command {
/**
* Ends command when timed out.
*/
@Override
protected boolean isFinished() {
return isTimedOut();
}

1
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/WaitForChildren.java
View File

@@ -16,6 +16,7 @@ package edu.wpi.first.wpilibj.command;
* to finish, before continuing in the main {@link CommandGroup} sequence.
*/
public class WaitForChildren extends Command {
@Override
protected boolean isFinished() {
return getGroup() == null || getGroup().m_children.isEmpty();
}

3
wpilibj/src/main/java/edu/wpi/first/wpilibj/command/WaitUntilCommand.java
View File

@@ -14,7 +14,7 @@ import edu.wpi.first.wpilibj.Timer;
* some value, then continue to the next command.
*/
public class WaitUntilCommand extends Command {
private double m_time;
private final double m_time;
public WaitUntilCommand(double time) {
super("WaitUntil(" + time + ")");
@@ -24,6 +24,7 @@ public class WaitUntilCommand extends Command {
/**
* Check if we've reached the actual finish time.
*/
@Override
public boolean isFinished() {
return Timer.getMatchTime() >= m_time;
}

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