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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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70
wpilibj/src/main/java/edu/wpi/first/wpilibj/DriverStation.java
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@@ -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;
}