Java fixes

PhotonVision · Oct 10, 2023 · f65d1c4 · f65d1c4
1 parent 3f862e0
commit f65d1c4
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Showing 13 changed files with 41 additions and 34 deletions.
diff --git a/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java b/...on-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
@@ -181,15 +181,13 @@ public void accept(CVPipelineResult result) {
         }
 
         // Something in the result can sometimes be null -- so check probably too many things
-        if (result != null
-                && result.inputAndOutputFrame != null
+        if (
+                result.inputAndOutputFrame != null
                 && result.inputAndOutputFrame.frameStaticProperties != null
                 && result.inputAndOutputFrame.frameStaticProperties.cameraCalibration != null) {
             var fsp = result.inputAndOutputFrame.frameStaticProperties;
-            if (fsp.cameraCalibration != null) {
-                ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
-                ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr());
-            }
+            ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
+            ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr());
         } else {
             ts.cameraIntrinsicsPublisher.accept(new double[] {});
             ts.cameraDistortionPublisher.accept(new double[] {});
@@ -215,8 +213,11 @@ public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTar
             }
             {
                 var points = t.getTargetCorners();
-                for (int i = 0; i < points.size(); i++) {
-                    detectedCorners.add(new TargetCorner(points.get(i).x, points.get(i).y));
+                for (Point point : points) {
+                    detectedCorners.add(new TargetCorner(
+                            point.x,
+                            point.y
+                    ));
                 }
             }
 

diff --git a/...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java b/...re/src/main/java/org/photonvision/common/dataflow/networktables/NetworkTablesManager.java
@@ -121,7 +121,7 @@ private void setClientMode(String ntServerAddress) {
         ntInstance.stopServer();
         ntInstance.startClient4("photonvision");
         try {
-            Integer t = Integer.parseInt(ntServerAddress);
+            int t = Integer.parseInt(ntServerAddress);
             if (!isRetryingConnection) logger.info("Starting NT Client, server team is " + t);
             ntInstance.setServerTeam(t);
         } catch (NumberFormatException e) {

diff --git a/photon-core/src/main/java/org/photonvision/common/logging/Logger.java b/photon-core/src/main/java/org/photonvision/common/logging/Logger.java
@@ -155,7 +155,6 @@ public static void cleanLogs(Path folderToClean) {
             if (logCounter < MAX_LOGS_TO_KEEP) {
                 // Skip over the first MAX_LOGS_TO_KEEP files
                 logCounter++;
-                continue;
             } else {
                 // Delete this file.
                 file.delete();

diff --git a/photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java b/photon-core/src/main/java/org/photonvision/common/util/TimedTaskManager.java
@@ -40,9 +40,7 @@ private static class CaughtThreadFactory implements ThreadFactory {
         public Thread newThread(@NotNull Runnable r) {
             Thread thread = defaultThreadFactory.newThread(r);
             thread.setUncaughtExceptionHandler(
-                    (t, e) -> {
-                        logger.error("TimedTask threw uncaught exception!", e);
-                    });
+                    (t, e) -> logger.error("TimedTask threw uncaught exception!", e));
             return thread;
         }
     }

diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java b/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
@@ -58,7 +58,7 @@ public PhotonArucoDetector() {
         ids = new Mat();
         tvecs = new Mat();
         rvecs = new Mat();
-        corners = new ArrayList<Mat>();
+        corners = new ArrayList<>();
         tagPose = new Pose3d();
         translation = new Translation3d();
         rotation = new Rotation3d();

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java b/photon-core/src/main/java/org/photonvision/vision/camera/QuirkyCamera.java
@@ -105,7 +105,7 @@ public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid) {
 
     public static QuirkyCamera getQuirkyCamera(int usbVid, int usbPid, String baseName) {
         for (var qc : quirkyCameras) {
-            boolean hasBaseName = !qc.baseName.equals("");
+            boolean hasBaseName = !qc.baseName.isEmpty();
             boolean matchesBaseName = qc.baseName.equals(baseName) || !hasBaseName;
             if (qc.usbVid == usbVid && qc.usbPid == usbPid && matchesBaseName) {
                 return qc;

diff --git a/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java b/photon-core/src/main/java/org/photonvision/vision/camera/USBCameraSource.java
@@ -266,12 +266,9 @@ public HashMap<Integer, VideoMode> getAllVideoModes() {
                     } else {
                         modes = camera.enumerateVideoModes();
                     }
-                    for (int i = 0; i < modes.length; i++) {
-                        var videoMode = modes[i];
-
+                    for (VideoMode videoMode : modes) {
                         // Filter grey modes
-                        if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray
-                                || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
+                        if (videoMode.pixelFormat == VideoMode.PixelFormat.kGray || videoMode.pixelFormat == VideoMode.PixelFormat.kUnknown) {
                             continue;
                         }
 

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/CpuImageProcessor.java
@@ -30,7 +30,7 @@
 import org.photonvision.vision.pipe.impl.RotateImagePipe;
 
 public abstract class CpuImageProcessor implements FrameProvider {
-    protected class CapturedFrame {
+    protected static class CapturedFrame {
         CVMat colorImage;
         FrameStaticProperties staticProps;
         long captureTimestamp;

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/FileFrameProvider.java
@@ -111,7 +111,11 @@ public CapturedFrame getInputMat() {
         }
 
         lastGetMillis = System.currentTimeMillis();
-        return new CapturedFrame(out, properties, MathUtils.wpiNanoTime());
+        return new CapturedFrame(
+                out,
+                properties,
+                MathUtils.wpiNanoTime()
+        );
     }
 
     @Override

diff --git a/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java b/photon-core/src/main/java/org/photonvision/vision/frame/provider/USBFrameProvider.java
@@ -48,7 +48,11 @@ public CapturedFrame getInputMat() {
             time = MathUtils.wpiNanoTime();
         }
 
-        return new CapturedFrame(mat, settables.getFrameStaticProperties(), time);
+        return new CapturedFrame(
+                mat,
+                settables.getFrameStaticProperties(),
+                time
+        );
     }
 
     @Override

diff --git a/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java b/photon-core/src/main/java/org/photonvision/vision/processes/PipelineManager.java
@@ -375,31 +375,34 @@ public int duplicatePipeline(int index) {
 
     private static String createUniqueName(
             String nickname, List<CVPipelineSettings> existingSettings) {
-        String uniqueName = nickname;
+        StringBuilder uniqueName = new StringBuilder(nickname);
         while (true) {
-            String finalUniqueName = uniqueName; // To get around lambda capture
+            String finalUniqueName = uniqueName.toString(); // To get around lambda capture
             var conflictingName =
                     existingSettings.stream().anyMatch(it -> it.pipelineNickname.equals(finalUniqueName));
 
             if (!conflictingName) {
                 // If no conflict, we're done
-                return uniqueName;
+                return uniqueName.toString();
             } else {
                 // Otherwise, we need to add a suffix to the name
                 // If the string doesn't already end in "([0-9]*)", we'll add it
                 // If it does, we'll increment the number in the suffix
 
-                if (uniqueName.matches(".*\\([0-9]*\\)")) {
+                if (uniqueName.toString().matches(".*\\([0-9]*\\)")) {
                     // Because java strings are immutable, we have to do this curstedness
                     // This is like doing "New pipeline (" + 2 + ")"
 
-                    var parenStart = uniqueName.lastIndexOf('(');
+                    var parenStart = uniqueName.toString().lastIndexOf('(');
                     var parenEnd = uniqueName.length() - 1;
                     var number = Integer.parseInt(uniqueName.substring(parenStart + 1, parenEnd)) + 1;
 
-                    uniqueName = uniqueName.substring(0, parenStart + 1) + number + ")";
+                    uniqueName = new StringBuilder(uniqueName.substring(
+                            0,
+                            parenStart + 1
+                    ) + number + ")");
                 } else {
-                    uniqueName += " (1)";
+                    uniqueName.append(" (1)");
                 }
             }
         }

diff --git a/photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStreamManager.java b/photon-core/src/main/java/org/photonvision/vision/videoStream/SocketVideoStreamManager.java
@@ -29,8 +29,8 @@ public class SocketVideoStreamManager {
 
     private final Logger logger = new Logger(SocketVideoStreamManager.class, LogGroup.Camera);
 
-    private final Map<Integer, SocketVideoStream> streams = new Hashtable<Integer, SocketVideoStream>();
-    private final Map<WsContext, Integer> userSubscriptions = new Hashtable<WsContext, Integer>();
+    private final Map<Integer, SocketVideoStream> streams = new Hashtable<>();
+    private final Map<WsContext, Integer> userSubscriptions = new Hashtable<>();
 
     private static class ThreadSafeSingleton {
         private static final SocketVideoStreamManager INSTANCE = new SocketVideoStreamManager();

diff --git a/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java b/photon-core/src/test/java/org/photonvision/common/util/LogFileManagementTest.java
@@ -66,8 +66,9 @@ public void fileCleanupTest() {
         Logger.cleanLogs(Path.of(testDir));
 
         // Confirm we deleted log files
-        Assertions.assertTrue(
-                Logger.MAX_LOGS_TO_KEEP == countLogFiles(testDir),
+        Assertions.assertEquals(
+                Logger.MAX_LOGS_TO_KEEP,
+                countLogFiles(testDir),
                 "Not enough log files deleted"
         );