newer stuff

srimanachanta · Dec 2, 2023 · e674a62 · e674a62
1 parent 5f05124
commit e674a62
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Showing 58 changed files with 258 additions and 420 deletions.
diff --git a/apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java b/apriltag/src/test/java/edu/wpi/first/apriltag/LoadConfigTest.java
@@ -12,7 +12,6 @@
 import edu.wpi.first.math.geometry.Pose3d;
 import edu.wpi.first.math.geometry.Rotation3d;
 import edu.wpi.first.math.util.Units;
-import java.io.IOException;
 import java.util.Optional;
 import org.junit.jupiter.api.Assertions;
 import org.junit.jupiter.api.Test;
@@ -28,7 +27,7 @@ void testLoad(AprilTagFields field) {
   }
 
   @Test
-  void test2022RapidReact() throws IOException {
+  void test2022RapidReact() {
     AprilTagFieldLayout layout = AprilTagFields.k2022RapidReact.loadAprilTagLayoutField();
 
     // Blue Hangar Truss - Hub

diff --git a/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java b/cameraserver/multiCameraServer/src/main/java/edu/wpi/Main.java
@@ -98,7 +98,7 @@ public static boolean readConfig() {
     // parse file
     JsonElement top;
     try {
-      top = new JsonParser().parse(Files.newBufferedReader(Paths.get(configFile)));
+      top = JsonParser.parseReader(Files.newBufferedReader(Paths.get(configFile)));
     } catch (IOException ex) {
       System.err.println("could not open '" + configFile + "': " + ex);
       return false;

diff --git a/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java b/cameraserver/src/main/java/edu/wpi/first/cameraserver/CameraServer.java
@@ -114,7 +114,7 @@ void update(VideoEvent event) {
     }
 
     @Override
-    public void close() throws Exception {
+    public void close() {
       if (m_booleanValueEntry != null) {
         m_booleanValueEntry.close();
       }

diff --git a/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java b/hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java
@@ -131,8 +131,7 @@ public int getAnalogInputAveraged(int analogInputHandle) {
     }
 
     // + 2 Hack, but needed to not have to call into JNI
-    int value = readValue(data.m_valueType + 2, data.m_index);
-    return value;
+    return readValue(data.m_valueType + 2, data.m_index);
   }
 
   public void getAnalogAccumulator(int analogInputHandle, AccumulatorResult result) {
@@ -144,14 +143,12 @@ public void getAnalogAccumulator(int analogInputHandle, AccumulatorResult result
     if (data.m_index == 0) {
       int val0 = readValue(kEnable_Accumulator0, 0);
       int val1 = readValue(kEnable_Accumulator0, 1);
-      int val2 = readValue(kEnable_Accumulator0, 2);
-      result.count = val2;
+      result.count = readValue(kEnable_Accumulator0, 2);
       result.value = ((long) val1 << 32) | val0;
     } else if (data.m_index == 1) {
       int val0 = readValue(kEnable_Accumulator1, 0);
       int val1 = readValue(kEnable_Accumulator1, 1);
-      int val2 = readValue(kEnable_Accumulator1, 2);
-      result.count = val2;
+      result.count = readValue(kEnable_Accumulator1, 2);
       result.value = ((long) val1 << 32) | val0;
     } else {
       throw new RuntimeException("Resource not found in DMA capture");

diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableEntry.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableEntry.java
@@ -1009,5 +1009,5 @@ public int hashCode() {
   }
 
   private final Topic m_topic;
-  protected int m_handle;
+  private final int m_handle;
 }
diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableInstance.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableInstance.java
@@ -890,7 +890,7 @@ private void startThread() {
                       } catch (Throwable throwable) {
                         System.err.println(
                             "Unhandled exception during listener callback: "
-                            + throwable.toString());
+                            + throwable);
                         throwable.printStackTrace();
                       }
                     }

diff --git a/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableValue.java b/ntcore/src/generated/main/java/edu/wpi/first/networktables/NetworkTableValue.java
@@ -336,7 +336,7 @@ public String[] getStringArray() {
    * @return The entry value
    */
   public static NetworkTableValue makeBoolean(boolean value) {
-    return new NetworkTableValue(NetworkTableType.kBoolean, Boolean.valueOf(value));
+    return new NetworkTableValue(NetworkTableType.kBoolean, value);
   }
 
   /**
@@ -347,7 +347,7 @@ public static NetworkTableValue makeBoolean(boolean value) {
    * @return The entry value
    */
   public static NetworkTableValue makeBoolean(boolean value, long time) {
-    return new NetworkTableValue(NetworkTableType.kBoolean, Boolean.valueOf(value), time);
+    return new NetworkTableValue(NetworkTableType.kBoolean, value, time);
   }
 
   /**
@@ -357,7 +357,7 @@ public static NetworkTableValue makeBoolean(boolean value, long time) {
    * @return The entry value
    */
   public static NetworkTableValue makeInteger(long value) {
-    return new NetworkTableValue(NetworkTableType.kInteger, Long.valueOf(value));
+    return new NetworkTableValue(NetworkTableType.kInteger, value);
   }
 
   /**
@@ -368,7 +368,7 @@ public static NetworkTableValue makeInteger(long value) {
    * @return The entry value
    */
   public static NetworkTableValue makeInteger(long value, long time) {
-    return new NetworkTableValue(NetworkTableType.kInteger, Long.valueOf(value), time);
+    return new NetworkTableValue(NetworkTableType.kInteger, value, time);
   }
 
   /**
@@ -378,7 +378,7 @@ public static NetworkTableValue makeInteger(long value, long time) {
    * @return The entry value
    */
   public static NetworkTableValue makeFloat(float value) {
-    return new NetworkTableValue(NetworkTableType.kFloat, Float.valueOf(value));
+    return new NetworkTableValue(NetworkTableType.kFloat, value);
   }
 
   /**
@@ -389,7 +389,7 @@ public static NetworkTableValue makeFloat(float value) {
    * @return The entry value
    */
   public static NetworkTableValue makeFloat(float value, long time) {
-    return new NetworkTableValue(NetworkTableType.kFloat, Float.valueOf(value), time);
+    return new NetworkTableValue(NetworkTableType.kFloat, value, time);
   }
 
   /**
@@ -399,7 +399,7 @@ public static NetworkTableValue makeFloat(float value, long time) {
    * @return The entry value
    */
   public static NetworkTableValue makeDouble(double value) {
-    return new NetworkTableValue(NetworkTableType.kDouble, Double.valueOf(value));
+    return new NetworkTableValue(NetworkTableType.kDouble, value);
   }
 
   /**
@@ -410,7 +410,7 @@ public static NetworkTableValue makeDouble(double value) {
    * @return The entry value
    */
   public static NetworkTableValue makeDouble(double value, long time) {
-    return new NetworkTableValue(NetworkTableType.kDouble, Double.valueOf(value), time);
+    return new NetworkTableValue(NetworkTableType.kDouble, value, time);
   }
 
   /**

diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/ProtobufEntryImpl.java b/ntcore/src/main/java/edu/wpi/first/networktables/ProtobufEntryImpl.java
@@ -190,14 +190,14 @@ private T fromRaw(byte[] raw, T defaultValue) {
 
   private TimestampedObject<T> fromRaw(TimestampedRaw raw, T defaultValue) {
     if (raw.value.length == 0) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
     try {
       synchronized (m_buf) {
-        return new TimestampedObject<T>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
+        return new TimestampedObject<>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
       }
     } catch (IOException e) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
   }
 

diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/ProtobufTopic.java b/ntcore/src/main/java/edu/wpi/first/networktables/ProtobufTopic.java
@@ -32,7 +32,7 @@ private ProtobufTopic(NetworkTableInstance inst, int handle, Protobuf<T, ?> prot
    * @return ProtobufTopic for value class
    */
   public static <T> ProtobufTopic<T> wrap(Topic topic, Protobuf<T, ?> proto) {
-    return new ProtobufTopic<T>(topic, proto);
+    return new ProtobufTopic<>(topic, proto);
   }
 
   /**
@@ -47,7 +47,7 @@ public static <T> ProtobufTopic<T> wrap(Topic topic, Protobuf<T, ?> proto) {
    */
   public static <T> ProtobufTopic<T> wrap(
       NetworkTableInstance inst, int handle, Protobuf<T, ?> proto) {
-    return new ProtobufTopic<T>(inst, handle, proto);
+    return new ProtobufTopic<>(inst, handle, proto);
   }
 
   /**
@@ -63,7 +63,7 @@ public static <T> ProtobufTopic<T> wrap(
    * @return subscriber
    */
   public ProtobufSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.subscribe(
@@ -87,7 +87,7 @@ public ProtobufSubscriber<T> subscribe(T defaultValue, PubSubOption... options)
    */
   public ProtobufPublisher<T> publish(PubSubOption... options) {
     m_inst.addSchema(m_proto);
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.publish(
@@ -113,7 +113,7 @@ public ProtobufPublisher<T> publish(PubSubOption... options) {
    */
   public ProtobufPublisher<T> publishEx(String properties, PubSubOption... options) {
     m_inst.addSchema(m_proto);
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.publishEx(
@@ -144,7 +144,7 @@ public ProtobufPublisher<T> publishEx(String properties, PubSubOption... options
    * @return entry
    */
   public ProtobufEntry<T> getEntry(T defaultValue, PubSubOption... options) {
-    return new ProtobufEntryImpl<T>(
+    return new ProtobufEntryImpl<>(
         this,
         ProtobufBuffer.create(m_proto),
         NetworkTablesJNI.getEntry(

diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/StructArrayEntryImpl.java b/ntcore/src/main/java/edu/wpi/first/networktables/StructArrayEntryImpl.java
@@ -177,15 +177,14 @@ private T[] fromRaw(byte[] raw, T[] defaultValue) {
   @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private TimestampedObject<T[]> fromRaw(TimestampedRaw raw, T[] defaultValue) {
     if (raw.value.length == 0) {
-      return new TimestampedObject<T[]>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
     try {
       synchronized (m_buf) {
-        return new TimestampedObject<T[]>(
-            raw.timestamp, raw.serverTime, m_buf.readArray(raw.value));
+        return new TimestampedObject<>(raw.timestamp, raw.serverTime, m_buf.readArray(raw.value));
       }
     } catch (RuntimeException e) {
-      return new TimestampedObject<T[]>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
   }
 

diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/StructArrayTopic.java b/ntcore/src/main/java/edu/wpi/first/networktables/StructArrayTopic.java
@@ -32,7 +32,7 @@ private StructArrayTopic(NetworkTableInstance inst, int handle, Struct<T> struct
    * @return StructArrayTopic for value class
    */
   public static <T> StructArrayTopic<T> wrap(Topic topic, Struct<T> struct) {
-    return new StructArrayTopic<T>(topic, struct);
+    return new StructArrayTopic<>(topic, struct);
   }
 
   /**
@@ -47,7 +47,7 @@ public static <T> StructArrayTopic<T> wrap(Topic topic, Struct<T> struct) {
    */
   public static <T> StructArrayTopic<T> wrap(
       NetworkTableInstance inst, int handle, Struct<T> struct) {
-    return new StructArrayTopic<T>(inst, handle, struct);
+    return new StructArrayTopic<>(inst, handle, struct);
   }
 
   /**
@@ -63,7 +63,7 @@ public static <T> StructArrayTopic<T> wrap(
    * @return subscriber
    */
   public StructArraySubscriber<T> subscribe(T[] defaultValue, PubSubOption... options) {
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.subscribe(
@@ -87,7 +87,7 @@ public StructArraySubscriber<T> subscribe(T[] defaultValue, PubSubOption... opti
    */
   public StructArrayPublisher<T> publish(PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publish(
@@ -113,7 +113,7 @@ public StructArrayPublisher<T> publish(PubSubOption... options) {
    */
   public StructArrayPublisher<T> publishEx(String properties, PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publishEx(
@@ -144,7 +144,7 @@ public StructArrayPublisher<T> publishEx(String properties, PubSubOption... opti
    * @return entry
    */
   public StructArrayEntry<T> getEntry(T[] defaultValue, PubSubOption... options) {
-    return new StructArrayEntryImpl<T>(
+    return new StructArrayEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.getEntry(

diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/StructEntryImpl.java b/ntcore/src/main/java/edu/wpi/first/networktables/StructEntryImpl.java
@@ -188,14 +188,14 @@ private T fromRaw(byte[] raw, T defaultValue) {
   @SuppressWarnings("PMD.AvoidCatchingGenericException")
   private TimestampedObject<T> fromRaw(TimestampedRaw raw, T defaultValue) {
     if (raw.value.length == 0) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
     try {
       synchronized (m_buf) {
-        return new TimestampedObject<T>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
+        return new TimestampedObject<>(raw.timestamp, raw.serverTime, m_buf.read(raw.value));
       }
     } catch (RuntimeException e) {
-      return new TimestampedObject<T>(0, 0, defaultValue);
+      return new TimestampedObject<>(0, 0, defaultValue);
     }
   }
 

diff --git a/ntcore/src/main/java/edu/wpi/first/networktables/StructTopic.java b/ntcore/src/main/java/edu/wpi/first/networktables/StructTopic.java
@@ -32,7 +32,7 @@ private StructTopic(NetworkTableInstance inst, int handle, Struct<T> struct) {
    * @return StructTopic for value class
    */
   public static <T> StructTopic<T> wrap(Topic topic, Struct<T> struct) {
-    return new StructTopic<T>(topic, struct);
+    return new StructTopic<>(topic, struct);
   }
 
   /**
@@ -46,7 +46,7 @@ public static <T> StructTopic<T> wrap(Topic topic, Struct<T> struct) {
    * @return StructTopic for value class
    */
   public static <T> StructTopic<T> wrap(NetworkTableInstance inst, int handle, Struct<T> struct) {
-    return new StructTopic<T>(inst, handle, struct);
+    return new StructTopic<>(inst, handle, struct);
   }
 
   /**
@@ -62,7 +62,7 @@ public static <T> StructTopic<T> wrap(NetworkTableInstance inst, int handle, Str
    * @return subscriber
    */
   public StructSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.subscribe(
@@ -86,7 +86,7 @@ public StructSubscriber<T> subscribe(T defaultValue, PubSubOption... options) {
    */
   public StructPublisher<T> publish(PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publish(
@@ -112,7 +112,7 @@ public StructPublisher<T> publish(PubSubOption... options) {
    */
   public StructPublisher<T> publishEx(String properties, PubSubOption... options) {
     m_inst.addSchema(m_struct);
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.publishEx(
@@ -143,7 +143,7 @@ public StructPublisher<T> publishEx(String properties, PubSubOption... options)
    * @return entry
    */
   public StructEntry<T> getEntry(T defaultValue, PubSubOption... options) {
-    return new StructEntryImpl<T>(
+    return new StructEntryImpl<>(
         this,
         StructBuffer.create(m_struct),
         NetworkTablesJNI.getEntry(

diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/ParallelRaceGroupTest.java
@@ -153,7 +153,7 @@ void parallelRaceOnlyCallsEndOnceTest() {
       scheduler.run();
       command2Holder.setFinished(true);
       // at this point the sequential group should be done
-      assertDoesNotThrow(() -> scheduler.run());
+      assertDoesNotThrow(scheduler::run);
       assertFalse(scheduler.isScheduled(group2));
     }
   }

diff --git a/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulingRecursionTest.java b/wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/SchedulingRecursionTest.java
@@ -288,7 +288,7 @@ void cancelFromEndLoopWhileInRunLoop() {
       scheduler.schedule(cCancelsD);
       scheduler.schedule(dCancelsAll);
 
-      assertDoesNotThrow(() -> scheduler.run());
+      assertDoesNotThrow(scheduler::run);
       assertEquals(4, counter.get());
       assertFalse(scheduler.isScheduled(aCancelsB));
       assertFalse(scheduler.isScheduled(bCancelsC));