[photon-core] [NFC] Code Cleanup, spelling, and grammar (#945)

photon-core/src/main/java/org/photonvision/common/configuration/ConfigManager.java

@@ -28,7 +28,8 @@
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 import java.time.temporal.TemporalAccessor;
-import java.util.*;
+import java.util.Date;
+import java.util.List;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;
 import org.photonvision.common.util.file.FileUtils;
@@ -47,13 +48,13 @@ public class ConfigManager {
 
     private final ConfigProvider m_provider;
 
-    private Thread settingsSaveThread;
+    private final Thread settingsSaveThread;
     private long saveRequestTimestamp = -1;
 
     enum ConfigSaveStrategy {
         SQL,
         LEGACY,
-        ATOMIC_ZIP;
+        ATOMIC_ZIP
     }
 
     // This logic decides which kind of ConfigManager we load as the default. If we want
@@ -115,9 +116,8 @@ private void translateLegacyIfPresent(Path folderPath) {
                     e1.printStackTrace();
                 }
 
-                // So we can't save the old config, and we couldn't copy the folder
-                // But we've loaded the config. So just try to delete the directory so we don't try to load
-                // form it next time. That does mean we have no backup recourse, tho
+                // Delete the directory because we were successfully able to load the config but were unable
+                // to save or copy the folder.
                 if (maybeCams.exists()) FileUtils.deleteDirectory(maybeCams.toPath());
             }
 
@@ -225,7 +225,7 @@ public String taToLogFname(TemporalAccessor date) {
     }
 
     public Date logFnameToDate(String fname) throws ParseException {
-        // Strip away known unneded portions of the log file name
+        // Strip away known unneeded portions of the log file name
         fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
         DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
         return format.parse(fname);

photon-core/src/main/java/org/photonvision/common/configuration/LegacyConfigProvider.java

@@ -55,7 +55,7 @@ class LegacyConfigProvider extends ConfigProvider {
     final File configDirectoryFile;
 
     private long saveRequestTimestamp = -1;
-    private Thread settingsSaveThread;
+    private final Thread settingsSaveThread;
 
     public static void saveUploadedSettingsZip(File uploadPath) {
         var folderPath = Path.of(System.getProperty("java.io.tmpdir"), "photonvision").toFile();
@@ -67,7 +67,6 @@ public static void saveUploadedSettingsZip(File uploadPath) {
             logger.info("Copied settings successfully!");
         } catch (IOException e) {
             logger.error("Exception copying uploaded settings!", e);
-            return;
         }
     }
 
@@ -371,7 +370,7 @@ public String taToLogFname(TemporalAccessor date) {
     }
 
     public Date logFnameToDate(String fname) throws ParseException {
-        // Strip away known unneded portions of the log file name
+        // Strip away known unneeded portions of the log file name
         fname = fname.replace(LOG_PREFIX, "").replace(LOG_EXT, "");
         DateFormat format = new SimpleDateFormat(LOG_DATE_TIME_FORMAT);
         return format.parse(fname);

photon-core/src/main/java/org/photonvision/common/configuration/NetworkConfig.java

@@ -30,7 +30,7 @@
 import org.photonvision.common.util.file.JacksonUtils;
 
 public class NetworkConfig {
-    // Can be a integer team number, or a IP address
+    // Can be an integer team number, or an IP address
     public String ntServerAddress = "0";
     public NetworkMode connectionType = NetworkMode.DHCP;
     public String staticIp = "";
@@ -58,7 +58,7 @@ public NetworkConfig() {
                             .orElse("Wired connection 1");
         }
 
-        // We can (usually) manage networking on Linux devices, and if we can we should try to. Command
+        // We can (usually) manage networking on Linux devices, and if we can, we should try to. Command
         // line inhibitions happen at a level above this class
         setShouldManage(deviceCanManageNetwork());
     }

photon-core/src/main/java/org/photonvision/common/configuration/PhotonConfiguration.java

@@ -33,10 +33,10 @@
 
 // TODO rename this class
 public class PhotonConfiguration {
-    private HardwareConfig hardwareConfig;
-    private HardwareSettings hardwareSettings;
+    private final HardwareConfig hardwareConfig;
+    private final HardwareSettings hardwareSettings;
     private NetworkConfig networkConfig;
-    private HashMap<String, CameraConfiguration> cameraConfigurations;
+    private final HashMap<String, CameraConfiguration> cameraConfigurations;
 
     public PhotonConfiguration(
             HardwareConfig hardwareConfig,
@@ -113,7 +113,7 @@ public Map<String, Object> toHashMap() {
 
         var lightingConfig = new UILightingConfig();
         lightingConfig.brightness = hardwareSettings.ledBrightnessPercentage;
-        lightingConfig.supported = (hardwareConfig.ledPins.size() != 0);
+        lightingConfig.supported = !hardwareConfig.ledPins.isEmpty();
         settingsSubmap.put("lighting", SerializationUtils.objectToHashMap(lightingConfig));
 
         var generalSubmap = new HashMap<String, Object>();

photon-core/src/main/java/org/photonvision/common/configuration/SqlConfigProvider.java

@@ -21,11 +21,7 @@
 import java.io.IOException;
 import java.nio.file.Files;
 import java.nio.file.Path;
-import java.sql.Connection;
-import java.sql.DriverManager;
-import java.sql.PreparedStatement;
-import java.sql.SQLException;
-import java.sql.Statement;
+import java.sql.*;
 import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
@@ -255,8 +251,7 @@ private String getOneConfigFile(Connection conn, String filename) {
             var result = query.executeQuery();
 
             while (result.next()) {
-                var contents = result.getString("contents");
-                return contents;
+                return result.getString("contents");
             }
         } catch (SQLException e) {
             logger.error("SQL Err getting file " + filename, e);
@@ -286,7 +281,7 @@ private void saveCameras(Connection conn) {
                 statement.setString(2, JacksonUtils.serializeToString(config));
                 statement.setString(3, JacksonUtils.serializeToString(config.driveModeSettings));
 
-                // Serializing a list of abstract classes sucks. Instead, make it into a array
+                // Serializing a list of abstract classes sucks. Instead, make it into an array
                 // of strings, which we can later unpack back into individual settings
                 List<String> settings =
                         config.pipelineSettings.stream()
@@ -424,7 +419,7 @@ public boolean saveUploadedNetworkConfig(Path uploadPath) {
     private HashMap<String, CameraConfiguration> loadCameraConfigs(Connection conn) {
         HashMap<String, CameraConfiguration> loadedConfigurations = new HashMap<>();
 
-        // Querry every single row of the cameras db
+        // Query every single row of the cameras db
         PreparedStatement query = null;
         try {
             query =

photon-core/src/main/java/org/photonvision/common/dataflow/DataChangeSubscriber.java

@@ -21,7 +21,6 @@
 import java.util.Objects;
 import org.photonvision.common.dataflow.events.DataChangeEvent;
 
-@SuppressWarnings("rawtypes")
 public abstract class DataChangeSubscriber {
     public final List<DataChangeSource> wantedSources;
     public final List<DataChangeDestination> wantedDestinations;

photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java

@@ -41,7 +41,7 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
 
     private final NetworkTable rootTable = NetworkTablesManager.getInstance().kRootTable;
 
-    private NTTopicSet ts = new NTTopicSet();
+    private final NTTopicSet ts = new NTTopicSet();
 
     NTDataChangeListener pipelineIndexListener;
     private final Supplier<Integer> pipelineIndexSupplier;
@@ -181,15 +181,12 @@ 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 +212,8 @@ 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));
                 }
             }
 

photon-core/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) {

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioPin.java

@@ -17,8 +17,6 @@
 
 package org.photonvision.common.hardware.GPIO.pi;
 
-import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
-
 import org.photonvision.common.hardware.GPIO.GPIOBase;
 import org.photonvision.common.logging.LogGroup;
 import org.photonvision.common.logging.Logger;

photon-core/src/main/java/org/photonvision/common/hardware/GPIO/pi/PigpioSocket.java

@@ -18,7 +18,6 @@
 package org.photonvision.common.hardware.GPIO.pi;
 
 import static org.photonvision.common.hardware.GPIO.pi.PigpioException.*;
-import static org.photonvision.common.hardware.GPIO.pi.PigpioException.PI_NO_WAVEFORM_ID;
 
 import java.io.IOException;
 import java.nio.ByteBuffer;
@@ -149,7 +148,7 @@ private int waveAddGeneric(ArrayList<PigpioPulse> pulses) throws PigpioException
         // ## extension ##
         // III on/off/delay * pulses
 
-        if (pulses == null || pulses.size() == 0) return 0;
+        if (pulses == null || pulses.isEmpty()) return 0;
 
         try {
             ByteBuffer bb = ByteBuffer.allocate(pulses.size() * 12);

photon-core/src/main/java/org/photonvision/common/hardware/HardwareManager.java

@@ -48,9 +48,9 @@ public class HardwareManager {
     private final StatusLED statusLED;
 
     @SuppressWarnings("FieldCanBeLocal")
-    private IntegerSubscriber ledModeRequest;
+    private final IntegerSubscriber ledModeRequest;
 
-    private IntegerPublisher ledModeState;
+    private final IntegerPublisher ledModeState;
 
     @SuppressWarnings({"FieldCanBeLocal", "unused"})
     private final NTDataChangeListener ledModeListener;

photon-core/src/main/java/org/photonvision/common/hardware/PiVersion.java

@@ -34,7 +34,7 @@ public enum PiVersion {
     private static final ShellExec shell = new ShellExec(true, false);
     private static final PiVersion currentPiVersion = calcPiVersion();
 
-    private PiVersion(String s) {
+    PiVersion(String s) {
         this.identifier = s.toLowerCase();
     }
 

photon-core/src/main/java/org/photonvision/common/hardware/Platform.java

@@ -17,7 +17,6 @@
 
 package org.photonvision.common.hardware;
 
-import com.jogamp.common.os.Platform.OSType;
 import edu.wpi.first.util.RuntimeDetector;
 import java.io.BufferedReader;
 import java.io.IOException;

photon-core/src/main/java/org/photonvision/common/hardware/VisionLED.java

@@ -46,7 +46,7 @@ public class VisionLED {
 
     private int mappedBrightnessPercentage;
 
-    private Consumer<Integer> modeConsumer;
+    private final Consumer<Integer> modeConsumer;
 
     public VisionLED(
             List<Integer> ledPins,
@@ -179,11 +179,7 @@ private void setInternal(VisionLEDMode newLedMode, boolean fromNT) {
             }
             currentLedMode = newLedMode;
             logger.info(
-                    "Changing LED mode from \""
-                            + lastLedMode.toString()
-                            + "\" to \""
-                            + newLedMode.toString()
-                            + "\"");
+                    "Changing LED mode from \"" + lastLedMode.toString() + "\" to \"" + newLedMode + "\"");
         } else {
             if (currentLedMode == VisionLEDMode.kDefault) {
                 switch (newLedMode) {

photon-core/src/main/java/org/photonvision/common/hardware/metrics/MetricsManager.java

@@ -37,7 +37,7 @@ public class MetricsManager {
 
     CmdBase cmds;
 
-    private ShellExec runCommand = new ShellExec(true, true);
+    private final ShellExec runCommand = new ShellExec(true, true);
 
     public void setConfig(HardwareConfig config) {
         if (config.hasCommandsConfigured()) {
@@ -153,8 +153,8 @@ public synchronized String execute(String command) {
                             + "\nExit code: "
                             + runCommand.getExitCode()
                             + "\n Exception: "
-                            + e.toString()
-                            + sw.toString());
+                            + e
+                            + sw);
             return "";
         }
     }

photon-core/src/main/java/org/photonvision/common/hardware/metrics/cmds/CmdBase.java

@@ -35,6 +35,6 @@ public class CmdBase {
     public String diskUsageCommand = "";
 
     public void initCmds(HardwareConfig config) {
-        return; // default - do nothing
+        // default - do nothing
     }
 }

photon-core/src/main/java/org/photonvision/common/logging/Logger.java

@@ -21,12 +21,7 @@
 import java.nio.file.Path;
 import java.text.ParseException;
 import java.text.SimpleDateFormat;
-import java.util.ArrayList;
-import java.util.Arrays;
-import java.util.Date;
-import java.util.HashMap;
-import java.util.LinkedList;
-import java.util.List;
+import java.util.*;
 import java.util.function.Supplier;
 import org.apache.commons.lang3.tuple.Pair;
 import org.photonvision.common.configuration.ConfigManager;
@@ -54,7 +49,7 @@ public class Logger {
     private static final List<Pair<String, LogLevel>> uiBacklog = new ArrayList<>();
     private static boolean connected = false;
 
-    private static UILogAppender uiLogAppender = new UILogAppender();
+    private static final UILogAppender uiLogAppender = new UILogAppender();
 
     private final String className;
     private final LogGroup group;
@@ -133,7 +128,7 @@ public static void cleanLogs(Path folderToClean) {
         HashMap<File, Date> logFileStartDateMap = new HashMap<>();
 
         // Remove any files from the list for which we can't parse a start date from their name.
-        // Simultaneously populate our HashMap with Date objects repeseting the file-name
+        // Simultaneously populate our HashMap with Date objects representing the file-name
         // indicated log start time.
         logFileList.removeIf(
                 (File arg0) -> {
@@ -160,7 +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();
@@ -332,7 +326,7 @@ public FileLogAppender(Path logFilePath) {
                                 3000L);
             } catch (FileNotFoundException e) {
                 out = null;
-                System.err.println("Unable to log to file " + logFilePath.toString());
+                System.err.println("Unable to log to file " + logFilePath);
             }
         }