Use more idiomatic C# under the hood (#115)

* Spelling fixes

Includes `DSAtached`, being renamed to `DSAttached` with a deprecated property in place temporarily.

* Use expression-bodied methods

Quite a few methods are simple accessors that can be better summarized in one expression

* Sign Preserving Square Simplification

Use `Math.Abs` to make the logic easier to read - the time savings from not doing a function call are probably not worth the legibility

* Use C# `lock` statement

No sense in manually rewriting the try-catch when `lock` does the same thing more succinctly

* Use indexers in the Joystick class

A joystick's button can now be accessed via `myJoystick[Joystick.ButtonType.Trigger]` etc. All similar accessors forward to the indexer.

* Use a dictionary to store sendable choices

Instead of lockstep lists, use a dictionary.

Author: msoucy

WPILib/DriverStation.cs

@@ -1,15 +1,13 @@
-using System;
-using System.IO;
+using HAL.Base;
+using System;
+using System.Runtime.CompilerServices;
 using System.Threading;
-using HAL.Base;
-using static WPILib.Timer;
 using static HAL.Base.HAL;
 using static HAL.Base.HAL.DriverStationConstants;
-using static WPILib.Utility;
 using static HAL.Base.HALDriverStation;
+using static WPILib.Timer;
+using static WPILib.Utility;
 using HALPower = HAL.Base.HALPower;
-using System.Runtime.CompilerServices;
-using System.Text;
 
 namespace WPILib
 {
@@ -239,7 +237,7 @@ protected void GetData()
             UpdateControlWord(true, out controlWord);
 
             lock (m_joystickDataMutex)
-            { 
+            {
 
                 HALJoystickAxes[] currentAxes = m_joystickAxes;
                 m_joystickAxes = m_joystickAxesCache;
@@ -369,17 +367,8 @@ public int GetStickAxisCount(int stick)
                     $"Joystick index is out of range, should be 0-{JoystickPorts}");
             }
 
-            bool lockEntered = false;
-            try
-            {
-                Monitor.Enter(m_joystickDataMutex, ref lockEntered);
+            lock (m_joystickDataMutex)
                 return m_joystickAxes[stick].count;
-            }
-            finally
-            {
-                if (lockEntered) Monitor.Exit(m_joystickDataMutex);
-            }
-
         }
 
         /// <summary>
@@ -441,17 +430,9 @@ public int GetStickPOVCount(int stick)
                 throw new ArgumentOutOfRangeException(nameof(stick),
                     $"Joystick Index is out of range, should be 0-{JoystickPorts}");
             }
-            bool lockEntered = false;
-            try
-            {
-                Monitor.Enter(m_joystickDataMutex, ref lockEntered);
 
+            lock (m_joystickDataMutex)
                 return m_joystickPOVs[stick].count;
-            }
-            finally
-            {
-                if (lockEntered) Monitor.Exit(m_joystickDataMutex);
-            }
 
         }
 
@@ -464,23 +445,14 @@ public int GetStickPOVCount(int stick)
         /// Thrown if the stick is out of range.</exception>
         public int GetStickButtons(int stick)
         {
-
             if (stick < 0 || stick >= JoystickPorts)
             {
                 throw new ArgumentOutOfRangeException(nameof(stick),
                     $"Joystick Index is out of range, should be 0-{JoystickPorts}");
             }
-            bool lockEntered = false;
-            try
-            {
-                Monitor.Enter(m_joystickDataMutex, ref lockEntered);
-                return (int)m_joystickButtons[stick].buttons;
-            }
-            finally
-            {
-                if (lockEntered) Monitor.Exit(m_joystickDataMutex);
-            }
 
+            lock (m_joystickDataMutex)
+                return (int)m_joystickButtons[stick].buttons;
         }
 
         /// <summary>
@@ -536,22 +508,14 @@ public bool GetStickButton(int stick, int button)
         /// Thrown if the stick is out of range.</exception>
         public int GetStickButtonCount(int stick)
         {
-
             if (stick < 0 || stick >= JoystickPorts)
             {
                 throw new ArgumentOutOfRangeException(nameof(stick),
                     $"Joystick Index is out of range, should be 0-{JoystickPorts}");
             }
-            bool lockEntered = false;
-            try
-            {
-                Monitor.Enter(m_joystickDataMutex, ref lockEntered);
+
+            lock (m_joystickDataMutex)
                 return m_joystickButtons[stick].count;
-            }
-            finally
-            {
-                if (lockEntered) Monitor.Exit(m_joystickDataMutex);
-            }
         }
 
         /// <summary>
@@ -568,16 +532,8 @@ public bool GetJoystickIsXbox(int stick)
                 throw new ArgumentOutOfRangeException(nameof(stick),
                     $"Joystick Index is out of range, should be 0-{JoystickPorts}");
             }
-            bool lockEntered = false;
-            try
-            {
-                Monitor.Enter(m_joystickDataMutex, ref lockEntered);
+            lock (m_joystickDataMutex)
                 return m_joystickDescriptors[stick].isXbox != 0;
-            }
-            finally
-            {
-                if (lockEntered) Monitor.Exit(m_joystickDataMutex);
-            }
 
         }
 
@@ -595,16 +551,8 @@ public int GetJoystickType(int stick)
                 throw new ArgumentOutOfRangeException(nameof(stick),
                     $"Joystick Index is out of range, should be 0-{JoystickPorts}");
             }
-            bool lockEntered = false;
-            try
-            {
-                Monitor.Enter(m_joystickDataMutex, ref lockEntered);
+            lock (m_joystickDataMutex)
                 return m_joystickDescriptors[stick].type;
-            }
-            finally
-            {
-                if (lockEntered) Monitor.Exit(m_joystickDataMutex);
-            }
         }
 
         /// <summary>
@@ -622,16 +570,8 @@ public string GetJoystickName(int stick)
                         $"Joystick Index is out of range, should be 0-{JoystickPorts}");
             }
 
-            bool lockEntered = false;
-            try
-            {
-                Monitor.Enter(m_joystickDataMutex, ref lockEntered);
+            lock (m_joystickDataMutex)
                 return m_joystickDescriptors[stick].name.ToString();
-            }
-            finally
-            {
-                if (lockEntered) Monitor.Exit(m_joystickDataMutex);
-            }
         }
 
         /// <summary>
@@ -856,7 +796,7 @@ public bool FMSAttached
         /// <summary>
         /// Gets if the DS is attached.
         /// </summary>
-        public bool DSAtached
+        public bool DSAttached
         {
             get
             {
@@ -865,6 +805,11 @@ public bool DSAtached
                 return word.GetDSAttached();
             }
         }
+        /// <summary>
+        /// Gets if the DS is attached.
+        /// </summary>
+        [Obsolete("DSAtached is deprecated, use DSAttached instead.")]
+        public bool DSAtached => DSAttached;
 
         private void UpdateControlWord(bool force, out HALControlWord controlWord)
         {

WPILib/GamepadBase.cs

@@ -9,19 +9,13 @@ public abstract class GamepadBase : GenericHID
         /// Creates a new Gamepad on the specified port
         /// </summary>
         /// <param name="port">The joystick port</param>
-        protected GamepadBase(int port) : base(port)
-        {
-
-        }
+        protected GamepadBase(int port) : base(port) { }
 
         /// <summary>
         /// Gets if the bumper is pressed
         /// </summary>
         /// <returns>True if the bumper is pressed</returns>
-        public bool GetBumper()
-        {
-            return GetBumper(JoystickHand.Right);
-        }
+        public bool GetBumper() => GetBumper(JoystickHand.Right);
 
         /// <summary>
         /// Gets if the bupper is pressed

WPILib/GenericHID.cs

@@ -72,10 +72,7 @@ protected GenericHID(int port)
         /// Get the x position of the HID
         /// </summary>
         /// <returns>The x position of the HID</returns>
-        public double GetX()
-        {
-            return GetX(JoystickHand.Right);
-        }
+        public double GetX() => GetX(JoystickHand.Right);
 
         /// <summary>
         /// Get the x position of the HID
@@ -88,10 +85,7 @@ public double GetX()
         /// Get the y position of the HID
         /// </summary>
         /// <returns>The y position of the HID</returns>
-        public double GetY()
-        {
-            return GetY(JoystickHand.Right);
-        }
+        public double GetY() => GetY(JoystickHand.Right);
 
         /// <summary>
         /// Get the y position of the HID
@@ -105,62 +99,35 @@ public double GetY()
         /// </summary>
         /// <param name="axis">Index of the axis</param>
         /// <returns>The raw value of the selected axis</returns>
-        public virtual double GetRawAxis(int axis)
-        {
-            return m_ds.GetStickAxis(Port, axis);
-        }
+        public virtual double GetRawAxis(int axis) => m_ds.GetStickAxis(Port, axis);
 
         /// <summary>
         /// Is the given button pressed
         /// </summary>
         /// <param name="button">Which button number</param>
         /// <returns>True if the button is pressed</returns>
-        public bool GetRawButton(int button) 
-        {
-            return m_ds.GetStickButton(Port, button);
-        }
+        public bool GetRawButton(int button) => m_ds.GetStickButton(Port, button);
 
         /// <summary>
         /// Is POV 0 pressed
         /// </summary>
         /// <returns>the POV value</returns>
-        public int GetPOV()
-        {
-            return GetPOV(0);
-        }
+        public int GetPOV() => GetPOV(0);
 
         /// <summary>
         /// Is the given POV pressed
         /// </summary>
         /// <param name="pov">Which POV number</param>
         /// <returns>the POV value</returns>
-        public int GetPOV(int pov)
-        {
-            return m_ds.GetStickPOV(Port, pov);
-        }
+        public int GetPOV(int pov) => m_ds.GetStickPOV(Port, pov);
 
-        public int GetPOVCount()
-        {
-            return m_ds.GetStickPOVCount(Port);
-        }
+        public int GetPOVCount() => m_ds.GetStickPOVCount(Port);
 
-        public HIDType Type
-        {
-            get
-            {
-                return (HIDType)m_ds.GetJoystickType(Port);
-            }
-        }
+        public HIDType Type => (HIDType)m_ds.GetJoystickType(Port);
 
         public int Port { get; }
 
-        public string Name
-        {
-            get
-            {
-                return m_ds.GetJoystickName(Port);
-            }
-        }
+        public string Name => m_ds.GetJoystickName(Port);
 
         private int m_outputs = 0;
         private ushort m_leftRumble = 0;
@@ -182,10 +149,11 @@ public void SetOutputs(int value)
 
         public void SetRumble(RumbleType type, double value)
         {
-            if(value < 0)
-            value = 0;
-          else if (value > 1)
+            if (value < 0)
+                value = 0;
+            else if (value > 1)
                 value = 1;
+
             if (type == RumbleType.LeftRumble)
             {
                 m_leftRumble = (ushort)(value * 65535);