Merge pull request #90 from strykeforce/fix-warnings

Fix warnings and deprecations

Author: jhh

build.gradle

@@ -96,6 +96,15 @@ compileKotlin {
     }
 }
 
+compileTestKotlin {
+    kotlinOptions {
+        jvmTarget = "11"
+
+        // For creation of default methods in interfaces
+        freeCompilerArgs += "-Xjvm-default=all"
+    }
+}
+
 
 java {
     withSourcesJar()

gradle.properties

@@ -1,2 +1,3 @@
 githubUrl=https://github.com/strykeforce/thirdcoast
 kotlin.code.style=official
+kapt.use.worker.api=true

src/main/java/org/strykeforce/swerve/TalonSwerveModule.java

@@ -115,18 +115,16 @@ public void resetDriveEncoder() {
   public void storeAzimuthZeroReference() {
     int index = getWheelIndex();
     int position = getAzimuthAbsoluteEncoderCounts();
-    Preferences preferences = Preferences.getInstance();
     String key = String.format("SwerveDrive/wheel.%d", index);
-    preferences.putInt(key, position);
+    Preferences.setInt(key, position);
     logger.info("azimuth {}: saved zero = {}", index, position);
   }
 
   @Override
   public void loadAndSetAzimuthZeroReference() {
     int index = getWheelIndex();
-    Preferences preferences = Preferences.getInstance();
     String key = String.format("SwerveDrive/wheel.%d", index);
-    int reference = preferences.getInt(key, Integer.MIN_VALUE);
+    int reference = Preferences.getInt(key, Integer.MIN_VALUE);
     if (reference == Integer.MIN_VALUE) {
       logger.error("no saved azimuth zero reference for swerve module {}", index);
       throw new IllegalStateException();

src/main/kotlin/org/strykeforce/console/MCP23008.kt

@@ -52,7 +52,7 @@ class MCP23008 {
 
     fun getSwitch(switch: Console.Switch): Boolean {
         val buffer = ByteArray(1)
-        if (timer.hasPeriodPassed(POLL_SECONDS)) {
+        if (timer.advanceIfElapsed(POLL_SECONDS)) {
             expander.read(GPIO, buffer.size, buffer)
             switchState = buffer[0].toUByte()
 //            logger.debug { switchState.toUByte().toString(2) }

src/test/java/org/strykeforce/swerve/TalonSwerveModuleTest.java

@@ -84,7 +84,7 @@ void resetDriveEncoder() {
 
   @Nested
   @DisplayName("When setting azimuth zero")
-  class WhenSettingAzimuthZero {
+  class TestWhenSettingAzimuthZero {
 
     TalonSRX azimuthTalon;
     TalonFX driveTalon;
@@ -119,39 +119,37 @@ void storeAzimuthZeroReference() {
               .wheelDiameterInches(kWheelDiameterInches)
               .driveMaximumMetersPerSecond(kMaxSpeedMetersPerSecond);
 
-      Preferences preferences = Preferences.getInstance();
-
       int expectedZeroReference = 27;
       int index = 0; // fixture wheel is LF
       String key = String.format("SwerveDrive/wheel.%d", index);
       module = builder.wheelLocationMeters(new Translation2d(1, 1)).build();
       when(sensorCollection.getPulseWidthPosition()).thenReturn(expectedZeroReference);
       module.storeAzimuthZeroReference();
-      assertEquals(expectedZeroReference, preferences.getInt(key, -1));
+      assertEquals(expectedZeroReference, Preferences.getInt(key, -1));
 
       expectedZeroReference = 67;
       index = 1; // fixture wheel is RF
       key = String.format("SwerveDrive/wheel.%d", index);
       module = builder.wheelLocationMeters(new Translation2d(1, -1)).build();
       when(sensorCollection.getPulseWidthPosition()).thenReturn(expectedZeroReference);
       module.storeAzimuthZeroReference();
-      assertEquals(expectedZeroReference, preferences.getInt(key, -1));
+      assertEquals(expectedZeroReference, Preferences.getInt(key, -1));
 
       expectedZeroReference = 2767;
       index = 2; // fixture wheel is LR
       key = String.format("SwerveDrive/wheel.%d", index);
       module = builder.wheelLocationMeters(new Translation2d(-1, 1)).build();
       when(sensorCollection.getPulseWidthPosition()).thenReturn(expectedZeroReference);
       module.storeAzimuthZeroReference();
-      assertEquals(expectedZeroReference, preferences.getInt(key, -1));
+      assertEquals(expectedZeroReference, Preferences.getInt(key, -1));
 
       expectedZeroReference = 6727;
       index = 3; // fixture wheel is RR
       key = String.format("SwerveDrive/wheel.%d", index);
       module = builder.wheelLocationMeters(new Translation2d(-1, -1)).build();
       when(sensorCollection.getPulseWidthPosition()).thenReturn(expectedZeroReference);
       module.storeAzimuthZeroReference();
-      assertEquals(expectedZeroReference & 0xFFF, preferences.getInt(key, -1));
+      assertEquals(expectedZeroReference & 0xFFF, Preferences.getInt(key, -1));
     }
 
     @ParameterizedTest
@@ -160,8 +158,7 @@ void storeAzimuthZeroReference() {
     void shouldSetAzimuthZero(int absoluteEncoderPosition, int zeroReference, double setpoint) {
       int index = 0; // fixture wheel is LF
       String key = String.format("SwerveDrive/wheel.%d", index);
-      Preferences preferences = Preferences.getInstance();
-      preferences.putInt(key, zeroReference);
+      Preferences.setInt(key, zeroReference);
       when(sensorCollection.getPulseWidthPosition()).thenReturn(absoluteEncoderPosition);
       when(azimuthTalon.setSelectedSensorPosition(eq(setpoint), anyInt(), anyInt()))
           .thenReturn(ErrorCode.valueOf(0));
@@ -174,9 +171,8 @@ void shouldSetAzimuthZero(int absoluteEncoderPosition, int zeroReference, double
     void shouldThrowExceptionIfNoNetworkTablesReference() {
       int index = 0; // fixture wheel is LF
       String key = String.format("SwerveDrive/wheel.%d", index);
-      Preferences preferences = Preferences.getInstance();
-      preferences.remove(key);
-      int reference = preferences.getInt(key, Integer.MIN_VALUE);
+      Preferences.remove(key);
+      int reference = Preferences.getInt(key, Integer.MIN_VALUE);
       assertEquals(Integer.MIN_VALUE, reference);
 
       when(sensorCollection.getPulseWidthPosition()).thenReturn(0);
@@ -219,7 +215,7 @@ void rotation2DShouldWorkAsExpected() {
 
   @Nested
   @DisplayName("Should not validate")
-  class ShouldNotValidate {
+  class TestShouldNotValidate {
 
     private TalonSRX azimuthTalon;
     private TalonFX driveTalon;
@@ -301,7 +297,7 @@ void whenWheelLocationNotSet() {
 
   @Nested
   @DisplayName("Should get module state")
-  class ShouldGetModuleState {
+  class TestShouldGetModuleState {
 
     private TalonSRX azimuthTalon;
     private TalonFX driveTalon;
@@ -451,7 +447,7 @@ void getWheelLocationMeters() {
 
   @Nested
   @DisplayName("Should set module state")
-  class ShouldSetModuleState {
+  class TestShouldSetModuleState {
 
     final ArgumentCaptor<Double> captor = ArgumentCaptor.forClass(Double.class);
     private TalonSRX azimuthTalon;