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RAR1741/RA18_RobotCode

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src/main/java/org/redalert1741/powerup/Robot.java

Summary

Maintainability
C
1 day
Test Coverage

File Robot.java has 308 lines of code (exceeds 250 allowed). Consider refactoring.
Open

package org.redalert1741.powerup;

import edu.wpi.cscore.UsbCamera;
import edu.wpi.first.wpilibj.CameraServer;
import edu.wpi.first.wpilibj.DigitalInput;
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java - About 3 hrs to fix

Method teleopPeriodic has 78 lines of code (exceeds 25 allowed). Consider refactoring.
Wontfix

    @Override
    public void teleopPeriodic() {
        //climbing enable
        if(driver.getPOV() == 90) {
            climbing = true;
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java - About 3 hrs to fix

Method teleopPeriodic has a Cognitive Complexity of 24 (exceeds 10 allowed). Consider refactoring.
Wontfix

    @Override
    public void teleopPeriodic() {
        //climbing enable
        if(driver.getPOV() == 90) {
            climbing = true;
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java - About 2 hrs to fix

Cognitive Complexity

Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

A method's cognitive complexity is based on a few simple rules:

  • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
  • Code is considered more complex for each "break in the linear flow of the code"
  • Code is considered more complex when "flow breaking structures are nested"

Further reading

Method robotInit has 45 lines of code (exceeds 25 allowed). Consider refactoring.
Wontfix

    @Override
    public void robotInit() {
        up = new EdgeDetect();
        down = new EdgeDetect();
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java - About 1 hr to fix

Method autonomousInit has 43 lines of code (exceeds 25 allowed). Consider refactoring.
Open

    @Override
    public void autonomousInit() {
        startLogging(data, "auto");
        reloadConfig();
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java - About 1 hr to fix

Method autonomousInit has a Cognitive Complexity of 12 (exceeds 10 allowed). Consider refactoring.
Open

    @Override
    public void autonomousInit() {
        startLogging(data, "auto");
        reloadConfig();
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java - About 35 mins to fix

Cognitive Complexity

Cognitive Complexity is a measure of how difficult a unit of code is to intuitively understand. Unlike Cyclomatic Complexity, which determines how difficult your code will be to test, Cognitive Complexity tells you how difficult your code will be to read and comprehend.

A method's cognitive complexity is based on a few simple rules:

  • Code is not considered more complex when it uses shorthand that the language provides for collapsing multiple statements into one
  • Code is considered more complex for each "break in the linear flow of the code"
  • Code is considered more complex when "flow breaking structures are nested"

Further reading

Refactor this method to reduce its Cognitive Complexity from 24 to the 15 allowed.
Open

    public void teleopPeriodic() {
Severity: Critical
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

Cognitive Complexity is a measure of how hard the control flow of a method is to understand. Methods with high Cognitive Complexity will be difficult to maintain.

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("1t: "+manip.getFirstStageAtTop());
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("pos: "+findPosition());
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("=============");
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("2t: "+manip.getSecondStageAtTop());
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("1h: "+manip.getFirstStageHeight());
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("2h: "+manip.getSecondStageHeight());
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("2b: "+manip.getSecondStageAtBottom());
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Replace this use of System.out or System.err by a logger.
Open

        System.out.println("1b: "+manip.getFirstStageAtBottom());
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

When logging a message there are several important requirements which must be fulfilled:

  • The user must be able to easily retrieve the logs
  • The format of all logged message must be uniform to allow the user to easily read the log
  • Logged data must actually be recorded
  • Sensitive data must only be logged securely

If a program directly writes to the standard outputs, there is absolutely no way to comply with those requirements. That's why defining and using a dedicated logger is highly recommended.

Noncompliant Code Example

System.out.println("My Message");  // Noncompliant

Compliant Solution

logger.log("My Message");

See

Define a constant instead of duplicating this literal "min-auto.json" 5 times.
Open

                autoChoice = "min-auto.json";
Severity: Critical
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

Duplicated string literals make the process of refactoring error-prone, since you must be sure to update all occurrences.

On the other hand, constants can be referenced from many places, but only need to be updated in a single place.

Noncompliant Code Example

With the default threshold of 3:

public void run() {
  prepare("action1");                              // Noncompliant - "action1" is duplicated 3 times
  execute("action1");
  release("action1");
}

@SuppressWarning("all")                            // Compliant - annotations are excluded
private void method1() { /* ... */ }
@SuppressWarning("all")
private void method2() { /* ... */ }

public String method3(String a) {
  System.out.println("'" + a + "'");               // Compliant - literal "'" has less than 5 characters and is excluded
  return "";                                       // Compliant - literal "" has less than 5 characters and is excluded
}

Compliant Solution

private static final String ACTION_1 = "action1";  // Compliant

public void run() {
  prepare(ACTION_1);                               // Compliant
  execute(ACTION_1);
  release(ACTION_1);
}

Exceptions

To prevent generating some false-positives, literals having less than 5 characters are excluded.

This block of commented-out lines of code should be removed.
Open

        int position = findPosition(); //config.getSetting("auto_position", -1.0).intValue();
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

Programmers should not comment out code as it bloats programs and reduces readability.

Unused code should be deleted and can be retrieved from source control history if required.

Remove this useless assignment to local variable "autoChoice".
Open

        String autoChoice = "empty-auto.json";
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java by sonar-java

A dead store happens when a local variable is assigned a value that is not read by any subsequent instruction. Calculating or retrieving a value only to then overwrite it or throw it away, could indicate a serious error in the code. Even if it's not an error, it is at best a waste of resources. Therefore all calculated values should be used.

Noncompliant Code Example

i = a + b; // Noncompliant; calculation result not used before value is overwritten
i = compute();

Compliant Solution

i = a + b;
i += compute();

Exceptions

This rule ignores initializations to -1, 0, 1, null, true, false and "".

See

Similar blocks of code found in 2 locations. Consider refactoring.
Open

        case 1:
            if(sw == MatchData.OwnedSide.LEFT) {
                autoChoice = "min-auto.json";
            } else if(sc == MatchData.OwnedSide.LEFT) {
                autoChoice = "left_scale.json";
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java and 1 other location - About 1 hr to fix
src/main/java/org/redalert1741/powerup/Robot.java on lines 176..184

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 60.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Similar blocks of code found in 2 locations. Consider refactoring.
Open

        case 3:
            if(sw == MatchData.OwnedSide.RIGHT) {
                autoChoice = "min-auto.json";
            } else if(sc == MatchData.OwnedSide.RIGHT) {
                autoChoice = "right_scale.json";
Severity: Major
Found in src/main/java/org/redalert1741/powerup/Robot.java and 1 other location - About 1 hr to fix
src/main/java/org/redalert1741/powerup/Robot.java on lines 160..168

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 60.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Similar blocks of code found in 2 locations. Consider refactoring.
Open

        if(Math.abs(operator.getY(Hand.kLeft))>0.1) {
            manip.setFirstStageHeight(manip.getFirstStageHeight()-(operator.getY(Hand.kLeft)*8));
        }
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java and 1 other location - About 50 mins to fix
src/main/java/org/redalert1741/powerup/Robot.java on lines 272..274

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 46.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Similar blocks of code found in 2 locations. Consider refactoring.
Open

        if(Math.abs(operator.getY(Hand.kRight))>0.1) {
            manip.setSecondStageHeight(manip.getSecondStageHeight()-(operator.getY(Hand.kRight)*8));
        }
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java and 1 other location - About 50 mins to fix
src/main/java/org/redalert1741/powerup/Robot.java on lines 268..270

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 46.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Similar blocks of code found in 2 locations. Consider refactoring.
Wontfix

        tilt = new RealDoubleSolenoidWrapper(solenoids.charAt(1)-'0', solenoids.charAt(2)-'0');
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java and 1 other location - About 35 mins to fix
src/main/java/org/redalert1741/powerup/Robot.java on lines 362..362

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 28.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Similar blocks of code found in 2 locations. Consider refactoring.
Wontfix

        grab = new RealDoubleSolenoidWrapper(solenoids.charAt(6)-'0', solenoids.charAt(7)-'0');
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java and 1 other location - About 35 mins to fix
src/main/java/org/redalert1741/powerup/Robot.java on lines 358..358

Duplicated Code

Duplicated code can lead to software that is hard to understand and difficult to change. The Don't Repeat Yourself (DRY) principle states:

Every piece of knowledge must have a single, unambiguous, authoritative representation within a system.

When you violate DRY, bugs and maintenance problems are sure to follow. Duplicated code has a tendency to both continue to replicate and also to diverge (leaving bugs as two similar implementations differ in subtle ways).

Tuning

This issue has a mass of 28.

We set useful threshold defaults for the languages we support but you may want to adjust these settings based on your project guidelines.

The threshold configuration represents the minimum mass a code block must have to be analyzed for duplication. The lower the threshold, the more fine-grained the comparison.

If the engine is too easily reporting duplication, try raising the threshold. If you suspect that the engine isn't catching enough duplication, try lowering the threshold. The best setting tends to differ from language to language.

See codeclimate-duplication's documentation for more information about tuning the mass threshold in your .codeclimate.yml.

Refactorings

Further Reading

Extra separation in import group before 'openrio.powerup.MatchData'
Open

import openrio.powerup.MatchData;
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java by checkstyle

Checks that the groups of import declarations appear in the order specifiedby the user. If there is an import but its group is not specified in theconfiguration such an import should be placed at the end of the import list.

This documentation is written and maintained by the Checkstyle community and is covered under the same license as the Checkstyle project.

Extra separation in import group before 'java.text.SimpleDateFormat'
Open

import java.text.SimpleDateFormat;
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java by checkstyle

Checks that the groups of import declarations appear in the order specifiedby the user. If there is an import but its group is not specified in theconfiguration such an import should be placed at the end of the import list.

This documentation is written and maintained by the Checkstyle community and is covered under the same license as the Checkstyle project.

Wrong lexicographical order for 'openrio.powerup.MatchData' import. Should be before 'org.redalert1741.robotbase.wrapper.TalonSrxWrapper'.
Open

import openrio.powerup.MatchData;
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java by checkstyle

Checks that the groups of import declarations appear in the order specifiedby the user. If there is an import but its group is not specified in theconfiguration such an import should be placed at the end of the import list.

This documentation is written and maintained by the Checkstyle community and is covered under the same license as the Checkstyle project.

Extra separation in import group before 'org.redalert1741.powerup.Manipulation.LiftPos'
Open

import org.redalert1741.powerup.Manipulation.LiftPos;
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java by checkstyle

Checks that the groups of import declarations appear in the order specifiedby the user. If there is an import but its group is not specified in theconfiguration such an import should be placed at the end of the import list.

This documentation is written and maintained by the Checkstyle community and is covered under the same license as the Checkstyle project.

Wrong lexicographical order for 'openrio.powerup.MatchData.GameFeature' import. Should be before 'org.redalert1741.robotbase.wrapper.TalonSrxWrapper'.
Open

import openrio.powerup.MatchData.GameFeature;
Severity: Minor
Found in src/main/java/org/redalert1741/powerup/Robot.java by checkstyle

Checks that the groups of import declarations appear in the order specifiedby the user. If there is an import but its group is not specified in theconfiguration such an import should be placed at the end of the import list.

This documentation is written and maintained by the Checkstyle community and is covered under the same license as the Checkstyle project.

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