Fix trivial errorprone warnings

apriltag/src/main/java/edu/wpi/first/apriltag/AprilTagFieldLayout.java

@@ -16,6 +16,7 @@
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+import java.nio.charset.StandardCharsets;
 import java.nio.file.Path;
 import java.util.ArrayList;
 import java.util.HashMap;
@@ -234,7 +235,7 @@ public static AprilTagFieldLayout loadFromResource(String resourcePath) throws I
       // Class.getResourceAsStream() returns null if the resource does not exist.
       throw new IOException("Could not locate resource: " + resourcePath);
     }
-    InputStreamReader reader = new InputStreamReader(stream);
+    InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8);
     try {
       return new ObjectMapper().readerFor(AprilTagFieldLayout.class).readValue(reader);
     } catch (IOException e) {

cscore/src/main/java/edu/wpi/first/cscore/VideoException.java

@@ -11,9 +11,4 @@ public class VideoException extends RuntimeException {
   public VideoException(String msg) {
     super(msg);
   }
-
-  @Override
-  public String toString() {
-    return "VideoException [" + super.toString() + "]";
-  }
 }

cscore/src/main/java/edu/wpi/first/cscore/VideoMode.java

@@ -57,10 +57,7 @@ public boolean equals(Object other) {
     if (this == other) {
       return true;
     }
-    if (other == null) {
-      return false;
-    }
-    if (getClass() != other.getClass()) {
+    if (!(other instanceof VideoMode)) {
       return false;
     }
     VideoMode mode = (VideoMode) other;

cscore/src/main/java/edu/wpi/first/cscore/VideoSink.java

@@ -68,10 +68,7 @@ public boolean equals(Object other) {
     if (this == other) {
       return true;
     }
-    if (other == null) {
-      return false;
-    }
-    if (getClass() != other.getClass()) {
+    if (!(other instanceof VideoSink)) {
       return false;
     }
     VideoSink sink = (VideoSink) other;

cscore/src/main/java/edu/wpi/first/cscore/VideoSource.java

@@ -100,10 +100,7 @@ public boolean equals(Object other) {
     if (this == other) {
       return true;
     }
-    if (other == null) {
-      return false;
-    }
-    if (getClass() != other.getClass()) {
+    if (!(other instanceof VideoSource)) {
       return false;
     }
     VideoSource source = (VideoSource) other;

fieldImages/src/main/java/edu/wpi/fields/FieldConfig.java

@@ -11,6 +11,7 @@
 import java.io.InputStream;
 import java.io.InputStreamReader;
 import java.net.URL;
+import java.nio.charset.StandardCharsets;
 import java.nio.file.Files;
 import java.nio.file.Path;
 
@@ -83,7 +84,7 @@ public static FieldConfig loadFromFile(Path file) throws IOException {
    */
   public static FieldConfig loadFromResource(String resourcePath) throws IOException {
     try (InputStream stream = FieldConfig.class.getResourceAsStream(resourcePath);
-        InputStreamReader reader = new InputStreamReader(stream)) {
+        InputStreamReader reader = new InputStreamReader(stream, StandardCharsets.UTF_8)) {
       return new ObjectMapper().readerFor(FieldConfig.class).readValue(reader);
     }
   }

ntcore/src/generate/main/java/NetworkTableEntry.java.jinja

@@ -608,6 +608,6 @@ public final class NetworkTableEntry implements Publisher, Subscriber {
   }
 
   private final Topic m_topic;
-  protected int m_handle;
+  private final int m_handle;
 }
 

ntcore/src/main/java/edu/wpi/first/networktables/NetworkTable.java

@@ -330,7 +330,7 @@ public NetworkTable getSubTable(String key) {
    * @return true if the table as a value assigned to the given key
    */
   public boolean containsKey(String key) {
-    return !("".equals(key)) && getTopic(key).exists();
+    return !"".equals(key) && getTopic(key).exists();
   }
 
   /**

wpilibNewCommands/src/test/java/edu/wpi/first/wpilibj2/command/PrintCommandTest.java

@@ -9,6 +9,7 @@
 
 import java.io.ByteArrayOutputStream;
 import java.io.PrintStream;
+import java.nio.charset.StandardCharsets;
 import org.junit.jupiter.api.Test;
 
 class PrintCommandTest extends CommandTestBase {
@@ -25,7 +26,7 @@ void printCommandScheduleTest() {
         scheduler.run();
 
         assertFalse(scheduler.isScheduled(command));
-        assertEquals(testOut.toString(), "Test!" + System.lineSeparator());
+        assertEquals(testOut.toString(StandardCharsets.UTF_8), "Test!" + System.lineSeparator());
       } finally {
         System.setOut(originalOut);
       }

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16448_IMU.java

@@ -383,7 +383,7 @@ private static long toULong(int sint) {
 
   /** */
   private static int toShort(int... buf) {
-    return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF)));
+    return (short) (((buf[0] & 0xFF) << 8) + (buf[1] & 0xFF));
   }
 
   /** */

wpilibj/src/main/java/edu/wpi/first/wpilibj/ADIS16470_IMU.java

@@ -453,7 +453,7 @@ public boolean isConnected() {
    * @return
    */
   private static int toUShort(ByteBuffer buf) {
-    return (buf.getShort(0)) & 0xFFFF;
+    return buf.getShort(0) & 0xFFFF;
   }
 
   /**
@@ -469,7 +469,7 @@ private static long toULong(int sint) {
    * @return
    */
   private static int toShort(int... buf) {
-    return (short) (((buf[0] & 0xFF) << 8) + ((buf[1] & 0xFF)));
+    return (short) (((buf[0] & 0xFF) << 8) + (buf[1] & 0xFF));
   }
 
   /**
@@ -693,7 +693,7 @@ private int readRegister(int reg) {
   private void writeRegister(int reg, int val) {
     ByteBuffer buf = ByteBuffer.allocateDirect(2);
     // low byte
-    buf.put(0, (byte) ((0x80 | reg)));
+    buf.put(0, (byte) (0x80 | reg));
     buf.put(1, (byte) (val & 0xff));
     m_spi.write(buf, 2);
     // high byte

wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java

@@ -84,7 +84,7 @@ public void setAngle(double degrees) {
       degrees = kMaxServoAngle;
     }
 
-    setPosition(((degrees - kMinServoAngle)) / getServoAngleRange());
+    setPosition((degrees - kMinServoAngle) / getServoAngleRange());
   }
 
   /**

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/DifferentialDrive.java

@@ -365,7 +365,7 @@ public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("DifferentialDrive");
     builder.setActuator(true);
     builder.setSafeState(this::stopMotor);
-    builder.addDoubleProperty("Left Motor Speed", () -> m_leftOutput, m_leftMotor::accept);
-    builder.addDoubleProperty("Right Motor Speed", () -> m_rightOutput, m_rightMotor::accept);
+    builder.addDoubleProperty("Left Motor Speed", () -> m_leftOutput, m_leftMotor);
+    builder.addDoubleProperty("Right Motor Speed", () -> m_rightOutput, m_rightMotor);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/drive/MecanumDrive.java

@@ -314,13 +314,10 @@ public void initSendable(SendableBuilder builder) {
     builder.setSmartDashboardType("MecanumDrive");
     builder.setActuator(true);
     builder.setSafeState(this::stopMotor);
+    builder.addDoubleProperty("Front Left Motor Speed", () -> m_frontLeftOutput, m_frontLeftMotor);
     builder.addDoubleProperty(
-        "Front Left Motor Speed", () -> m_frontLeftOutput, m_frontLeftMotor::accept);
-    builder.addDoubleProperty(
-        "Front Right Motor Speed", () -> m_frontRightOutput, m_frontRightMotor::accept);
-    builder.addDoubleProperty(
-        "Rear Left Motor Speed", () -> m_rearLeftOutput, m_rearLeftMotor::accept);
-    builder.addDoubleProperty(
-        "Rear Right Motor Speed", () -> m_rearRightOutput, m_rearRightMotor::accept);
+        "Front Right Motor Speed", () -> m_frontRightOutput, m_frontRightMotor);
+    builder.addDoubleProperty("Rear Left Motor Speed", () -> m_rearLeftOutput, m_rearLeftMotor);
+    builder.addDoubleProperty("Rear Right Motor Speed", () -> m_rearRightOutput, m_rearRightMotor);
   }
 }

wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color.java

@@ -141,7 +141,7 @@ public boolean equals(Object other) {
     if (this == other) {
       return true;
     }
-    if (other == null || getClass() != other.getClass()) {
+    if (!(other instanceof Color)) {
       return false;
     }
 

wpilibj/src/main/java/edu/wpi/first/wpilibj/util/Color8Bit.java

@@ -64,7 +64,7 @@ public boolean equals(Object other) {
     if (this == other) {
       return true;
     }
-    if (other == null || getClass() != other.getClass()) {
+    if (!(other instanceof Color8Bit)) {
       return false;
     }
 

wpimath/src/main/java/edu/wpi/first/math/path/TravelingSalesman.java

@@ -62,7 +62,7 @@ public <Poses extends Num> Pose2d[] solve(Pose2d[] poses, int iterations) {
                 sum +=
                     m_cost.applyAsDouble(
                         poses[(int) state.get(i, 0)],
-                        poses[(int) (state.get((i + 1) % poses.length, 0))]);
+                        poses[(int) state.get((i + 1) % poses.length, 0)]);
               }
               return sum;
             });

wpiunits/src/main/java/edu/wpi/first/units/Mult.java

@@ -48,7 +48,7 @@ protected Mult(Class<? extends Mult<A, B>> baseType, A a, B b) {
    */
   @SuppressWarnings({"unchecked", "rawtypes"})
   public static <A extends Unit<A>, B extends Unit<B>> Mult<A, B> combine(A a, B b) {
-    final long key = ((long) a.hashCode()) << 32L | ((long) b.hashCode()) & 0xFFFFFFFFL;
+    final long key = ((long) a.hashCode()) << 32L | (((long) b.hashCode()) & 0xFFFFFFFFL);
     if (cache.containsKey(key)) {
       return cache.get(key);
     }
@@ -76,7 +76,7 @@ public boolean equals(Object o) {
     if (this == o) {
       return true;
     }
-    if (o == null || getClass() != o.getClass()) {
+    if (!(o instanceof Mult)) {
       return false;
     }
     if (!super.equals(o)) {

wpiunits/src/main/java/edu/wpi/first/units/Per.java

@@ -58,7 +58,7 @@ protected Per(Class<Per<N, D>> baseType, N numerator, D denominator) {
   public static <N extends Unit<N>, D extends Unit<D>> Per<N, D> combine(
       N numerator, D denominator) {
     final long key =
-        ((long) numerator.hashCode()) << 32L | ((long) denominator.hashCode()) & 0xFFFFFFFFL;
+        ((long) numerator.hashCode()) << 32L | (((long) denominator.hashCode()) & 0xFFFFFFFFL);
 
     var existing = cache.get(key);
     if (existing != null) {
@@ -83,7 +83,7 @@ public boolean equals(Object o) {
     if (this == o) {
       return true;
     }
-    if (o == null || getClass() != o.getClass()) {
+    if (!(o instanceof Per)) {
       return false;
     }
     if (!super.equals(o)) {

wpiunits/src/main/java/edu/wpi/first/units/Velocity.java

@@ -33,7 +33,7 @@ public class Velocity<D extends Unit<D>> extends Unit<Velocity<D>> {
 
   /** Generates a cache key used for cache lookups. */
   private static long cacheKey(Unit<?> numerator, Unit<?> denominator) {
-    return ((long) numerator.hashCode()) << 32L | ((long) denominator.hashCode()) & 0xFFFFFFFFL;
+    return ((long) numerator.hashCode()) << 32L | (((long) denominator.hashCode()) & 0xFFFFFFFFL);
   }
 
   /**
@@ -152,7 +152,7 @@ public boolean equals(Object o) {
     if (this == o) {
       return true;
     }
-    if (o == null || getClass() != o.getClass()) {
+    if (!(o instanceof Velocity)) {
       return false;
     }
     if (!super.equals(o)) {

wpiunits/src/test/java/edu/wpi/first/units/MeasureTest.java

@@ -173,7 +173,7 @@ void testToLongString() {
     var measure = Units.Volts.of(343);
     assertEquals("343.0 Volt", measure.toLongString());
     assertEquals("343.0001 Volt", Units.Volts.of(343.0001).toLongString());
-    assertEquals("1.2345678912345679E8 Volt", Units.Volts.of(123456789.123456789).toLongString());
+    assertEquals("1.2345678912345678E8 Volt", Units.Volts.of(123456789.12345678).toLongString());
   }
 
   @Test

wpiutil/src/main/java/edu/wpi/first/util/ClassPreloader.java

@@ -95,7 +95,7 @@ public static int preload(BufferedReader reader) {
    * @return Number of classes loaded.
    */
   public static int preload(InputStream stream) {
-    return preload(new BufferedReader(new InputStreamReader(stream)));
+    return preload(new BufferedReader(new InputStreamReader(stream, StandardCharsets.UTF_8)));
   }
 
   /**

wpiutil/src/main/java/edu/wpi/first/util/struct/BadSchemaException.java

@@ -73,7 +73,7 @@ public String getField() {
   }
 
   @Override
-  public String toString() {
-    return m_field.isEmpty() ? getMessage() : "field " + m_field + ": " + getMessage();
+  public String getMessage() {
+    return m_field.isEmpty() ? super.getMessage() : "field " + m_field + ": " + super.getMessage();
   }
 }

wpiutil/src/main/java/edu/wpi/first/util/struct/StructDescriptor.java

@@ -5,10 +5,10 @@
 package edu.wpi.first.util.struct;
 
 import java.util.ArrayList;
+import java.util.Deque;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
-import java.util.Stack;
 
 /** Raw struct dynamic struct descriptor. */
 public class StructDescriptor {
@@ -76,7 +76,7 @@ public List<StructFieldDescriptor> getFields() {
     return m_fields;
   }
 
-  boolean checkCircular(Stack<StructDescriptor> stack) {
+  boolean checkCircular(Deque<StructDescriptor> stack) {
     stack.push(this);
     for (StructDescriptor ref : m_references) {
       if (stack.contains(ref)) {
@@ -90,7 +90,7 @@ boolean checkCircular(Stack<StructDescriptor> stack) {
     return true;
   }
 
-  void calculateOffsets(Stack<StructDescriptor> stack) {
+  void calculateOffsets(Deque<StructDescriptor> stack) {
     int offset = 0;
     int shift = 0;
     int prevBitfieldSize = 0;

wpiutil/src/main/java/edu/wpi/first/util/struct/StructDescriptorDatabase.java

@@ -8,9 +8,10 @@
 import edu.wpi.first.util.struct.parser.ParsedDeclaration;
 import edu.wpi.first.util.struct.parser.ParsedSchema;
 import edu.wpi.first.util.struct.parser.Parser;
+import java.util.ArrayDeque;
+import java.util.Deque;
 import java.util.HashMap;
 import java.util.Map;
-import java.util.Stack;
 
 /** Database of raw struct dynamic descriptors. */
 public class StructDescriptorDatabase {
@@ -109,7 +110,7 @@ public StructDescriptor add(String name, String schema) throws BadSchemaExceptio
     }
 
     theStruct.m_valid = isValid;
-    Stack<StructDescriptor> stack = new Stack<>();
+    Deque<StructDescriptor> stack = new ArrayDeque<>();
     if (isValid) {
       // we have all the info needed, so calculate field offset & shift
       theStruct.calculateOffsets(stack);

wpiutil/src/main/java/edu/wpi/first/util/struct/StructFieldDescriptor.java

@@ -206,7 +206,7 @@ public long getUintMax() {
    * @return minimum value
    */
   public long getIntMin() {
-    return (-(m_bitMask >> 1)) - 1;
+    return -(m_bitMask >> 1) - 1;
   }
 
   /**

wpiutil/src/main/java/edu/wpi/first/util/struct/parser/ParseException.java

@@ -28,7 +28,7 @@ public int getPosition() {
   }
 
   @Override
-  public String toString() {
-    return m_pos + ": " + getMessage();
+  public String getMessage() {
+    return m_pos + ": " + super.getMessage();
   }
 }