Fixed alert's to prevent null pointer dereference.

Signed-off-by: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
BroncBotz3481 · Jan 17, 2024 · 35ff0b8 · 35ff0b8
1 parent f6d2e91
commit 35ff0b8
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Showing 11 changed files with 128 additions and 102 deletions.
diff --git a/src/main/java/swervelib/SwerveModule.java b/src/main/java/swervelib/SwerveModule.java
@@ -33,6 +33,14 @@ public class SwerveModule
    * Absolute encoder for swerve drive.
    */
   private final SwerveAbsoluteEncoder  absoluteEncoder;
+  /**
+   * An {@link Alert} for if pushing the Absolute Encoder offset to the encoder fails.
+   */
+  private final Alert                  encoderOffsetWarning;
+  /**
+   * An {@link Alert} for if there is no Absolute Encoder on the module.
+   */
+  private final Alert                  noEncoderWarning;
   /**
    * Module number for kinematics, usually 0 to 3. front left -> front right -> back left -> back right.
    */
@@ -61,20 +69,6 @@ public class SwerveModule
    * Encoder synchronization queued.
    */
   private       boolean                synchronizeEncoderQueued = false;
-  /**
-   * An {@link Alert} for if pushing the Absolute Encoder offset to the encoder fails.
-   */
-  private       Alert                  encoderOffsetWarning     = new Alert("Motors",
-                                                                            "Pushing the Absolute Encoder offset to the encoder failed on module #" +
-                                                                            moduleNumber,
-                                                                            Alert.AlertType.WARNING);
-  /**
-   * An {@link Alert} for if there is no Absolute Encoder on the module.
-   */
-  private       Alert                  noEncoderWarning         = new Alert("Motors",
-                                                                            "There is no Absolute Encoder on module #" +
-                                                                            moduleNumber,
-                                                                            Alert.AlertType.WARNING);
 
   /**
    * Construct the swerve module and initialize the swerve module motors and absolute encoder.
@@ -143,6 +137,15 @@ public SwerveModule(int moduleNumber, SwerveModuleConfiguration moduleConfigurat
     }
 
     lastState = getState();
+
+    noEncoderWarning = new Alert("Motors",
+                                 "There is no Absolute Encoder on module #" +
+                                 moduleNumber,
+                                 Alert.AlertType.WARNING);
+    encoderOffsetWarning = new Alert("Motors",
+                                     "Pushing the Absolute Encoder offset to the encoder failed on module #" +
+                                     moduleNumber,
+                                     Alert.AlertType.WARNING);
   }
 
   /**

diff --git a/src/main/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java b/src/main/java/swervelib/encoders/AnalogAbsoluteEncoderSwerve.java
@@ -18,21 +18,15 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * Inversion state of the encoder.
    */
-  private boolean     inverted             = false;
+  private boolean     inverted = false;
   /**
    * An {@link Alert} for if the absolute encoder offset cannot be set.
    */
-  private Alert       cannotSetOffset      = new Alert(
-      "Encoders",
-      "Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(),
-      Alert.AlertType.WARNING);
+  private Alert       cannotSetOffset;
   /**
    * An {@link Alert} detailing how the analog absolute encoder may not report accurate velocities.
    */
-  private Alert       inaccurateVelocities = new Alert(
-      "Encoders",
-      "The Analog Absolute encoder may not report accurate velocities!",
-      Alert.AlertType.WARNING_TRACE);
+  private Alert       inaccurateVelocities;
 
   /**
    * Construct the Thrifty Encoder as a Swerve Absolute Encoder.
@@ -42,6 +36,14 @@ public class AnalogAbsoluteEncoderSwerve extends SwerveAbsoluteEncoder
   public AnalogAbsoluteEncoderSwerve(AnalogInput encoder)
   {
     this.encoder = encoder;
+    cannotSetOffset = new Alert(
+        "Encoders",
+        "Cannot Set Absolute Encoder Offset of Analog Encoders Channel #" + encoder.getChannel(),
+        Alert.AlertType.WARNING);
+    inaccurateVelocities = new Alert(
+        "Encoders",
+        "The Analog Absolute encoder may not report accurate velocities!",
+        Alert.AlertType.WARNING_TRACE);
   }
 
   /**

diff --git a/src/main/java/swervelib/encoders/CANCoderSwerve.java b/src/main/java/swervelib/encoders/CANCoderSwerve.java
@@ -24,33 +24,19 @@ public class CANCoderSwerve extends SwerveAbsoluteEncoder
   /**
    * An {@link Alert} for if the CANCoder magnet field is less than ideal.
    */
-  private Alert    magnetFieldLessThanIdeal = new Alert(
-      "Encoders",
-      "CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.",
-      Alert.AlertType.WARNING);
+  private Alert    magnetFieldLessThanIdeal;
   /**
    * An {@link Alert} for if the CANCoder reading is faulty.
    */
-  private Alert    readingFaulty            = new Alert(
-      "Encoders",
-      "CANCoder " + encoder.getDeviceID() + " reading was faulty.",
-      Alert.AlertType.WARNING);
+  private Alert    readingFaulty;
   /**
    * An {@link Alert} for if the CANCoder reading is faulty and the reading is ignored.
    */
-  private Alert    readingIgnored           = new Alert(
-      "Encoders",
-      "CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.",
-      Alert.AlertType.WARNING);
+  private Alert    readingIgnored;
   /**
    * An {@link Alert} for if the absolute encoder offset cannot be set.
    */
-  private Alert    cannotSetOffset          = new Alert(
-      "Encoders",
-      "Failure to set CANCoder "
-      + encoder.getDeviceID()
-      + " Absolute Encoder Offset",
-      Alert.AlertType.WARNING);
+  private Alert    cannotSetOffset;
 
   /**
    * Initialize the CANCoder on the standard CANBus.
@@ -71,6 +57,24 @@ public CANCoderSwerve(int id)
   public CANCoderSwerve(int id, String canbus)
   {
     encoder = new CANcoder(id, canbus);
+    magnetFieldLessThanIdeal = new Alert(
+        "Encoders",
+        "CANCoder " + encoder.getDeviceID() + " magnetic field is less than ideal.",
+        Alert.AlertType.WARNING);
+    readingFaulty = new Alert(
+        "Encoders",
+        "CANCoder " + encoder.getDeviceID() + " reading was faulty.",
+        Alert.AlertType.WARNING);
+    readingIgnored = new Alert(
+        "Encoders",
+        "CANCoder " + encoder.getDeviceID() + " reading was faulty, ignoring.",
+        Alert.AlertType.WARNING);
+    cannotSetOffset = new Alert(
+        "Encoders",
+        "Failure to set CANCoder "
+        + encoder.getDeviceID()
+        + " Absolute Encoder Offset",
+        Alert.AlertType.WARNING);
   }
 
   /**

diff --git a/src/main/java/swervelib/encoders/PWMDutyCycleEncoderSwerve.java b/src/main/java/swervelib/encoders/PWMDutyCycleEncoderSwerve.java
@@ -25,11 +25,7 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * An {@link Alert}  for if the encoder cannot report accurate velocities.
    */
-  private       Alert            inaccurateVelocities = new Alert(
-      "Encoders",
-      "The PWM Duty Cycle encoder may not report accurate velocities!",
-      Alert.AlertType.WARNING_TRACE);
-
+  private       Alert            inaccurateVelocities;
 
   /**
    * Constructor for the PWM duty cycle encoder.
@@ -39,6 +35,11 @@ public class PWMDutyCycleEncoderSwerve extends SwerveAbsoluteEncoder
   public PWMDutyCycleEncoderSwerve(int pin)
   {
     encoder = new DutyCycleEncoder(pin);
+    inaccurateVelocities = new Alert(
+        "Encoders",
+        "The PWM Duty Cycle encoder may not report accurate velocities!",
+        Alert.AlertType.WARNING_TRACE);
+
   }
 
   /**

diff --git a/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkMaxAnalogEncoderSwerve.java
@@ -21,17 +21,11 @@ public class SparkMaxAnalogEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * An {@link Alert} for if there is a failure configuring the encoder.
    */
-  private Alert             failureConfiguring              = new Alert(
-      "Encoders",
-      "Failure configuring SparkMax Analog Encoder",
-      Alert.AlertType.WARNING_TRACE);
+  private Alert             failureConfiguring;
   /**
    * An {@link Alert} for if the absolute encoder does not support integrated offsets.
    */
-  private Alert             doesNotSupportIntegratedOffsets = new Alert(
-      "Encoders",
-      "SparkMax Analog Sensors do not support integrated offsets",
-      Alert.AlertType.WARNING_TRACE);
+  private Alert             doesNotSupportIntegratedOffsets;
 
 
   /**
@@ -49,6 +43,15 @@ public SparkMaxAnalogEncoderSwerve(SwerveMotor motor)
     {
       throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
     }
+    failureConfiguring = new Alert(
+        "Encoders",
+        "Failure configuring SparkMax Analog Encoder",
+        Alert.AlertType.WARNING_TRACE);
+    doesNotSupportIntegratedOffsets = new Alert(
+        "Encoders",
+        "SparkMax Analog Sensors do not support integrated offsets",
+        Alert.AlertType.WARNING_TRACE);
+
   }
 
   /**

diff --git a/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java b/src/main/java/swervelib/encoders/SparkMaxEncoderSwerve.java
@@ -21,14 +21,11 @@ public class SparkMaxEncoderSwerve extends SwerveAbsoluteEncoder
   /**
    * An {@link Alert} for if there is a failure configuring the encoder.
    */
-  private Alert           failureConfiguring = new Alert(
-      "Encoders",
-      "Failure configuring SparkMax Analog Encoder",
-      Alert.AlertType.WARNING_TRACE);
-  private Alert           offsetFailure      = new Alert(
-      "Encoders",
-      "Failure to set Absolute Encoder Offset",
-      Alert.AlertType.WARNING_TRACE);
+  private Alert           failureConfiguring;
+  /**
+   * An {@link Alert} for if there is a failure configuring the encoder offset.
+   */
+  private Alert           offsetFailure;
 
   /**
    * Create the {@link SparkMaxEncoderSwerve} object as a duty cycle from the {@link CANSparkMax} motor.
@@ -47,6 +44,14 @@ public SparkMaxEncoderSwerve(SwerveMotor motor, int conversionFactor)
     {
       throw new RuntimeException("Motor given to instantiate SparkMaxEncoder is not a CANSparkMax");
     }
+    failureConfiguring = new Alert(
+        "Encoders",
+        "Failure configuring SparkMax Analog Encoder",
+        Alert.AlertType.WARNING_TRACE);
+    offsetFailure = new Alert(
+        "Encoders",
+        "Failure to set Absolute Encoder Offset",
+        Alert.AlertType.WARNING_TRACE);
   }
 
   /**

diff --git a/src/main/java/swervelib/imu/NavXSwerve.java b/src/main/java/swervelib/imu/NavXSwerve.java
@@ -23,11 +23,11 @@ public class NavXSwerve extends SwerveIMU
   /**
    * Offset for the NavX.
    */
-  private Rotation3d offset    = new Rotation3d();
+  private Rotation3d offset = new Rotation3d();
   /**
    * An {@link Alert} for if there is an error instantiating the NavX.
    */
-  private Alert      navXError = new Alert("IMU", "Error instantiating NavX.", Alert.AlertType.ERROR_TRACE);
+  private Alert      navXError;
 
   /**
    * Constructor for the NavX swerve.
@@ -36,6 +36,7 @@ public class NavXSwerve extends SwerveIMU
    */
   public NavXSwerve(SerialPort.Port port)
   {
+    navXError = new Alert("IMU", "Error instantiating NavX.", Alert.AlertType.ERROR_TRACE);
     try
     {
       /* Communicate w/navX-MXP via the MXP SPI Bus.                                     */

diff --git a/src/main/java/swervelib/motors/SparkFlexSwerve.java b/src/main/java/swervelib/motors/SparkFlexSwerve.java
@@ -43,21 +43,15 @@ public class SparkFlexSwerve extends SwerveMotor
   /**
    * Factory default already occurred.
    */
-  private boolean               factoryDefaultOccurred       = false;
+  private boolean               factoryDefaultOccurred = false;
   /**
    * An {@link Alert} for if there is an error configuring the motor.
    */
-  private Alert                 failureConfiguring           = new Alert("Motors",
-                                                                         "Failure configuring motor " +
-                                                                         motor.getDeviceId(),
-                                                                         Alert.AlertType.WARNING_TRACE);
+  private Alert                 failureConfiguring;
   /**
    * An {@link Alert} for if the absolute encoder's offset is set in the json instead of the hardware client.
    */
-  private Alert                 absoluteEncoderOffsetWarning = new Alert("Motors",
-                                                                         "IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the " +
-                                                                         "absoluteEncoderOffset in the Swerve Module JSON!",
-                                                                         Alert.AlertType.WARNING);
+  private Alert                 absoluteEncoderOffsetWarning;
 
   /**
    * Initialize the swerve motor.
@@ -79,6 +73,15 @@ public SparkFlexSwerve(CANSparkFlex motor, boolean isDriveMotor)
 
     // Spin off configurations in a different thread.
     // configureSparkMax(() -> motor.setCANTimeout(0)); // Commented out because it prevents feedback.
+    failureConfiguring = new Alert("Motors",
+                                   "Failure configuring motor " +
+                                   motor.getDeviceId(),
+                                   Alert.AlertType.WARNING_TRACE);
+    absoluteEncoderOffsetWarning = new Alert("Motors",
+                                             "IF possible configure the duty cycle encoder offset in the REV Hardware Client instead of using the " +
+                                             "absoluteEncoderOffset in the Swerve Module JSON!",
+                                             Alert.AlertType.WARNING);
+
   }
 
   /**

diff --git a/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java b/src/main/java/swervelib/motors/SparkMaxBrushedMotorSwerve.java
@@ -42,25 +42,19 @@ public class SparkMaxBrushedMotorSwerve extends SwerveMotor
   /**
    * Factory default already occurred.
    */
-  private boolean            factoryDefaultOccurred  = false;
+  private boolean            factoryDefaultOccurred = false;
   /**
    * An {@link Alert} for if the motor has no encoder.
    */
-  private Alert              noEncoderAlert          = new Alert("Motors",
-                                                                 "Cannot use motor without encoder.",
-                                                                 Alert.AlertType.ERROR_TRACE);
+  private Alert              noEncoderAlert;
   /**
    * An {@link Alert} for if there is an error configuring the motor.
    */
-  private Alert              failureConfiguringAlert = new Alert("Motors",
-                                                                 "Failure configuring motor " + motor.getDeviceId(),
-                                                                 Alert.AlertType.WARNING_TRACE);
+  private Alert              failureConfiguringAlert;
   /**
    * An {@link Alert} for if the motor has no encoder defined.
    */
-  private Alert              noEncoderDefinedAlert   = new Alert("Motors",
-                                                                 "An encoder MUST be defined to work with a SparkMAX",
-                                                                 Alert.AlertType.ERROR_TRACE);
+  private Alert              noEncoderDefinedAlert;
 
   /**
    * Initialize the swerve motor.
@@ -108,6 +102,16 @@ public SparkMaxBrushedMotorSwerve(CANSparkMax motor, boolean isDriveMotor, Type
     }
     // Spin off configurations in a different thread.
     // configureSparkMax(() -> motor.setCANTimeout(0)); // Commented it out because it prevents feedback.
+
+    noEncoderAlert = new Alert("Motors",
+                               "Cannot use motor without encoder.",
+                               Alert.AlertType.ERROR_TRACE);
+    failureConfiguringAlert = new Alert("Motors",
+                                        "Failure configuring motor " + motor.getDeviceId(),
+                                        Alert.AlertType.WARNING_TRACE);
+    noEncoderDefinedAlert = new Alert("Motors",
+                                      "An encoder MUST be defined to work with a SparkMAX",
+                                      Alert.AlertType.ERROR_TRACE);
   }
 
   /**

diff --git a/src/main/java/swervelib/motors/TalonFXSwerve.java b/src/main/java/swervelib/motors/TalonFXSwerve.java
@@ -20,19 +20,19 @@ public class TalonFXSwerve extends SwerveMotor
   /**
    * Factory default already occurred.
    */
-  private final boolean              factoryDefaultOccurred  = false;
+  private final boolean            factoryDefaultOccurred  = false;
   /**
    * Whether the absolute encoder is integrated.
    */
-  private final boolean              absoluteEncoder         = false;
+  private final boolean            absoluteEncoder         = false;
   /**
    * Motion magic angle voltage setter.
    */
-  private final MotionMagicVoltage   m_angleVoltageSetter    = new MotionMagicVoltage(0);
+  private final MotionMagicVoltage m_angleVoltageSetter    = new MotionMagicVoltage(0);
   /**
    * Velocity voltage setter for controlling drive motor.
    */
-  private final VelocityVoltage      m_velocityVoltageSetter = new VelocityVoltage(0);
+  private final VelocityVoltage    m_velocityVoltageSetter = new VelocityVoltage(0);
 //  /**
 //   * Motion Magic exponential voltage setters.
 //   */
@@ -44,7 +44,7 @@ public class TalonFXSwerve extends SwerveMotor
   /**
    * Current TalonFX configuration.
    */
-  private       TalonFXConfiguration configuration           = new TalonFXConfiguration();
+  private TalonFXConfiguration configuration = new TalonFXConfiguration();
 
   /**
    * Constructor for TalonFX swerve motor.