Switch to palantir format because it handles lambdas better

build.gradle

@@ -243,8 +243,9 @@ spotless {
             exclude '**/build/**', '**/build-*/**'
         }
         toggleOffOn()
-        googleJavaFormat().formatJavadoc(false).aosp()
+        palantirJavaFormat('2.39.0').style('AOSP')
         removeUnusedImports()
+        importOrder()
         trimTrailingWhitespace()
         endWithNewline()
     }

src/main/java/com/team766/config/ConfigFileReader.java

@@ -137,11 +137,10 @@ private static Object getRawValue(final JSONObject obj, final String key) {
         JSONObject parentObj = getParent(obj, keyParts);
         var rawValue = parentObj.opt(keyParts[keyParts.length - 1]);
         if (rawValue instanceof JSONObject) {
-            throw new IllegalArgumentException(
-                    "The config file cannot store both a single config "
-                            + "setting and a group of config settings with the name "
-                            + key
-                            + " Please pick a different name");
+            throw new IllegalArgumentException("The config file cannot store both a single config "
+                    + "setting and a group of config settings with the name "
+                    + key
+                    + " Please pick a different name");
         }
         if (rawValue == null) {
             parentObj.put(keyParts[keyParts.length - 1], JSONObject.NULL);

src/main/java/com/team766/config/ConfigValue.java

@@ -85,12 +85,11 @@ public E parseJsonValue(final Object configValue) {
                 return each;
             }
         }
-        throw new IllegalArgumentException(
-                "Unrecognized enum value: "
-                        + enumName
-                        + "; values are "
-                        + Arrays.stream(enumClass.getEnumConstants())
-                                .map(e -> e.name())
-                                .collect(Collectors.joining(", ")));
+        throw new IllegalArgumentException("Unrecognized enum value: "
+                + enumName
+                + "; values are "
+                + Arrays.stream(enumClass.getEnumConstants())
+                        .map(e -> e.name())
+                        .collect(Collectors.joining(", ")));
     }
 }

src/main/java/com/team766/controllers/PIDController.java

@@ -272,11 +272,10 @@ public void calculate(final double cur_input) {
             total_error = -1 / ki;
         }
 
-        double out =
-                Kp.valueOr(0.0) * cur_error
-                        + Ki.valueOr(0.0) * total_error
-                        + Kd.valueOr(0.0) * error_rate
-                        + Kff.valueOr(0.0) * setpoint;
+        double out = Kp.valueOr(0.0) * cur_error
+                + Ki.valueOr(0.0) * total_error
+                + Kd.valueOr(0.0) * error_rate
+                + Kff.valueOr(0.0) * setpoint;
         prev_error = cur_error;
 
         pr("Pre-clip output: " + out);
@@ -287,15 +286,14 @@ public void calculate(final double cur_input) {
 
         lastTime = timeProvider.get();
 
-        pr(
-                "	Total Error: "
-                        + total_error
-                        + "		Current Error: "
-                        + cur_error
-                        + "	Output: "
-                        + output_value
-                        + " 	Setpoint: "
-                        + setpoint);
+        pr("	Total Error: "
+                + total_error
+                + "		Current Error: "
+                + cur_error
+                + "	Output: "
+                + output_value
+                + " 	Setpoint: "
+                + setpoint);
     }
 
     public double getOutput() {

src/main/java/com/team766/framework/AdvancedUtils.java

@@ -20,12 +20,11 @@ private static void checkProcedureReservationsDisjoint(
         final var thisReservations = callingContext.getRequirements();
         for (var req : procedure.reservations()) {
             if (thisReservations.contains(req)) {
-                throw new IllegalArgumentException(
-                        callingContext.getName()
-                                + " tried to launch "
-                                + procedure.getName()
-                                + " asynchronously, but both have a reservation on "
-                                + req.getName());
+                throw new IllegalArgumentException(callingContext.getName()
+                        + " tried to launch "
+                        + procedure.getName()
+                        + " asynchronously, but both have a reservation on "
+                        + req.getName());
             }
         }
     }

src/main/java/com/team766/framework/Conditions.java

@@ -16,12 +16,11 @@ public class Conditions {
      */
     public static <T> T waitForValue(Context context, Supplier<Optional<T>> supplier) {
         final AtomicReference<T> result = new AtomicReference<>();
-        context.waitFor(
-                () -> {
-                    final var t = supplier.get();
-                    t.ifPresent(result::set);
-                    return t.isPresent();
-                });
+        context.waitFor(() -> {
+            final var t = supplier.get();
+            t.ifPresent(result::set);
+            return t.isPresent();
+        });
         return result.get();
     }
 

src/main/java/com/team766/framework/ContextImpl.java

@@ -190,16 +190,12 @@ public String getStackTrace() {
      */
     private String getExecutionPoint() {
         StackWalker walker = StackWalker.getInstance();
-        return walker.walk(
-                s ->
-                        s.dropWhile(f -> f.getClassName() != ContextImpl.this.getClass().getName())
-                                .filter(
-                                        f ->
-                                                f.getClassName()
-                                                        != ContextImpl.this.getClass().getName())
-                                .findFirst()
-                                .map(StackFrame::toString)
-                                .orElse(null));
+        return walker.walk(s -> s.dropWhile(
+                        f -> f.getClassName() != ContextImpl.this.getClass().getName())
+                .filter(f -> f.getClassName() != ContextImpl.this.getClass().getName())
+                .findFirst()
+                .map(StackFrame::toString)
+                .orElse(null));
     }
 
     /**
@@ -253,11 +249,10 @@ private void transferControl(final ControlOwner thisOwner, final ControlOwner de
             // Make sure we currently have the baton before trying to give it to
             // someone else.
             if (m_controlOwner != thisOwner) {
-                throw new IllegalStateException(
-                        "Subroutine had control owner "
-                                + m_controlOwner
-                                + " but assumed control owner "
-                                + thisOwner);
+                throw new IllegalStateException("Subroutine had control owner "
+                        + m_controlOwner
+                        + " but assumed control owner "
+                        + thisOwner);
             }
             // Pass the baton.
             m_controlOwner = desiredOwner;
@@ -358,12 +353,11 @@ private void checkProcedureReservationsSubset(Procedure procedure) {
         final var thisReservations = getRequirements();
         for (var req : procedure.reservations()) {
             if (!thisReservations.contains(req)) {
-                throw new IllegalArgumentException(
-                        getName()
-                                + " tried to run "
-                                + procedure.getName()
-                                + " but is missing the reservation on "
-                                + req.getName());
+                throw new IllegalArgumentException(getName()
+                        + " tried to run "
+                        + procedure.getName()
+                        + " but is missing the reservation on "
+                        + req.getName());
             }
         }
     }

src/main/java/com/team766/framework/Mechanism.java

@@ -128,10 +128,9 @@ protected void checkContextReservation() {
         }
         if (superstructure != null) {
             if (!superstructure.isRunningPeriodic()) {
-                var exception =
-                        new IllegalStateException(
-                                this.getName()
-                                        + " is part of a superstructure but was used by something outside the superstructure");
+                var exception = new IllegalStateException(
+                        this.getName()
+                                + " is part of a superstructure but was used by something outside the superstructure");
                 Logger.get(Category.FRAMEWORK)
                         .logRaw(
                                 Severity.ERROR,

src/main/java/com/team766/framework/ReservingCommand.java

@@ -30,9 +30,8 @@ public final class ReservingCommand extends WrapperCommand {
      */
     public static void checkCurrentCommandHasReservation(Subsystem subsystem) {
         if (!currentCommandHasReservation(subsystem)) {
-            var exception =
-                    new IllegalStateException(
-                            subsystem.getName() + " tried to be used without reserving it");
+            var exception = new IllegalStateException(
+                    subsystem.getName() + " tried to be used without reserving it");
             Logger.get(Category.FRAMEWORK)
                     .logRaw(
                             Severity.ERROR,
@@ -86,12 +85,11 @@ private static void checkProcedureReservationsSubset(Command parent, Command chi
         final var thisReservations = parent.getRequirements();
         for (var req : child.getRequirements()) {
             if (!thisReservations.contains(req)) {
-                throw new IllegalArgumentException(
-                        parent.getName()
-                                + " tried to run "
-                                + child.getName()
-                                + " but is missing the reservation on "
-                                + req.getName());
+                throw new IllegalArgumentException(parent.getName()
+                        + " tried to run "
+                        + child.getName()
+                        + " but is missing the reservation on "
+                        + req.getName());
             }
         }
     }

src/main/java/com/team766/framework/Rule.java

@@ -89,35 +89,29 @@ private void applyRulePersistence(
                     this.cancellationOnFinish = Cancellation.DO_NOT_CANCEL;
                 }
                 case ONCE_AND_HOLD -> {
-                    this.onTriggeringProcedure =
-                            () -> {
-                                final Procedure procedure = action.get();
-                                return new FunctionalProcedure(
-                                        procedure.getName(),
-                                        procedure.reservations(),
-                                        context -> {
-                                            procedure.run(context);
-                                            context.waitFor(() -> false);
-                                        });
-                            };
+                    this.onTriggeringProcedure = () -> {
+                        final Procedure procedure = action.get();
+                        return new FunctionalProcedure(
+                                procedure.getName(), procedure.reservations(), context -> {
+                                    procedure.run(context);
+                                    context.waitFor(() -> false);
+                                });
+                    };
                     this.cancellationOnFinish = Cancellation.CANCEL_NEWLY_ACTION;
                 }
                 case REPEATEDLY -> {
-                    this.onTriggeringProcedure =
-                            () -> {
-                                final Procedure procedure = action.get();
-                                return new FunctionalProcedure(
-                                        procedure.getName(),
-                                        procedure.reservations(),
-                                        context -> {
-                                            Procedure currentProcedure = procedure;
-                                            while (true) {
-                                                context.runSync(currentProcedure);
-                                                context.yield();
-                                                currentProcedure = action.get();
-                                            }
-                                        });
-                            };
+                    this.onTriggeringProcedure = () -> {
+                        final Procedure procedure = action.get();
+                        return new FunctionalProcedure(
+                                procedure.getName(), procedure.reservations(), context -> {
+                                    Procedure currentProcedure = procedure;
+                                    while (true) {
+                                        context.runSync(currentProcedure);
+                                        context.yield();
+                                        currentProcedure = action.get();
+                                    }
+                                });
+                    };
                     this.cancellationOnFinish = Cancellation.CANCEL_NEWLY_ACTION;
                 }
             }
@@ -184,31 +178,27 @@ public Builder whenNotTriggering(Rule.Builder... rules) {
         private List<Rule> build(BooleanSupplier parentPredicate) {
             final var rules = new ArrayList<Rule>();
 
-            final BooleanSupplier fullPredicate =
-                    parentPredicate == null
-                            ? predicate
-                            : () -> parentPredicate.getAsBoolean() && predicate.getAsBoolean();
-            final var thisRule =
-                    new Rule(
-                            name,
-                            fullPredicate,
-                            onTriggeringProcedure,
-                            cancellationOnFinish,
-                            finishedTriggeringProcedure);
+            final BooleanSupplier fullPredicate = parentPredicate == null
+                    ? predicate
+                    : () -> parentPredicate.getAsBoolean() && predicate.getAsBoolean();
+            final var thisRule = new Rule(
+                    name,
+                    fullPredicate,
+                    onTriggeringProcedure,
+                    cancellationOnFinish,
+                    finishedTriggeringProcedure);
             rules.add(thisRule);
 
             // Important! These composed predicates shouldn't invoke `predicate`. `predicate` should
             // only be invoked once per call to RuleEngine.run(), so having all rules in the
             // hierarchy call it would not work as expected. Instead, we have the child rules query
             // the triggering state of the parent rule.
-            final BooleanSupplier composedPredicate =
-                    parentPredicate == null
-                            ? () -> thisRule.isTriggering()
-                            : () -> parentPredicate.getAsBoolean() && thisRule.isTriggering();
-            final BooleanSupplier negativeComposedPredicate =
-                    parentPredicate == null
-                            ? () -> !thisRule.isTriggering()
-                            : () -> parentPredicate.getAsBoolean() && !thisRule.isTriggering();
+            final BooleanSupplier composedPredicate = parentPredicate == null
+                    ? () -> thisRule.isTriggering()
+                    : () -> parentPredicate.getAsBoolean() && thisRule.isTriggering();
+            final BooleanSupplier negativeComposedPredicate = parentPredicate == null
+                    ? () -> !thisRule.isTriggering()
+                    : () -> parentPredicate.getAsBoolean() && !thisRule.isTriggering();
             for (var r : composedRules) {
                 rules.addAll(r.build(composedPredicate));
             }
@@ -297,21 +287,17 @@ public String getName() {
 
     /* package */ void evaluate() {
         if (predicate.getAsBoolean()) {
-            currentTriggerType =
-                    switch (currentTriggerType) {
-                        case NONE -> TriggerType.NEWLY;
-                        case NEWLY -> TriggerType.CONTINUING;
-                        case CONTINUING -> TriggerType.CONTINUING;
-                        case FINISHED -> TriggerType.NEWLY;
-                    };
+            currentTriggerType = switch (currentTriggerType) {
+                case NONE -> TriggerType.NEWLY;
+                case NEWLY -> TriggerType.CONTINUING;
+                case CONTINUING -> TriggerType.CONTINUING;
+                case FINISHED -> TriggerType.NEWLY;};
         } else {
-            currentTriggerType =
-                    switch (currentTriggerType) {
-                        case NONE -> TriggerType.NONE;
-                        case NEWLY -> TriggerType.FINISHED;
-                        case CONTINUING -> TriggerType.FINISHED;
-                        case FINISHED -> TriggerType.NONE;
-                    };
+            currentTriggerType = switch (currentTriggerType) {
+                case NONE -> TriggerType.NONE;
+                case NEWLY -> TriggerType.FINISHED;
+                case CONTINUING -> TriggerType.FINISHED;
+                case FINISHED -> TriggerType.NONE;};
         }
     }
 

src/main/java/com/team766/framework/SchedulerMonitor.java

@@ -12,11 +12,9 @@ public class SchedulerMonitor {
 
     public static void start() {
         if (c_thread != null) {
-            CommandScheduler.getInstance()
-                    .onCommandExecute(
-                            __ -> {
-                                ++c_iterationCount;
-                            });
+            CommandScheduler.getInstance().onCommandExecute(__ -> {
+                ++c_iterationCount;
+            });
             c_thread = new Thread(SchedulerMonitor::monitor);
             c_thread.setDaemon(true);
             c_thread.start();
@@ -38,14 +36,10 @@ private static void monitor() {
                                 "The code has gotten stuck. You probably have an unintended infinite "
                                         + "loop or need to add a call to context.yield() in a Procedure.\n"
                                         + Thread.getAllStackTraces().entrySet().stream()
-                                                .map(
-                                                        e ->
-                                                                e.getKey().getName()
-                                                                        + ":\n"
-                                                                        + StackTraceUtils
-                                                                                .getStackTrace(
-                                                                                        e
-                                                                                                .getValue()))
+                                                .map(e -> e.getKey().getName()
+                                                        + ":\n"
+                                                        + StackTraceUtils.getStackTrace(
+                                                                e.getValue()))
                                                 .collect(Collectors.joining("\n")));
             }