Null safety improvements

src/main/java/org/murraybridgebunyips/bunyipslib/Exceptions.kt

@@ -40,7 +40,7 @@ object Exceptions {
         var stack = sw.toString()
         if (e is NullPointerException) {
             for (component in Storage.memory().unusableComponents) {
-                if (stack.contains(component)) {
+                if (stack.contains(component, ignoreCase = true)) {
                     // This error is caused by a null component, which is handled by NullSafety
                     // As such, we can swallow it from appearing on the Driver Station
                     // Logcat will still receive this log, so we can just early exit.

src/main/java/org/murraybridgebunyips/bunyipslib/NullSafety.java

@@ -49,21 +49,24 @@ public static boolean assertNotNull(List<Object> objs) {
      * Telemetry will be added to a BunyipsOpMode if it is running.
      *
      * @param componentName    name of the subsystem
-     * @param excludeClassName the class name that should be attempted to be suppressed from caught errors (experimental)
+     * @param excludeClassName the class name that should be attempted to be suppressed from caught errors (experimental as this will
+     *                         suppress all class name instances, note that this suppression does not apply to Logcat so debugging is not affected)
      * @param objs             Objects to check for null
      * @return Whether the component is safe to instantiate
      */
     public static boolean assertComponentArgs(String componentName, String excludeClassName, Object... objs) {
+        // We do not check now for the presence of excludeClassName in unusableComponents, since the same classes
+        // can be used for different subsystems. We don't want every HoldableActuator to not work because one failed.
         for (Object o : objs) {
             if (o == null) {
                 if (BunyipsOpMode.isRunning()) {
                     BunyipsOpMode opMode = BunyipsOpMode.getInstance();
-                    opMode.telemetry.addRetained("<font color='red'><b>! COM_FAULT</b></font>: %", componentName);
-                    opMode.telemetry.log("<font color='yellow'><b>warning!</b> % was disabled due to a null assertion fault.</font>", componentName);
+                    opMode.telemetry.addRetained("<font color='red'><b>! SUBSYSTEM FAULT</b></font>: %", componentName);
+                    opMode.telemetry.log("<font color='yellow'><b>warning!</b> <i>%</i> failed a null self-check and was auto disabled.</font>", componentName);
                 }
                 Dbg.warn(getCallingUserCodeFunction(), "Null object passed to % failed assertion, adding to unusable components...", componentName);
-                if (!Storage.memory().unusableComponents.contains(excludeClassName))
-                    Storage.memory().unusableComponents.add(excludeClassName);
+                Storage.memory().unusableComponents.add(excludeClassName);
+                return false;
             }
         }
         return true;

src/main/java/org/murraybridgebunyips/bunyipslib/RobotConfig.kt

@@ -63,10 +63,10 @@ abstract class RobotConfig {
         }
         for (error in Storage.memory().hardwareErrors) {
             if (opMode is BunyipsOpMode) {
-                opMode.t.addRetained("<font color='red'><b>! MISSING_DEVICE</b></font>: $error")
+                opMode.t.addRetained("<font color='red'><b>! MISSING DEVICE</b></font>: $error")
                 opMode.t.addRetained("<font color='red'>error:</font> <i>$error</i> was not found in the current saved configuration.")
             } else {
-                opMode.telemetry.addData("", "! MISSING_DEVICE: $error").setRetained(true)
+                opMode.telemetry.addData("", "! MISSING DEVICE: $error").setRetained(true)
                 opMode.telemetry.log().add("error: '$error' was not found in the current saved configuration.")
             }
         }

src/main/java/org/murraybridgebunyips/bunyipslib/Storage.java

@@ -24,7 +24,7 @@
 import java.lang.reflect.Type;
 import java.util.ArrayList;
 import java.util.HashMap;
-import java.util.List;
+import java.util.HashSet;
 
 /**
  * Global filesystem and volatile storage utilities for robot operation.
@@ -88,7 +88,7 @@ public static class Memory {
          *
          * @see NullSafety
          */
-        public final List<String> unusableComponents = new ArrayList<>();
+        public final HashSet<String> unusableComponents = new HashSet<>();
         private final HashMap<String, Object> store = new HashMap<>();
         /**
          * The last known player Alliance.

src/main/java/org/murraybridgebunyips/bunyipslib/drive/MecanumDrive.java

@@ -51,10 +51,10 @@
  * @since 1.0.0-pre
  */
 public class MecanumDrive extends BunyipsSubsystem implements RoadRunnerDrive {
-    private final MecanumRoadRunnerDrive drive;
-    private final IMU imu;
+    private MecanumRoadRunnerDrive drive;
+    private IMU imu;
 
-    private final Watchdog benji;
+    private Watchdog benji;
     private volatile boolean updates;
 
     /**
@@ -69,7 +69,7 @@ public class MecanumDrive extends BunyipsSubsystem implements RoadRunnerDrive {
      * @param br           The back right motor.
      */
     public MecanumDrive(DriveConstants constants, MecanumCoefficients coefficients, @Nullable IMU imu, DcMotor fl, DcMotor fr, DcMotor bl, DcMotor br) {
-        assertParamsNotNull(constants, coefficients, imu, fl, fr, bl, br);
+        if (!assertParamsNotNull(constants, coefficients, imu, fl, fr, bl, br)) return;
         drive = new MecanumRoadRunnerDrive(opMode.telemetry, constants, coefficients, opMode.hardwareMap.voltageSensor, imu, fl, fr, bl, br);
         benji = new Watchdog(() -> {
             if (opMode.isStopRequested()) return;

src/main/java/org/murraybridgebunyips/bunyipslib/drive/TankDrive.java

@@ -55,9 +55,9 @@
  * @since 1.0.0-pre
  */
 public class TankDrive extends BunyipsSubsystem implements RoadRunnerDrive {
-    private final TankRoadRunnerDrive drive;
+    private TankRoadRunnerDrive drive;
 
-    private final Watchdog benji;
+    private Watchdog benji;
     private volatile boolean updates;
 
     /**
@@ -70,7 +70,7 @@ public class TankDrive extends BunyipsSubsystem implements RoadRunnerDrive {
      * @param rightMotors  The motors on the right side of the robot (e.g. {@code Arrays.asList(fr, br)})
      */
     public TankDrive(DriveConstants constants, TankCoefficients coefficients, @Nullable IMU imu, List<DcMotor> leftMotors, List<DcMotor> rightMotors) {
-        assertParamsNotNull(constants, coefficients, imu, leftMotors, rightMotors);
+        if (!assertParamsNotNull(constants, coefficients, imu, leftMotors, rightMotors)) return;
         drive = new TankRoadRunnerDrive(opMode.telemetry, constants, coefficients, opMode.hardwareMap.voltageSensor, imu, leftMotors, rightMotors);
         benji = new Watchdog(() -> {
             if (opMode.isStopRequested()) return;

src/main/java/org/murraybridgebunyips/bunyipslib/subsystems/BlinkinLights.java

@@ -38,6 +38,7 @@ public BlinkinLights(RevBlinkinLedDriver lights, RevBlinkinLedDriver.BlinkinPatt
         this.defaultPattern = defaultPattern;
         currentPattern = defaultPattern;
 
+        if (!assertParamsNotNull(lights)) return;
         lights.setPattern(this.defaultPattern);
     }