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Cleaned up integer type usage in wpilibc (#92)

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Replaced all unsigned types to signed and int32_t with int in wpilibc
This commit is contained in:
Tyler Veness
2016-09-06 00:01:45 -07:00
committed by Peter Johnson
parent ff93050b31
commit 0cd05d1a42
169 changed files with 914 additions and 943 deletions
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97
wpilibc/athena/src/CANJaguar.cpp
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@@ -12,6 +12,7 @@
#include "FRC_NetworkCommunication/CANSessionMux.h"
#include "HAL/HAL.h"
#include "LiveWindow/LiveWindow.h"
#include "Resource.h"
#include "Timer.h"
#include "WPIErrors.h"
@@ -27,20 +28,20 @@
#define FXP16_EQ(a, b) \
(static_cast<int32_t>((a)*65536.0) == static_cast<int32_t>((b)*65536.0))
const int32_t CANJaguar::kControllerRate;
const int CANJaguar::kControllerRate;
constexpr double CANJaguar::kApproxBusVoltage;
static const int32_t kSendMessagePeriod = 20;
static const uint32_t kFullMessageIDMask =
static const int kSendMessagePeriod = 20;
static const int kFullMessageIDMask =
(CAN_MSGID_API_M | CAN_MSGID_MFR_M | CAN_MSGID_DTYPE_M);
static const int32_t kReceiveStatusAttempts = 50;
static const int kReceiveStatusAttempts = 50;
static std::unique_ptr<Resource> allocated;
static int32_t sendMessageHelper(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t period) {
static const uint32_t kTrustedMessages[] = {
static int sendMessageHelper(int messageID, const uint8_t* data,
uint8_t dataSize, int period) {
static const int kTrustedMessages[] = {
LM_API_VOLT_T_EN, LM_API_VOLT_T_SET, LM_API_SPD_T_EN, LM_API_SPD_T_SET,
LM_API_VCOMP_T_EN, LM_API_VCOMP_T_SET, LM_API_POS_T_EN, LM_API_POS_T_SET,
LM_API_ICTRL_T_EN, LM_API_ICTRL_T_SET};
@@ -56,7 +57,7 @@ static int32_t sendMessageHelper(uint32_t messageID, const uint8_t* data,
// Make sure the data will still fit after adjusting for the token.
assert(dataSize <= 6);
for (uint8_t j = 0; j < dataSize; j++) {
for (int j = 0; j < dataSize; j++) {
dataBuffer[j + 2] = data[j];
}
@@ -97,7 +98,7 @@ void CANJaguar::InitCANJaguar() {
if (!receivedFirmwareVersion &&
getMessage(CAN_MSGID_API_FIRMVER, CAN_MSGID_FULL_M, dataBuffer,
&dataSize)) {
m_firmwareVersion = unpackint32_t(dataBuffer);
m_firmwareVersion = unpackInt32(dataBuffer);
receivedFirmwareVersion = true;
}
@@ -180,7 +181,7 @@ void CANJaguar::InitCANJaguar() {
* @see CANJaguar#SetVoltageMode(EncoderTag, int)
* @see CANJaguar#SetVoltageMode(QuadEncoderTag, int)
*/
CANJaguar::CANJaguar(uint8_t deviceNumber) : m_deviceNumber(deviceNumber) {
CANJaguar::CANJaguar(int deviceNumber) : m_deviceNumber(deviceNumber) {
std::stringstream buf;
buf << "CANJaguar device number " << m_deviceNumber;
Resource::CreateResourceObject(allocated, 63);
@@ -229,7 +230,7 @@ CANJaguar::~CANJaguar() {
/**
* @return The CAN ID passed in the constructor
*/
uint8_t CANJaguar::getDeviceNumber() const { return m_deviceNumber; }
int CANJaguar::getDeviceNumber() const { return m_deviceNumber; }
/**
* Sets the output set-point value.
@@ -246,8 +247,8 @@ uint8_t CANJaguar::getDeviceNumber() const { return m_deviceNumber; }
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
void CANJaguar::Set(float outputValue, uint8_t syncGroup) {
uint32_t messageID;
void CANJaguar::Set(float outputValue, int syncGroup) {
int messageID;
uint8_t dataBuffer[8];
uint8_t dataSize;
@@ -344,30 +345,30 @@ void CANJaguar::PIDWrite(float output) {
}
}
uint8_t CANJaguar::packPercentage(uint8_t* buffer, double value) {
int CANJaguar::packPercentage(uint8_t* buffer, double value) {
int16_t intValue = static_cast<int16_t>(value * 32767.0);
*reinterpret_cast<int16_t*>(buffer) = swap16(intValue);
return sizeof(int16_t);
}
uint8_t CANJaguar::packFXP8_8(uint8_t* buffer, double value) {
int CANJaguar::packFXP8_8(uint8_t* buffer, double value) {
int16_t intValue = static_cast<int16_t>(value * 256.0);
*reinterpret_cast<int16_t*>(buffer) = swap16(intValue);
return sizeof(int16_t);
}
uint8_t CANJaguar::packFXP16_16(uint8_t* buffer, double value) {
int32_t intValue = static_cast<int32_t>(value * 65536.0);
int CANJaguar::packFXP16_16(uint8_t* buffer, double value) {
int intValue = static_cast<int>(value * 65536.0);
*reinterpret_cast<int32_t*>(buffer) = swap32(intValue);
return sizeof(int32_t);
}
uint8_t CANJaguar::packint16_t(uint8_t* buffer, int16_t value) {
int CANJaguar::packInt16(uint8_t* buffer, int16_t value) {
*reinterpret_cast<int16_t*>(buffer) = swap16(value);
return sizeof(int16_t);
}
uint8_t CANJaguar::packint32_t(uint8_t* buffer, int32_t value) {
int CANJaguar::packInt32(uint8_t* buffer, int32_t value) {
*reinterpret_cast<int32_t*>(buffer) = swap32(value);
return sizeof(int32_t);
}
@@ -385,17 +386,17 @@ double CANJaguar::unpackFXP8_8(uint8_t* buffer) const {
}
double CANJaguar::unpackFXP16_16(uint8_t* buffer) const {
int32_t value = *reinterpret_cast<int32_t*>(buffer);
int value = *reinterpret_cast<int*>(buffer);
value = swap32(value);
return value / 65536.0;
}
int16_t CANJaguar::unpackint16_t(uint8_t* buffer) const {
int16_t CANJaguar::unpackInt16(uint8_t* buffer) const {
int16_t value = *reinterpret_cast<int16_t*>(buffer);
return swap16(value);
}
int32_t CANJaguar::unpackint32_t(uint8_t* buffer) const {
int32_t CANJaguar::unpackInt32(uint8_t* buffer) const {
int32_t value = *reinterpret_cast<int32_t*>(buffer);
return swap32(value);
}
@@ -410,9 +411,9 @@ int32_t CANJaguar::unpackint32_t(uint8_t* buffer) const {
* @param periodic If positive, tell Network Communications to send the
* message every "period" milliseconds.
*/
void CANJaguar::sendMessage(uint32_t messageID, const uint8_t* data,
uint8_t dataSize, int32_t period) {
int32_t localStatus =
void CANJaguar::sendMessage(int messageID, const uint8_t* data,
uint8_t dataSize, int period) {
int localStatus =
sendMessageHelper(messageID | m_deviceNumber, data, dataSize, period);
if (localStatus < 0) {
@@ -427,7 +428,7 @@ void CANJaguar::sendMessage(uint32_t messageID, const uint8_t* data,
* @param periodic If positive, tell Network Communications to send the
* message every "period" milliseconds.
*/
void CANJaguar::requestMessage(uint32_t messageID, int32_t period) {
void CANJaguar::requestMessage(int messageID, int period) {
sendMessageHelper(messageID | m_deviceNumber, nullptr, 0, period);
}
@@ -444,8 +445,8 @@ void CANJaguar::requestMessage(uint32_t messageID, int32_t period) {
* @return true if the message was found. Otherwise, no new message is
* available.
*/
bool CANJaguar::getMessage(uint32_t messageID, uint32_t messageMask,
uint8_t* data, uint8_t* dataSize) const {
bool CANJaguar::getMessage(int messageID, uint32_t messageMask, uint8_t* data,
uint8_t* dataSize) const {
uint32_t targetedMessageID = messageID | m_deviceNumber;
int32_t status = 0;
uint32_t timeStamp;
@@ -490,7 +491,7 @@ void CANJaguar::setupPeriodicStatus() {
static const uint8_t kMessage2Data[] = {LM_PSTAT_LIMIT_CLR, LM_PSTAT_FAULT,
LM_PSTAT_END};
dataSize = packint16_t(data, kSendMessagePeriod);
dataSize = packInt16(data, kSendMessagePeriod);
sendMessage(LM_API_PSTAT_PER_EN_S0, data, dataSize);
sendMessage(LM_API_PSTAT_PER_EN_S1, data, dataSize);
sendMessage(LM_API_PSTAT_PER_EN_S2, data, dataSize);
@@ -638,7 +639,7 @@ void CANJaguar::verify() {
if (!m_speedRefVerified) {
if (getMessage(LM_API_SPD_REF, CAN_MSGID_FULL_M, dataBuffer, &dataSize)) {
uint8_t speedRef = dataBuffer[0];
int speedRef = dataBuffer[0];
if (m_speedReference == speedRef)
m_speedRefVerified = true;
@@ -653,7 +654,7 @@ void CANJaguar::verify() {
if (!m_posRefVerified) {
if (getMessage(LM_API_POS_REF, CAN_MSGID_FULL_M, dataBuffer, &dataSize)) {
uint8_t posRef = dataBuffer[0];
int posRef = dataBuffer[0];
if (m_positionReference == posRef)
m_posRefVerified = true;
@@ -667,7 +668,7 @@ void CANJaguar::verify() {
}
if (!m_pVerified) {
uint32_t message = 0;
int message = 0;
if (m_controlMode == kSpeed) {
message = LM_API_SPD_PC;
@@ -697,7 +698,7 @@ void CANJaguar::verify() {
}
if (!m_iVerified) {
uint32_t message = 0;
int message = 0;
if (m_controlMode == kSpeed) {
message = LM_API_SPD_IC;
@@ -727,7 +728,7 @@ void CANJaguar::verify() {
}
if (!m_dVerified) {
uint32_t message = 0;
int message = 0;
if (m_controlMode == kSpeed) {
message = LM_API_SPD_DC;
@@ -775,7 +776,7 @@ void CANJaguar::verify() {
if (!m_encoderCodesPerRevVerified) {
if (getMessage(LM_API_CFG_ENC_LINES, CAN_MSGID_FULL_M, dataBuffer,
&dataSize)) {
uint16_t codes = unpackint16_t(dataBuffer);
uint16_t codes = unpackInt16(dataBuffer);
if (codes == m_encoderCodesPerRev)
m_encoderCodesPerRevVerified = true;
@@ -791,7 +792,7 @@ void CANJaguar::verify() {
if (!m_potentiometerTurnsVerified) {
if (getMessage(LM_API_CFG_POT_TURNS, CAN_MSGID_FULL_M, dataBuffer,
&dataSize)) {
uint16_t turns = unpackint16_t(dataBuffer);
uint16_t turns = unpackInt16(dataBuffer);
if (turns == m_potentiometerTurns)
m_potentiometerTurnsVerified = true;
@@ -912,7 +913,7 @@ void CANJaguar::verify() {
if (!m_faultTimeVerified) {
if (getMessage(LM_API_CFG_FAULT_TIME, CAN_MSGID_FULL_M, dataBuffer,
&dataSize)) {
uint16_t faultTime = unpackint16_t(dataBuffer);
uint16_t faultTime = unpackInt16(dataBuffer);
if (static_cast<uint16_t>(m_faultTime * 1000.0) == faultTime) {
m_faultTimeVerified = true;
@@ -945,7 +946,7 @@ void CANJaguar::verify() {
*
* @param reference Specify a speed reference.
*/
void CANJaguar::SetSpeedReference(uint8_t reference) {
void CANJaguar::SetSpeedReference(int reference) {
uint8_t dataBuffer[8];
// Send the speed reference parameter
@@ -962,7 +963,7 @@ void CANJaguar::SetSpeedReference(uint8_t reference) {
* @return A speed reference indicating the currently selected reference device
* for speed controller mode.
*/
uint8_t CANJaguar::GetSpeedReference() const { return m_speedReference; }
int CANJaguar::GetSpeedReference() const { return m_speedReference; }
/**
* Set the reference source device for position controller mode.
@@ -972,7 +973,7 @@ uint8_t CANJaguar::GetSpeedReference() const { return m_speedReference; }
*
* @param reference Specify a PositionReference.
*/
void CANJaguar::SetPositionReference(uint8_t reference) {
void CANJaguar::SetPositionReference(int reference) {
uint8_t dataBuffer[8];
// Send the position reference parameter
@@ -989,7 +990,7 @@ void CANJaguar::SetPositionReference(uint8_t reference) {
* @return A PositionReference indicating the currently selected reference
* device for position controller mode.
*/
uint8_t CANJaguar::GetPositionReference() const { return m_positionReference; }
int CANJaguar::GetPositionReference() const { return m_positionReference; }
/**
* Set the P, I, and D constants for the closed loop modes.
@@ -1711,7 +1712,7 @@ uint16_t CANJaguar::GetFaults() const {
void CANJaguar::SetVoltageRampRate(double rampRate) {
uint8_t dataBuffer[8];
uint8_t dataSize;
uint32_t message;
int message;
switch (m_controlMode) {
case kPercentVbus:
@@ -1741,14 +1742,14 @@ void CANJaguar::SetVoltageRampRate(double rampRate) {
*
* @return The firmware version. 0 if the device did not respond.
*/
uint32_t CANJaguar::GetFirmwareVersion() const { return m_firmwareVersion; }
int CANJaguar::GetFirmwareVersion() const { return m_firmwareVersion; }
/**
* Get the version of the Jaguar hardware.
*
* @return The hardware version. 1: Jaguar, 2: Black Jaguar
*/
uint8_t CANJaguar::GetHardwareVersion() const { return m_hardwareVersion; }
int CANJaguar::GetHardwareVersion() const { return m_hardwareVersion; }
/**
* Configure what the controller does to the H-Bridge when neutral (not driving
@@ -1778,7 +1779,7 @@ void CANJaguar::ConfigEncoderCodesPerRev(uint16_t codesPerRev) {
uint8_t dataBuffer[8];
// Set the codes per revolution mode
packint16_t(dataBuffer, codesPerRev);
packInt16(dataBuffer, codesPerRev);
sendMessage(LM_API_CFG_ENC_LINES, dataBuffer, sizeof(uint16_t));
m_encoderCodesPerRev = codesPerRev;
@@ -1798,7 +1799,7 @@ void CANJaguar::ConfigPotentiometerTurns(uint16_t turns) {
uint8_t dataSize;
// Set the pot turns
dataSize = packint16_t(dataBuffer, turns);
dataSize = packInt16(dataBuffer, turns);
sendMessage(LM_API_CFG_POT_TURNS, dataBuffer, dataSize);
m_potentiometerTurns = turns;
@@ -1921,7 +1922,7 @@ void CANJaguar::ConfigFaultTime(float faultTime) {
faultTime = 3.0;
// Message takes ms
dataSize = packint16_t(dataBuffer, static_cast<int16_t>(faultTime * 1000.0));
dataSize = packInt16(dataBuffer, static_cast<int16_t>(faultTime * 1000.0));
sendMessage(LM_API_CFG_FAULT_TIME, dataBuffer, dataSize);
m_faultTime = faultTime;
@@ -1965,7 +1966,7 @@ void CANJaguar::GetDescription(std::ostringstream& desc) const {
desc << "CANJaguar ID " << m_deviceNumber;
}
uint8_t CANJaguar::GetDeviceID() const { return m_deviceNumber; }
int CANJaguar::GetDeviceID() const { return m_deviceNumber; }
/**
* Common interface for stopping the motor until the next Set() command