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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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6
wpilibc/sim/include/AnalogGyro.h
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@@ -29,13 +29,13 @@ class AnalogModule;
*/
class AnalogGyro : public GyroBase {
public:
static const uint32_t kOversampleBits;
static const uint32_t kAverageBits;
static const int kOversampleBits;
static const int kAverageBits;
static const float kSamplesPerSecond;
static const float kCalibrationSampleTime;
static const float kDefaultVoltsPerDegreePerSecond;
explicit AnalogGyro(uint32_t channel);
explicit AnalogGyro(int channel);
virtual ~AnalogGyro() = default;
float GetAngle() const;
void Calibrate() override;

12
wpilibc/sim/include/AnalogInput.h
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@@ -31,17 +31,17 @@ class AnalogInput : public SensorBase,
public PIDSource,
public LiveWindowSendable {
public:
static const uint8_t kAccumulatorModuleNumber = 1;
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
static const int kAccumulatorModuleNumber = 1;
static const int kAccumulatorNumChannels = 2;
static const int kAccumulatorChannels[kAccumulatorNumChannels];
explicit AnalogInput(uint32_t channel);
explicit AnalogInput(int channel);
virtual ~AnalogInput() = default;
float GetVoltage() const;
float GetAverageVoltage() const;
uint32_t GetChannel() const;
int GetChannel() const;
double PIDGet() override;
@@ -53,7 +53,7 @@ class AnalogInput : public SensorBase,
std::shared_ptr<ITable> GetTable() const override;
private:
uint32_t m_channel;
int m_channel;
SimFloatInput* m_impl;
int64_t m_accumulatorOffset;

12
wpilibc/sim/include/Counter.h
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@@ -29,7 +29,7 @@ class Counter : public SensorBase,
public LiveWindowSendable {
public:
explicit Counter(Mode mode = kTwoPulse);
explicit Counter(uint32_t channel);
explicit Counter(int channel);
// TODO: [Not Supported] explicit Counter(DigitalSource *source);
// TODO: [Not Supported] explicit Counter(DigitalSource &source);
// TODO: [Not Supported] explicit Counter(AnalogTrigger *source);
@@ -38,7 +38,7 @@ class Counter : public SensorBase,
// *upSource, DigitalSource *downSource, bool inverted);
virtual ~Counter();
void SetUpSource(uint32_t channel);
void SetUpSource(int channel);
// TODO: [Not Supported] void SetUpSource(AnalogTrigger *analogTrigger,
// AnalogTriggerType triggerType);
// TODO: [Not Supported] void SetUpSource(AnalogTrigger &analogTrigger,
@@ -48,7 +48,7 @@ class Counter : public SensorBase,
void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
void ClearUpSource();
void SetDownSource(uint32_t channel);
void SetDownSource(int channel);
// TODO: [Not Supported] void SetDownSource(AnalogTrigger *analogTrigger,
// AnalogTriggerType triggerType);
// TODO: [Not Supported] void SetDownSource(AnalogTrigger &analogTrigger,
@@ -66,7 +66,7 @@ class Counter : public SensorBase,
void SetReverseDirection(bool reverseDirection);
// CounterBase interface
int32_t Get() const override;
int Get() const override;
void Reset() override;
double GetPeriod() const override;
void SetMaxPeriod(double maxPeriod) override;
@@ -76,7 +76,7 @@ class Counter : public SensorBase,
void SetSamplesToAverage(int samplesToAverage);
int GetSamplesToAverage() const;
uint32_t GetFPGAIndex() const { return m_index; }
int GetFPGAIndex() const { return m_index; }
void UpdateTable() override;
void StartLiveWindowMode() override;
@@ -94,7 +94,7 @@ class Counter : public SensorBase,
private:
bool m_allocatedUpSource; ///< Was the upSource allocated locally?
bool m_allocatedDownSource; ///< Was the downSource allocated locally?
uint32_t m_index; ///< The index of this counter.
int m_index; ///< The index of this counter.
std::shared_ptr<ITable> m_table;
};

2
wpilibc/sim/include/CounterBase.h
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@@ -21,7 +21,7 @@ class CounterBase {
enum EncodingType { k1X, k2X, k4X };
virtual ~CounterBase() = default;
virtual int32_t Get() const = 0;
virtual int Get() const = 0;
virtual void Reset() = 0;
virtual double GetPeriod() const = 0;
virtual void SetMaxPeriod(double maxPeriod) = 0;

8
wpilibc/sim/include/DigitalInput.h
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@@ -24,10 +24,10 @@
*/
class DigitalInput : public LiveWindowSendable {
public:
explicit DigitalInput(uint32_t channel);
explicit DigitalInput(int channel);
virtual ~DigitalInput() = default;
uint32_t Get() const;
uint32_t GetChannel() const;
int Get() const;
int GetChannel() const;
void UpdateTable() override;
void StartLiveWindowMode() override;
@@ -37,7 +37,7 @@ class DigitalInput : public LiveWindowSendable {
std::shared_ptr<ITable> GetTable() const override;
private:
uint32_t m_channel;
int m_channel;
bool m_lastValue;
SimDigitalInput* m_impl;

5
wpilibc/sim/include/DoubleSolenoid.h
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@@ -25,9 +25,8 @@ class DoubleSolenoid : public LiveWindowSendable, public ITableListener {
public:
enum Value { kOff, kForward, kReverse };
explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
uint32_t reverseChannel);
explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
virtual ~DoubleSolenoid();
virtual void Set(Value value);
virtual Value Get() const;

30
wpilibc/sim/include/DriverStation.h
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@@ -40,22 +40,22 @@ class DriverStation : public SensorBase, public RobotStateInterface {
static DriverStation& GetInstance();
static void ReportError(std::string error);
static void ReportWarning(std::string error);
static void ReportError(bool is_error, int32_t code, const std::string& error,
static void ReportError(bool is_error, int code, const std::string& error,
const std::string& location,
const std::string& stack);
static const uint32_t kBatteryChannel = 7;
static const uint32_t kJoystickPorts = 4;
static const uint32_t kJoystickAxes = 6;
static const int kBatteryChannel = 7;
static const int kJoystickPorts = 4;
static const int kJoystickAxes = 6;
float GetStickAxis(uint32_t stick, uint32_t axis);
bool GetStickButton(uint32_t stick, uint32_t button);
int16_t GetStickButtons(uint32_t stick);
float GetStickAxis(int stick, int axis);
bool GetStickButton(int stick, int button);
int16_t GetStickButtons(int stick);
float GetAnalogIn(uint32_t channel);
bool GetDigitalIn(uint32_t channel);
void SetDigitalOut(uint32_t channel, bool value);
bool GetDigitalOut(uint32_t channel);
float GetAnalogIn(int channel);
bool GetDigitalIn(int channel);
void SetDigitalOut(int channel, bool value);
bool GetDigitalOut(int channel);
bool IsEnabled() const;
bool IsDisabled() const;
@@ -64,9 +64,9 @@ class DriverStation : public SensorBase, public RobotStateInterface {
bool IsTest() const;
bool IsFMSAttached() const;
uint32_t GetPacketNumber() const;
int GetPacketNumber() const;
Alliance GetAlliance() const;
uint32_t GetLocation() const;
int GetLocation() const;
void WaitForData();
double GetMatchTime() const;
float GetBatteryVoltage() const;
@@ -112,7 +112,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
private:
static void InitTask(DriverStation* ds);
static DriverStation* m_instance;
static uint8_t m_updateNumber;
static int m_updateNumber;
///< TODO: Get rid of this and use the semaphore signaling
static const float kUpdatePeriod;
@@ -125,7 +125,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
void joystickCallback4(const msgs::ConstFRCJoystickPtr& msg);
void joystickCallback5(const msgs::ConstFRCJoystickPtr& msg);
uint8_t m_digitalOut = 0;
int m_digitalOut = 0;
std::condition_variable m_waitForDataCond;
std::mutex m_waitForDataMutex;
mutable std::recursive_mutex m_stateMutex;

12
wpilibc/sim/include/Encoder.h
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@@ -38,7 +38,7 @@ class Encoder : public SensorBase,
public PIDSource,
public LiveWindowSendable {
public:
Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
Encoder(int aChannel, int bChannel, bool reverseDirection = false,
EncodingType encodingType = k4X);
// TODO: [Not Supported] Encoder(DigitalSource *aSource, DigitalSource
// *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
@@ -47,9 +47,9 @@ class Encoder : public SensorBase,
virtual ~Encoder() = default;
// CounterBase interface
int32_t Get() const override;
int32_t GetRaw() const;
int32_t GetEncodingScale() const;
int Get() const override;
int GetRaw() const;
int GetEncodingScale() const;
void Reset() override;
double GetPeriod() const override;
void SetMaxPeriod(double maxPeriod) override;
@@ -73,7 +73,7 @@ class Encoder : public SensorBase,
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
int32_t FPGAEncoderIndex() const { return 0; }
int FPGAEncoderIndex() const { return 0; }
private:
void InitEncoder(int channelA, int channelB, bool _reverseDirection,
@@ -91,7 +91,7 @@ class Encoder : public SensorBase,
int channelA, channelB;
double m_distancePerPulse; // distance of travel for each encoder tick
EncodingType m_encodingType; // Encoding type
int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
int m_encodingScale; // 1x, 2x, or 4x, per the encodingType
bool m_reverseDirection;
SimEncoder* impl;

2
wpilibc/sim/include/Jaguar.h
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@@ -16,7 +16,7 @@
*/
class Jaguar : public SafePWM, public SpeedController {
public:
explicit Jaguar(uint32_t channel);
explicit Jaguar(int channel);
virtual ~Jaguar() = default;
virtual void Set(float value);
virtual float Get() const;

36
wpilibc/sim/include/Joystick.h
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@@ -23,11 +23,11 @@ class DriverStation;
*/
class Joystick : public GenericHID, public ErrorBase {
public:
static const uint32_t kDefaultXAxis = 1;
static const uint32_t kDefaultYAxis = 2;
static const uint32_t kDefaultZAxis = 3;
static const uint32_t kDefaultTwistAxis = 4;
static const uint32_t kDefaultThrottleAxis = 3;
static const int kDefaultXAxis = 1;
static const int kDefaultYAxis = 2;
static const int kDefaultZAxis = 3;
static const int kDefaultTwistAxis = 4;
static const int kDefaultThrottleAxis = 3;
typedef enum {
kXAxis,
kYAxis,
@@ -36,19 +36,19 @@ class Joystick : public GenericHID, public ErrorBase {
kThrottleAxis,
kNumAxisTypes
} AxisType;
static const uint32_t kDefaultTriggerButton = 1;
static const uint32_t kDefaultTopButton = 2;
static const int kDefaultTriggerButton = 1;
static const int kDefaultTopButton = 2;
typedef enum { kTriggerButton, kTopButton, kNumButtonTypes } ButtonType;
explicit Joystick(uint32_t port);
Joystick(uint32_t port, uint32_t numAxisTypes, uint32_t numButtonTypes);
explicit Joystick(int port);
Joystick(int port, int numAxisTypes, int numButtonTypes);
virtual ~Joystick() = default;
Joystick(const Joystick&) = delete;
Joystick& operator=(const Joystick&) = delete;
uint32_t GetAxisChannel(AxisType axis);
void SetAxisChannel(AxisType axis, uint32_t channel);
int GetAxisChannel(AxisType axis);
void SetAxisChannel(AxisType axis, int channel);
float GetX(JoystickHand hand = kRightHand) const override;
float GetY(JoystickHand hand = kRightHand) const override;
@@ -56,15 +56,15 @@ class Joystick : public GenericHID, public ErrorBase {
float GetTwist() const override;
float GetThrottle() const override;
virtual float GetAxis(AxisType axis) const;
float GetRawAxis(uint32_t axis) const override;
float GetRawAxis(int axis) const override;
bool GetTrigger(JoystickHand hand = kRightHand) const override;
bool GetTop(JoystickHand hand = kRightHand) const override;
bool GetBumper(JoystickHand hand = kRightHand) const override;
bool GetRawButton(uint32_t button) const override;
int GetPOV(uint32_t pov = 1) const override;
bool GetRawButton(int button) const override;
int GetPOV(int pov = 1) const override;
bool GetButton(ButtonType button) const;
static Joystick* GetStickForPort(uint32_t port);
static Joystick* GetStickForPort(int port);
virtual float GetMagnitude() const;
virtual float GetDirectionRadians() const;
@@ -72,7 +72,7 @@ class Joystick : public GenericHID, public ErrorBase {
private:
DriverStation& m_ds;
uint32_t m_port;
std::unique_ptr<uint32_t[]> m_axes;
std::unique_ptr<uint32_t[]> m_buttons;
int m_port;
std::unique_ptr<int[]> m_axes;
std::unique_ptr<int[]> m_buttons;
};

2
wpilibc/sim/include/Notifier.h
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@@ -43,7 +43,7 @@ class Notifier : public ErrorBase {
static std::atomic<int> refcount;
// Process the timer queue on a timer event
static void ProcessQueue(uint32_t mask, void* params);
static void ProcessQueue(int mask, void* params);
// Update the FPGA alarm since the queue has changed
static void UpdateAlarm();

16
wpilibc/sim/include/PWM.h
View File

@@ -42,16 +42,16 @@ class PWM : public SensorBase,
kPeriodMultiplier_4X = 4
};
explicit PWM(uint32_t channel);
explicit PWM(int channel);
virtual ~PWM();
virtual void SetRaw(uint16_t value);
void SetPeriodMultiplier(PeriodMultiplier mult);
void EnableDeadbandElimination(bool eliminateDeadband);
void SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
int32_t deadbandMin, int32_t min);
void SetBounds(int max, int deadbandMax, int center, int deadbandMin,
int min);
void SetBounds(double max, double deadbandMax, double center,
double deadbandMin, double min);
uint32_t GetChannel() const { return m_channel; }
int GetChannel() const { return m_channel; }
protected:
/**
@@ -80,8 +80,8 @@ class PWM : public SensorBase,
/**
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
*/
static const int32_t kDefaultPwmStepsDown;
static const int32_t kPwmDisabled;
static const int kDefaultPwmStepsDown;
static const int kPwmDisabled;
virtual void SetPosition(float pos);
virtual float GetPosition() const;
@@ -89,7 +89,7 @@ class PWM : public SensorBase,
virtual float GetSpeed() const;
bool m_eliminateDeadband;
int32_t m_centerPwm;
int m_centerPwm;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
@@ -103,6 +103,6 @@ class PWM : public SensorBase,
std::shared_ptr<ITable> m_table;
private:
uint32_t m_channel;
int m_channel;
SimContinuousOutput* impl;
};

6
wpilibc/sim/include/Relay.h
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@@ -40,12 +40,12 @@ class Relay : public MotorSafety,
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
explicit Relay(uint32_t channel, Direction direction = kBothDirections);
explicit Relay(int channel, Direction direction = kBothDirections);
virtual ~Relay();
void Set(Value value);
Value Get() const;
uint32_t GetChannel() const;
int GetChannel() const;
void SetExpiration(float timeout) override;
float GetExpiration() const override;
@@ -67,7 +67,7 @@ class Relay : public MotorSafety,
std::shared_ptr<ITable> m_table;
private:
uint32_t m_channel;
int m_channel;
Direction m_direction;
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
SimContinuousOutput* impl;

30
wpilibc/sim/include/RobotDrive.h
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@@ -38,9 +38,9 @@ class RobotDrive : public MotorSafety, public ErrorBase {
kRearRightMotor = 3
};
RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel);
RobotDrive(uint32_t frontLeftMotorChannel, uint32_t rearLeftMotorChannel,
uint32_t frontRightMotorChannel, uint32_t rearRightMotorChannel);
RobotDrive(int leftMotorChannel, int rightMotorChannel);
RobotDrive(int frontLeftMotorChannel, int rearLeftMotorChannel,
int frontRightMotorChannel, int rearRightMotorChannel);
RobotDrive(SpeedController* leftMotor, SpeedController* rightMotor);
RobotDrive(SpeedController& leftMotor, SpeedController& rightMotor);
RobotDrive(std::shared_ptr<SpeedController> leftMotor,
@@ -63,20 +63,18 @@ class RobotDrive : public MotorSafety, public ErrorBase {
bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, GenericHID& rightStick,
bool squaredInputs = true);
void TankDrive(GenericHID* leftStick, uint32_t leftAxis,
GenericHID* rightStick, uint32_t rightAxis,
bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, uint32_t leftAxis,
GenericHID& rightStick, uint32_t rightAxis,
bool squaredInputs = true);
void TankDrive(GenericHID* leftStick, int leftAxis, GenericHID* rightStick,
int rightAxis, bool squaredInputs = true);
void TankDrive(GenericHID& leftStick, int leftAxis, GenericHID& rightStick,
int rightAxis, bool squaredInputs = true);
void TankDrive(float leftValue, float rightValue, bool squaredInputs = true);
void ArcadeDrive(GenericHID* stick, bool squaredInputs = true);
void ArcadeDrive(GenericHID& stick, bool squaredInputs = true);
void ArcadeDrive(GenericHID* moveStick, uint32_t moveChannel,
GenericHID* rotateStick, uint32_t rotateChannel,
void ArcadeDrive(GenericHID* moveStick, int moveChannel,
GenericHID* rotateStick, int rotateChannel,
bool squaredInputs = true);
void ArcadeDrive(GenericHID& moveStick, uint32_t moveChannel,
GenericHID& rotateStick, uint32_t rotateChannel,
void ArcadeDrive(GenericHID& moveStick, int moveChannel,
GenericHID& rotateStick, int rotateChannel,
bool squaredInputs = true);
void ArcadeDrive(float moveValue, float rotateValue,
bool squaredInputs = true);
@@ -103,9 +101,9 @@ class RobotDrive : public MotorSafety, public ErrorBase {
void Normalize(double* wheelSpeeds);
void RotateVector(double& x, double& y, double angle);
static const int32_t kMaxNumberOfMotors = 4;
static const int kMaxNumberOfMotors = 4;
int32_t m_invertedMotors[kMaxNumberOfMotors] = {1, 1, 1, 1};
int m_invertedMotors[kMaxNumberOfMotors] = {1, 1, 1, 1};
float m_sensitivity = 0.5;
double m_maxOutput = 1.0;
bool m_deleteSpeedControllers;
@@ -116,7 +114,7 @@ class RobotDrive : public MotorSafety, public ErrorBase {
// FIXME: MotorSafetyHelper *m_safetyHelper;
private:
int32_t GetNumMotors() {
int GetNumMotors() {
int motors = 0;
if (m_frontLeftMotor) motors++;
if (m_frontRightMotor) motors++;

2
wpilibc/sim/include/SafePWM.h
View File

@@ -22,7 +22,7 @@
*/
class SafePWM : public PWM, public MotorSafety {
public:
explicit SafePWM(uint32_t channel);
explicit SafePWM(int channel);
virtual ~SafePWM() = default;
void SetExpiration(float timeout);

4
wpilibc/sim/include/Solenoid.h
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@@ -22,8 +22,8 @@
*/
class Solenoid : public LiveWindowSendable, public ITableListener {
public:
explicit Solenoid(uint32_t channel);
Solenoid(uint8_t moduleNumber, uint32_t channel);
explicit Solenoid(int channel);
Solenoid(int moduleNumber, int channel);
virtual ~Solenoid();
virtual void Set(bool on);
virtual bool Get() const;

2
wpilibc/sim/include/Talon.h
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@@ -16,7 +16,7 @@
*/
class Talon : public SafePWM, public SpeedController {
public:
explicit Talon(uint32_t channel);
explicit Talon(int channel);
virtual ~Talon() = default;
virtual void Set(float value);
virtual float Get() const;

2
wpilibc/sim/include/Victor.h
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@@ -16,7 +16,7 @@
*/
class Victor : public SafePWM, public SpeedController {
public:
explicit Victor(uint32_t channel);
explicit Victor(int channel);
virtual ~Victor() = default;
virtual void Set(float value);
virtual float Get() const;

2
wpilibc/sim/include/simulation/MainNode.h
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@@ -25,7 +25,7 @@ class MainNode {
template <typename M>
static transport::PublisherPtr Advertise(const std::string& topic,
unsigned int _queueLimit = 10,
int _queueLimit = 10,
bool _latch = false) {
return GetInstance()->main->Advertise<M>(topic, _queueLimit, _latch);
}