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Add braces to C++ single-line loops and conditionals (NFC) (#2973)

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This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
This commit is contained in:
Peter Johnson
2020-12-28 12:58:06 -08:00
committed by GitHub
parent 0291a3ff56
commit 2aed432b4b
634 changed files with 10716 additions and 3938 deletions
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47
hal/src/main/native/athena/AnalogGyro.cpp
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@@ -48,7 +48,9 @@ void InitializeAnalogGyro() {
} // namespace hal
static void Wait(double seconds) {
if (seconds < 0.0) return;
if (seconds < 0.0) {
return;
}
std::this_thread::sleep_for(std::chrono::duration<double>(seconds));
}
@@ -69,8 +71,9 @@ HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
auto handle = analogGyroHandles->Allocate(channel, status);
if (*status != 0)
if (*status != 0) {
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
}
// Initialize port structure
auto gyro = analogGyroHandles->Get(handle);
@@ -97,17 +100,25 @@ void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
gyro->voltsPerDegreePerSecond = kDefaultVoltsPerDegreePerSecond;
HAL_SetAnalogAverageBits(gyro->handle, kAverageBits, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
HAL_SetAnalogOversampleBits(gyro->handle, kOversampleBits, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
double sampleRate =
kSamplesPerSecond * (1 << (kAverageBits + kOversampleBits));
HAL_SetAnalogSampleRate(sampleRate, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
Wait(0.1);
HAL_SetAnalogGyroDeadband(handle, 0.0, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
}
void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
@@ -148,14 +159,18 @@ void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
return;
}
HAL_ResetAccumulator(gyro->handle, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
const double sampleTime = 1.0 / HAL_GetAnalogSampleRate(status);
const double overSamples =
1 << HAL_GetAnalogOversampleBits(gyro->handle, status);
const double averageSamples =
1 << HAL_GetAnalogAverageBits(gyro->handle, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
Wait(sampleTime * overSamples * averageSamples);
}
@@ -167,7 +182,9 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
}
HAL_InitAccumulator(gyro->handle, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
wpi::outs() << "Calibrating analog gyro for " << kCalibrationSampleTime
<< " seconds." << '\n';
Wait(kCalibrationSampleTime);
@@ -175,7 +192,9 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
int64_t value;
int64_t count;
HAL_GetAccumulatorOutput(gyro->handle, &value, &count, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
gyro->center = static_cast<int32_t>(
static_cast<double>(value) / static_cast<double>(count) + 0.5);
@@ -183,7 +202,9 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
gyro->offset = static_cast<double>(value) / static_cast<double>(count) -
static_cast<double>(gyro->center);
HAL_SetAccumulatorCenter(gyro->handle, gyro->center, status);
if (*status != 0) return;
if (*status != 0) {
return;
}
HAL_ResetAnalogGyro(handle, status);
}
@@ -197,7 +218,9 @@ void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
int32_t deadband = static_cast<int32_t>(
volts * 1e9 / HAL_GetAnalogLSBWeight(gyro->handle, status) *
(1 << HAL_GetAnalogOversampleBits(gyro->handle, status)));
if (*status != 0) return;
if (*status != 0) {
return;
}
HAL_SetAccumulatorDeadband(gyro->handle, deadband, status);
}