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Fix implicitly deleted move constructors (#1954)

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These were incorrect and exhibited as warnings on more recent versions of
clang (notably on Mac).

- Use pointers instead of references internally in GenericHID and *Drive
- Leave PIDBase, PIDController, and Resource non-moveable
- Remove the atomic from m_disabled in NidecBrushless
- Make Timer and Trigger copyable as well as moveable
- Implement custom move constructor/assignment for SendableChooserBase

Also comment out some unused variables that caused clang warnings.
This commit is contained in:
Peter Johnson
2019-10-19 11:36:44 -07:00
committed by GitHub
parent f3ad927f45
commit 2c50937975
19 changed files with 160 additions and 108 deletions
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16
wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp
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@@ -19,15 +19,15 @@ static constexpr auto kSamplePeriod = 0.0005_s;
static constexpr double kCalibrationSampleTime = 5.0;
static constexpr double kDegreePerSecondPerLSB = 0.0125;
static constexpr int kRateRegister = 0x00;
static constexpr int kTemRegister = 0x02;
static constexpr int kLoCSTRegister = 0x04;
static constexpr int kHiCSTRegister = 0x06;
static constexpr int kQuadRegister = 0x08;
static constexpr int kFaultRegister = 0x0A;
// static constexpr int kRateRegister = 0x00;
// static constexpr int kTemRegister = 0x02;
// static constexpr int kLoCSTRegister = 0x04;
// static constexpr int kHiCSTRegister = 0x06;
// static constexpr int kQuadRegister = 0x08;
// static constexpr int kFaultRegister = 0x0A;
static constexpr int kPIDRegister = 0x0C;
static constexpr int kSNHighRegister = 0x0E;
static constexpr int kSNLowRegister = 0x10;
// static constexpr int kSNHighRegister = 0x0E;
// static constexpr int kSNLowRegister = 0x10;
ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}

28
wpilibc/src/main/native/cpp/GenericHID.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -14,7 +14,7 @@
using namespace frc;
GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
GenericHID::GenericHID(int port) : m_ds(&DriverStation::GetInstance()) {
if (port >= DriverStation::kJoystickPorts) {
wpi_setWPIError(BadJoystickIndex);
}
@@ -22,39 +22,41 @@ GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) {
}
bool GenericHID::GetRawButton(int button) const {
return m_ds.GetStickButton(m_port, button);
return m_ds->GetStickButton(m_port, button);
}
bool GenericHID::GetRawButtonPressed(int button) {
return m_ds.GetStickButtonPressed(m_port, button);
return m_ds->GetStickButtonPressed(m_port, button);
}
bool GenericHID::GetRawButtonReleased(int button) {
return m_ds.GetStickButtonReleased(m_port, button);
return m_ds->GetStickButtonReleased(m_port, button);
}
double GenericHID::GetRawAxis(int axis) const {
return m_ds.GetStickAxis(m_port, axis);
return m_ds->GetStickAxis(m_port, axis);
}
int GenericHID::GetPOV(int pov) const { return m_ds.GetStickPOV(m_port, pov); }
int GenericHID::GetPOV(int pov) const { return m_ds->GetStickPOV(m_port, pov); }
int GenericHID::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); }
int GenericHID::GetAxisCount() const { return m_ds->GetStickAxisCount(m_port); }
int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); }
int GenericHID::GetPOVCount() const { return m_ds->GetStickPOVCount(m_port); }
int GenericHID::GetButtonCount() const {
return m_ds.GetStickButtonCount(m_port);
return m_ds->GetStickButtonCount(m_port);
}
GenericHID::HIDType GenericHID::GetType() const {
return static_cast<HIDType>(m_ds.GetJoystickType(m_port));
return static_cast<HIDType>(m_ds->GetJoystickType(m_port));
}
std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); }
std::string GenericHID::GetName() const {
return m_ds->GetJoystickName(m_port);
}
int GenericHID::GetAxisType(int axis) const {
return m_ds.GetJoystickAxisType(m_port, axis);
return m_ds->GetJoystickAxisType(m_port, axis);
}
int GenericHID::GetPort() const { return m_port; }

15
wpilibc/src/main/native/cpp/Timer.cpp
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@@ -39,6 +39,21 @@ const double Timer::kRolloverTime = (1ll << 32) / 1e6;
Timer::Timer() { Reset(); }
Timer::Timer(const Timer& rhs)
: m_startTime(rhs.m_startTime),
m_accumulatedTime(rhs.m_accumulatedTime),
m_running(rhs.m_running) {}
Timer& Timer::operator=(const Timer& rhs) {
std::scoped_lock lock(m_mutex, rhs.m_mutex);
m_startTime = rhs.m_startTime;
m_accumulatedTime = rhs.m_accumulatedTime;
m_running = rhs.m_running;
return *this;
}
Timer::Timer(Timer&& rhs)
: m_startTime(std::move(rhs.m_startTime)),
m_accumulatedTime(std::move(rhs.m_accumulatedTime)),

23
wpilibc/src/main/native/cpp/buttons/Trigger.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2011-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2011-2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -15,6 +15,27 @@
using namespace frc;
Trigger::Trigger(const Trigger& rhs) : SendableHelper(rhs) {}
Trigger& Trigger::operator=(const Trigger& rhs) {
SendableHelper::operator=(rhs);
m_sendablePressed = false;
return *this;
}
Trigger::Trigger(Trigger&& rhs)
: SendableHelper(std::move(rhs)),
m_sendablePressed(rhs.m_sendablePressed.load()) {
rhs.m_sendablePressed = false;
}
Trigger& Trigger::operator=(Trigger&& rhs) {
SendableHelper::operator=(std::move(rhs));
m_sendablePressed = rhs.m_sendablePressed.load();
rhs.m_sendablePressed = false;
return *this;
}
bool Trigger::Grab() { return Get() || m_sendablePressed; }
void Trigger::WhenActive(Command* command) {

32
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
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@@ -20,10 +20,10 @@ using namespace frc;
DifferentialDrive::DifferentialDrive(SpeedController& leftMotor,
SpeedController& rightMotor)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor) {
: m_leftMotor(&leftMotor), m_rightMotor(&rightMotor) {
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_leftMotor);
registry.AddChild(this, &m_rightMotor);
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "DifferentialDrive", instances);
@@ -77,9 +77,9 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation,
}
}
m_leftMotor.Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
m_leftMotor->Set(std::clamp(leftMotorOutput, -1.0, 1.0) * m_maxOutput);
double maxOutput = m_maxOutput * m_rightSideInvertMultiplier;
m_rightMotor.Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
m_rightMotor->Set(std::clamp(rightMotorOutput, -1.0, 1.0) * maxOutput);
Feed();
}
@@ -151,9 +151,9 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation,
rightMotorOutput /= maxMagnitude;
}
m_leftMotor.Set(leftMotorOutput * m_maxOutput);
m_rightMotor.Set(rightMotorOutput * m_maxOutput *
m_rightSideInvertMultiplier);
m_leftMotor->Set(leftMotorOutput * m_maxOutput);
m_rightMotor->Set(rightMotorOutput * m_maxOutput *
m_rightSideInvertMultiplier);
Feed();
}
@@ -180,8 +180,8 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed,
rightSpeed = std::copysign(rightSpeed * rightSpeed, rightSpeed);
}
m_leftMotor.Set(leftSpeed * m_maxOutput);
m_rightMotor.Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
m_leftMotor->Set(leftSpeed * m_maxOutput);
m_rightMotor->Set(rightSpeed * m_maxOutput * m_rightSideInvertMultiplier);
Feed();
}
@@ -203,8 +203,8 @@ void DifferentialDrive::SetRightSideInverted(bool rightSideInverted) {
}
void DifferentialDrive::StopMotor() {
m_leftMotor.StopMotor();
m_rightMotor.StopMotor();
m_leftMotor->StopMotor();
m_rightMotor->StopMotor();
Feed();
}
@@ -217,12 +217,12 @@ void DifferentialDrive::InitSendable(SendableBuilder& builder) {
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
[=]() { return m_leftMotor.Get(); },
[=](double value) { m_leftMotor.Set(value); });
[=]() { return m_leftMotor->Get(); },
[=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty(
"Right Motor Speed",
[=]() { return m_rightMotor.Get() * m_rightSideInvertMultiplier; },
[=]() { return m_rightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
m_rightMotor.Set(value * m_rightSideInvertMultiplier);
m_rightMotor->Set(value * m_rightSideInvertMultiplier);
});
}

34
wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp
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@@ -29,7 +29,9 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
SpeedController& rightMotor,
SpeedController& backMotor, double leftMotorAngle,
double rightMotorAngle, double backMotorAngle)
: m_leftMotor(leftMotor), m_rightMotor(rightMotor), m_backMotor(backMotor) {
: m_leftMotor(&leftMotor),
m_rightMotor(&rightMotor),
m_backMotor(&backMotor) {
m_leftVec = {std::cos(leftMotorAngle * (wpi::math::pi / 180.0)),
std::sin(leftMotorAngle * (wpi::math::pi / 180.0))};
m_rightVec = {std::cos(rightMotorAngle * (wpi::math::pi / 180.0)),
@@ -37,9 +39,9 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor,
m_backVec = {std::cos(backMotorAngle * (wpi::math::pi / 180.0)),
std::sin(backMotorAngle * (wpi::math::pi / 180.0))};
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_leftMotor);
registry.AddChild(this, &m_rightMotor);
registry.AddChild(this, &m_backMotor);
registry.AddChild(this, m_leftMotor);
registry.AddChild(this, m_rightMotor);
registry.AddChild(this, m_backMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "KilloughDrive", instances);
@@ -70,9 +72,9 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed,
Normalize(wheelSpeeds);
m_leftMotor.Set(wheelSpeeds[kLeft] * m_maxOutput);
m_rightMotor.Set(wheelSpeeds[kRight] * m_maxOutput);
m_backMotor.Set(wheelSpeeds[kBack] * m_maxOutput);
m_leftMotor->Set(wheelSpeeds[kLeft] * m_maxOutput);
m_rightMotor->Set(wheelSpeeds[kRight] * m_maxOutput);
m_backMotor->Set(wheelSpeeds[kBack] * m_maxOutput);
Feed();
}
@@ -91,9 +93,9 @@ void KilloughDrive::DrivePolar(double magnitude, double angle,
}
void KilloughDrive::StopMotor() {
m_leftMotor.StopMotor();
m_rightMotor.StopMotor();
m_backMotor.StopMotor();
m_leftMotor->StopMotor();
m_rightMotor->StopMotor();
m_backMotor->StopMotor();
Feed();
}
@@ -106,12 +108,12 @@ void KilloughDrive::InitSendable(SendableBuilder& builder) {
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Left Motor Speed",
[=]() { return m_leftMotor.Get(); },
[=](double value) { m_leftMotor.Set(value); });
[=]() { return m_leftMotor->Get(); },
[=](double value) { m_leftMotor->Set(value); });
builder.AddDoubleProperty("Right Motor Speed",
[=]() { return m_rightMotor.Get(); },
[=](double value) { m_rightMotor.Set(value); });
[=]() { return m_rightMotor->Get(); },
[=](double value) { m_rightMotor->Set(value); });
builder.AddDoubleProperty("Back Motor Speed",
[=]() { return m_backMotor.Get(); },
[=](double value) { m_backMotor.Set(value); });
[=]() { return m_backMotor->Get(); },
[=](double value) { m_backMotor->Set(value); });
}

52
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
View File

@@ -24,15 +24,15 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor,
SpeedController& rearLeftMotor,
SpeedController& frontRightMotor,
SpeedController& rearRightMotor)
: m_frontLeftMotor(frontLeftMotor),
m_rearLeftMotor(rearLeftMotor),
m_frontRightMotor(frontRightMotor),
m_rearRightMotor(rearRightMotor) {
: m_frontLeftMotor(&frontLeftMotor),
m_rearLeftMotor(&rearLeftMotor),
m_frontRightMotor(&frontRightMotor),
m_rearRightMotor(&rearRightMotor) {
auto& registry = SendableRegistry::GetInstance();
registry.AddChild(this, &m_frontLeftMotor);
registry.AddChild(this, &m_rearLeftMotor);
registry.AddChild(this, &m_frontRightMotor);
registry.AddChild(this, &m_rearRightMotor);
registry.AddChild(this, m_frontLeftMotor);
registry.AddChild(this, m_rearLeftMotor);
registry.AddChild(this, m_frontRightMotor);
registry.AddChild(this, m_rearRightMotor);
static int instances = 0;
++instances;
registry.AddLW(this, "MecanumDrive", instances);
@@ -64,12 +64,12 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed,
Normalize(wheelSpeeds);
m_frontLeftMotor.Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
m_frontRightMotor.Set(wheelSpeeds[kFrontRight] * m_maxOutput *
m_frontLeftMotor->Set(wheelSpeeds[kFrontLeft] * m_maxOutput);
m_frontRightMotor->Set(wheelSpeeds[kFrontRight] * m_maxOutput *
m_rightSideInvertMultiplier);
m_rearLeftMotor->Set(wheelSpeeds[kRearLeft] * m_maxOutput);
m_rearRightMotor->Set(wheelSpeeds[kRearRight] * m_maxOutput *
m_rightSideInvertMultiplier);
m_rearLeftMotor.Set(wheelSpeeds[kRearLeft] * m_maxOutput);
m_rearRightMotor.Set(wheelSpeeds[kRearRight] * m_maxOutput *
m_rightSideInvertMultiplier);
Feed();
}
@@ -96,10 +96,10 @@ void MecanumDrive::SetRightSideInverted(bool rightSideInverted) {
}
void MecanumDrive::StopMotor() {
m_frontLeftMotor.StopMotor();
m_frontRightMotor.StopMotor();
m_rearLeftMotor.StopMotor();
m_rearRightMotor.StopMotor();
m_frontLeftMotor->StopMotor();
m_frontRightMotor->StopMotor();
m_rearLeftMotor->StopMotor();
m_rearRightMotor->StopMotor();
Feed();
}
@@ -111,22 +111,22 @@ void MecanumDrive::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.AddDoubleProperty("Front Left Motor Speed",
[=]() { return m_frontLeftMotor.Get(); },
[=](double value) { m_frontLeftMotor.Set(value); });
builder.AddDoubleProperty(
"Front Left Motor Speed", [=]() { return m_frontLeftMotor->Get(); },
[=](double value) { m_frontLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Front Right Motor Speed",
[=]() { return m_frontRightMotor.Get() * m_rightSideInvertMultiplier; },
[=]() { return m_frontRightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
m_frontRightMotor.Set(value * m_rightSideInvertMultiplier);
m_frontRightMotor->Set(value * m_rightSideInvertMultiplier);
});
builder.AddDoubleProperty("Rear Left Motor Speed",
[=]() { return m_rearLeftMotor.Get(); },
[=](double value) { m_rearLeftMotor.Set(value); });
[=]() { return m_rearLeftMotor->Get(); },
[=](double value) { m_rearLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Rear Right Motor Speed",
[=]() { return m_rearRightMotor.Get() * m_rightSideInvertMultiplier; },
[=]() { return m_rearRightMotor->Get() * m_rightSideInvertMultiplier; },
[=](double value) {
m_rearRightMotor.Set(value * m_rightSideInvertMultiplier);
m_rearRightMotor->Set(value * m_rightSideInvertMultiplier);
});
}

19
wpilibc/src/main/native/cpp/smartdashboard/SendableChooserBase.cpp
View File

@@ -16,3 +16,22 @@ std::atomic_int SendableChooserBase::s_instances{0};
SendableChooserBase::SendableChooserBase() : m_instance{s_instances++} {
SendableRegistry::GetInstance().Add(this, "SendableChooser", m_instance);
}
SendableChooserBase::SendableChooserBase(SendableChooserBase&& oth)
: SendableHelper(std::move(oth)),
m_defaultChoice(std::move(oth.m_defaultChoice)),
m_selected(std::move(oth.m_selected)),
m_haveSelected(std::move(oth.m_haveSelected)),
m_activeEntries(std::move(oth.m_activeEntries)),
m_instance(std::move(oth.m_instance)) {}
SendableChooserBase& SendableChooserBase::operator=(SendableChooserBase&& oth) {
SendableHelper::operator=(oth);
std::scoped_lock lock(m_mutex, oth.m_mutex);
m_defaultChoice = std::move(oth.m_defaultChoice);
m_selected = std::move(oth.m_selected);
m_haveSelected = std::move(oth.m_haveSelected);
m_activeEntries = std::move(oth.m_activeEntries);
m_instance = std::move(oth.m_instance);
return *this;
}