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Fix implicitly deleted move constructors (#1954)

Browse Source 
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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32
wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp
View File

@@ -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
View File

@@ -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);
});
}