From 2ce248f66ca6040a2b36d3b84dfdd16a0bbafd70 Mon Sep 17 00:00:00 2001 From: Tyler Veness Date: Mon, 19 Jun 2023 22:59:07 -0700 Subject: [PATCH] [hal] Fix clang-tidy warnings (#5401) --- hal/src/main/native/athena/AnalogGyro.cpp | 5 +-- hal/src/main/native/athena/DIO.cpp | 10 +++--- hal/src/main/native/athena/Notifier.cpp | 9 +++-- hal/src/main/native/athena/SPI.cpp | 3 +- .../main/native/athena/cpp/SerialHelper.cpp | 33 ++++++++++++------- 5 files changed, 39 insertions(+), 21 deletions(-) diff --git a/hal/src/main/native/athena/AnalogGyro.cpp b/hal/src/main/native/athena/AnalogGyro.cpp index 19f26ddd7b..1751ac0325 100644 --- a/hal/src/main/native/athena/AnalogGyro.cpp +++ b/hal/src/main/native/athena/AnalogGyro.cpp @@ -4,6 +4,7 @@ #include "hal/AnalogGyro.h" +#include #include #include @@ -204,8 +205,8 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) { return; } - gyro->center = static_cast( - static_cast(value) / static_cast(count) + 0.5); + gyro->center = + std::round(static_cast(value) / static_cast(count)); gyro->offset = static_cast(value) / static_cast(count) - static_cast(gyro->center); diff --git a/hal/src/main/native/athena/DIO.cpp b/hal/src/main/native/athena/DIO.cpp index 57b115384e..d75f32b9c9 100644 --- a/hal/src/main/native/athena/DIO.cpp +++ b/hal/src/main/native/athena/DIO.cpp @@ -230,12 +230,13 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, // frequencies. rawDutyCycle = rawDutyCycle / std::pow(2.0, 4 - pwmPeriodPower); } - if (id < 4) + if (id < 4) { digitalSystem->writePWMDutyCycleA(id, static_cast(rawDutyCycle), status); - else + } else { digitalSystem->writePWMDutyCycleB( id - 4, static_cast(rawDutyCycle), status); + } } } @@ -254,12 +255,13 @@ void HAL_SetDigitalPWMPPS(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle, } { std::scoped_lock lock(digitalPwmMutex); - if (id < 4) + if (id < 4) { digitalSystem->writePWMDutyCycleA(id, static_cast(rawDutyCycle), status); - else + } else { digitalSystem->writePWMDutyCycleB( id - 4, static_cast(rawDutyCycle), status); + } } } diff --git a/hal/src/main/native/athena/Notifier.cpp b/hal/src/main/native/athena/Notifier.cpp index 9c818d858e..bed998d06c 100644 --- a/hal/src/main/native/athena/Notifier.cpp +++ b/hal/src/main/native/athena/Notifier.cpp @@ -128,8 +128,9 @@ static void notifierThreadMain() { static void cleanupNotifierAtExit() { int32_t status = 0; - if (notifierAlarm) + if (notifierAlarm) { notifierAlarm->writeEnable(false, &status); + } notifierAlarm = nullptr; notifierRunning = false; hal::ReleaseFPGAInterrupt(kTimerInterruptNumber); @@ -236,8 +237,9 @@ void HAL_CleanNotifier(HAL_NotifierHandle notifierHandle, int32_t* status) { // here (the atomic fetch_sub will prevent multiple parallel entries // into this function) - if (notifierAlarm) + if (notifierAlarm) { notifierAlarm->writeEnable(false, status); + } notifierRunning = false; hal::ReleaseFPGAInterrupt(kTimerInterruptNumber); if (notifierThread.joinable()) { @@ -272,8 +274,9 @@ void HAL_UpdateNotifierAlarm(HAL_NotifierHandle notifierHandle, notifierAlarm->writeTriggerTime(static_cast(closestTrigger), status); // Enable the alarm. - if (!wasActive) + if (!wasActive) { notifierAlarm->writeEnable(true, status); + } } } diff --git a/hal/src/main/native/athena/SPI.cpp b/hal/src/main/native/athena/SPI.cpp index 9d3335e296..309813e86b 100644 --- a/hal/src/main/native/athena/SPI.cpp +++ b/hal/src/main/native/athena/SPI.cpp @@ -643,8 +643,9 @@ void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend, } // set tx data registers - for (int32_t i = 0; i < dataSize; ++i) + for (int32_t i = 0; i < dataSize; ++i) { spiSystem->writeAutoTx(i >> 2, i & 3, dataToSend[i], status); + } // set byte counts tSPI::tAutoByteCount config; diff --git a/hal/src/main/native/athena/cpp/SerialHelper.cpp b/hal/src/main/native/athena/cpp/SerialHelper.cpp index fef92d4edc..71e747c070 100644 --- a/hal/src/main/native/athena/cpp/SerialHelper.cpp +++ b/hal/src/main/native/athena/cpp/SerialHelper.cpp @@ -192,45 +192,54 @@ void SerialHelper::QueryHubPaths(int32_t* status) { // Open the resource, grab its interface name, and close it. ViSession vSession; *status = viOpen(m_resourceHandle, desc, VI_NULL, VI_NULL, &vSession); - if (*status < 0) + if (*status < 0) { continue; + } *status = 0; *status = viGetAttribute(vSession, VI_ATTR_INTF_INST_NAME, &osName); // Ignore an error here, as we want to close the session on an error // Use a separate close variable so we can check ViStatus closeStatus = viClose(vSession); - if (*status < 0) + if (*status < 0) { continue; - if (closeStatus < 0) + } + if (closeStatus < 0) { continue; + } *status = 0; // split until (/dev/ std::string_view devNameRef = wpi::split(osName, "(/dev/").second; // String not found, continue - if (wpi::equals(devNameRef, "")) + if (wpi::equals(devNameRef, "")) { continue; + } // Split at ) std::string_view matchString = wpi::split(devNameRef, ')').first; - if (wpi::equals(matchString, devNameRef)) + if (wpi::equals(matchString, devNameRef)) { continue; + } // Search directories to get a list of system accessors // The directories we need are not symbolic, so we can safely // disable symbolic links. std::error_code ec; for (auto& p : fs::recursive_directory_iterator("/sys/devices/soc0", ec)) { - if (ec) + if (ec) { break; + } std::string path = p.path(); - if (path.find("amba") == std::string::npos) + if (path.find("amba") == std::string::npos) { continue; - if (path.find("usb") == std::string::npos) + } + if (path.find("usb") == std::string::npos) { continue; - if (path.find(matchString) == std::string::npos) + } + if (path.find(matchString) == std::string::npos) { continue; + } wpi::SmallVector pathSplitVec; // Split path into individual directories @@ -254,13 +263,15 @@ void SerialHelper::QueryHubPaths(int32_t* status) { // Get the index for our device int hubIndex = findtty; - if (findtty == -1) + if (findtty == -1) { hubIndex = findregex; + } int devStart = findusb + 1; - if (hubIndex < devStart) + if (hubIndex < devStart) { continue; + } // Add our devices to our list m_unsortedHubPath.emplace_back(