[hal] Fix clang-tidy warnings (#5401)

hal/src/main/native/athena/AnalogGyro.cpp

@@ -4,6 +4,7 @@
 
 #include "hal/AnalogGyro.h"
 
+#include <cmath>
 #include <string>
 #include <thread>
 
@@ -204,8 +205,8 @@ void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
     return;
   }
 
-  gyro->center = static_cast<int32_t>(
+  gyro->center =
-      static_cast<double>(value) / static_cast<double>(count) + 0.5);
+      std::round(static_cast<double>(value) / static_cast<double>(count));
 
   gyro->offset = static_cast<double>(value) / static_cast<double>(count) -
                  static_cast<double>(gyro->center);

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<uint8_t>(rawDutyCycle),
                                         status);
-    else
+    } else {
       digitalSystem->writePWMDutyCycleB(
           id - 4, static_cast<uint8_t>(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<uint8_t>(rawDutyCycle),
                                         status);
-    else
+    } else {
       digitalSystem->writePWMDutyCycleB(
           id - 4, static_cast<uint8_t>(rawDutyCycle), status);
+    }
   }
 }
 

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<uint32_t>(closestTrigger),
                                     status);
     // Enable the alarm.
-    if (!wasActive)
+    if (!wasActive) {
       notifierAlarm->writeEnable(true, status);
+    }
   }
 }
 

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;

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<std::string_view, 16> 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(