Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-19 00:41:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Don't force public variables to use Hungarian notation (#8774)

Browse Source 
People generally have expressed a dislike for the Hungarian notation
used in member variables, especially in examples/templates, and our
styleguide shouldn't be forced on downstream consumers, so this removes
all Hungarian notation from the examples/templates.

There are _some_ benefits to Hungarian for private member variables
(like knowing what's a member vs. local in a PR review) so we'll keep
private member variables the same for now, but public variables should
no longer use Hungarian notation, since it looks much worse. A new PMD
XPath rule has been added to accomplish this goal. Some other
non-compliant variables were fixed for the new rule.
This commit is contained in:
Gold856
2026-04-25 14:32:08 -04:00
committed by GitHub
parent e7e51c9c05
commit 35e8abedeb
443 changed files with 4584 additions and 4789 deletions
Download Patch File Download Diff File Expand all files Collapse all files

48
wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
View File

@@ -18,29 +18,29 @@
#include "wpi/util/Preferences.hpp"
class ArmSimulationTest : public testing::TestWithParam<wpi::units::degree_t> {
Robot m_robot;
std::optional<std::thread> m_thread;
Robot robot;
std::optional<std::thread> thread;
protected:
wpi::sim::PWMMotorControllerSim m_motorSim{kMotorPort};
wpi::sim::EncoderSim m_encoderSim =
wpi::sim::PWMMotorControllerSim motorSim{kMotorPort};
wpi::sim::EncoderSim encoderSim =
wpi::sim::EncoderSim::CreateForChannel(kEncoderAChannel);
wpi::sim::JoystickSim m_joystickSim{kJoystickPort};
wpi::sim::JoystickSim joystickSim{kJoystickPort};
public:
void SetUp() override {
wpi::sim::PauseTiming();
wpi::sim::SetProgramStarted(false);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
thread = std::thread([&] { robot.StartCompetition(); });
wpi::sim::WaitForProgramStart();
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
robot.EndCompetition();
thread->join();
m_encoderSim.ResetData();
encoderSim.ResetData();
wpi::sim::DriverStationSim::ResetData();
wpi::Preferences::RemoveAll();
}
@@ -60,25 +60,25 @@ TEST_P(ArmSimulationTest, Teleop) {
wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_encoderSim.GetInitialized());
EXPECT_TRUE(encoderSim.GetInitialized());
}
{
wpi::sim::StepTiming(3_s);
// Ensure arm is still at minimum angle.
EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
EXPECT_NEAR(kMinAngle.value(), encoderSim.GetDistance(), 2.0);
}
{
// Press button to reach setpoint
m_joystickSim.SetTrigger(true);
m_joystickSim.NotifyNewData();
joystickSim.SetTrigger(true);
joystickSim.NotifyNewData();
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(setpoint.value(),
wpi::units::radian_t(m_encoderSim.GetDistance())
wpi::units::radian_t(encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
@@ -87,7 +87,7 @@ TEST_P(ArmSimulationTest, Teleop) {
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(setpoint.value(),
wpi::units::radian_t(m_encoderSim.GetDistance())
wpi::units::radian_t(encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
@@ -95,24 +95,24 @@ TEST_P(ArmSimulationTest, Teleop) {
{
// Unpress the button to go back down
m_joystickSim.SetTrigger(false);
m_joystickSim.NotifyNewData();
joystickSim.SetTrigger(false);
joystickSim.NotifyNewData();
wpi::sim::StepTiming(3_s);
EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
EXPECT_NEAR(kMinAngle.value(), encoderSim.GetDistance(), 2.0);
}
{
// Press button to go back up
m_joystickSim.SetTrigger(true);
m_joystickSim.NotifyNewData();
joystickSim.SetTrigger(true);
joystickSim.NotifyNewData();
// advance 75 timesteps
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(setpoint.value(),
wpi::units::radian_t(m_encoderSim.GetDistance())
wpi::units::radian_t(encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
@@ -121,7 +121,7 @@ TEST_P(ArmSimulationTest, Teleop) {
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(setpoint.value(),
wpi::units::radian_t(m_encoderSim.GetDistance())
wpi::units::radian_t(encoderSim.GetDistance())
.convert<wpi::units::degree>()
.value(),
2.0);
@@ -134,8 +134,8 @@ TEST_P(ArmSimulationTest, Teleop) {
wpi::sim::StepTiming(3_s);
ASSERT_NEAR(0.0, m_motorSim.GetThrottle(), 0.05);
EXPECT_NEAR(kMinAngle.value(), m_encoderSim.GetDistance(), 2.0);
ASSERT_NEAR(0.0, motorSim.GetThrottle(), 0.05);
EXPECT_NEAR(kMinAngle.value(), encoderSim.GetDistance(), 2.0);
}
}

48
wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
View File

@@ -22,29 +22,29 @@
using namespace Constants;
class ElevatorSimulationTest : public testing::Test {
Robot m_robot;
std::optional<std::thread> m_thread;
Robot robot;
std::optional<std::thread> thread;
protected:
wpi::sim::PWMMotorControllerSim m_motorSim{Constants::kMotorPort};
wpi::sim::EncoderSim m_encoderSim =
wpi::sim::PWMMotorControllerSim motorSim{Constants::kMotorPort};
wpi::sim::EncoderSim encoderSim =
wpi::sim::EncoderSim::CreateForChannel(Constants::kEncoderAChannel);
wpi::sim::JoystickSim m_joystickSim{Constants::kJoystickPort};
wpi::sim::JoystickSim joystickSim{Constants::kJoystickPort};
public:
void SetUp() override {
wpi::sim::PauseTiming();
wpi::sim::SetProgramStarted(false);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
thread = std::thread([&] { robot.StartCompetition(); });
wpi::sim::WaitForProgramStart();
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
robot.EndCompetition();
thread->join();
m_encoderSim.ResetData();
encoderSim.ResetData();
wpi::sim::DriverStationSim::ResetData();
}
};
@@ -56,7 +56,7 @@ TEST_F(ElevatorSimulationTest, Teleop) {
wpi::sim::DriverStationSim::SetEnabled(true);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_encoderSim.GetInitialized());
EXPECT_TRUE(encoderSim.GetInitialized());
}
{
@@ -64,50 +64,50 @@ TEST_F(ElevatorSimulationTest, Teleop) {
wpi::sim::StepTiming(1_s);
// Ensure elevator is still at 0.
EXPECT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
EXPECT_NEAR(0.0, encoderSim.GetDistance(), 0.05);
}
{
// Press button to reach setpoint
m_joystickSim.SetTrigger(true);
m_joystickSim.NotifyNewData();
joystickSim.SetTrigger(true);
joystickSim.NotifyNewData();
// advance 75 timesteps
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
EXPECT_NEAR(kSetpoint.value(), encoderSim.GetDistance(), 0.05);
// advance 25 timesteps to see setpoint is held.
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
EXPECT_NEAR(kSetpoint.value(), encoderSim.GetDistance(), 0.05);
}
{
// Unpress the button to go back down
m_joystickSim.SetTrigger(false);
m_joystickSim.NotifyNewData();
joystickSim.SetTrigger(false);
joystickSim.NotifyNewData();
// advance 75 timesteps
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
EXPECT_NEAR(0.0, encoderSim.GetDistance(), 0.05);
}
{
// Press button to go back up
m_joystickSim.SetTrigger(true);
m_joystickSim.NotifyNewData();
joystickSim.SetTrigger(true);
joystickSim.NotifyNewData();
// advance 75 timesteps
wpi::sim::StepTiming(1.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
EXPECT_NEAR(kSetpoint.value(), encoderSim.GetDistance(), 0.05);
// advance 25 timesteps to see setpoint is held.
wpi::sim::StepTiming(0.5_s);
EXPECT_NEAR(kSetpoint.value(), m_encoderSim.GetDistance(), 0.05);
EXPECT_NEAR(kSetpoint.value(), encoderSim.GetDistance(), 0.05);
}
{
@@ -118,7 +118,7 @@ TEST_F(ElevatorSimulationTest, Teleop) {
// advance 75 timesteps
wpi::sim::StepTiming(1.5_s);
ASSERT_NEAR(0.0, m_motorSim.GetThrottle(), 0.05);
ASSERT_NEAR(0.0, m_encoderSim.GetDistance(), 0.05);
ASSERT_NEAR(0.0, motorSim.GetThrottle(), 0.05);
ASSERT_NEAR(0.0, encoderSim.GetDistance(), 0.05);
}
}

50
wpilibcExamples/src/test/cpp/snippets/DigitalCommunication/cpp/DigitalCommunicationTest.cpp
View File

@@ -17,29 +17,29 @@
template <typename T>
class DigitalCommunicationTest : public testing::TestWithParam<T> {
public:
wpi::sim::DIOSim m_allianceOutput{Robot::kAlliancePort};
wpi::sim::DIOSim m_enabledOutput{Robot::kEnabledPort};
wpi::sim::DIOSim m_autonomousOutput{Robot::kAutonomousPort};
wpi::sim::DIOSim m_alertOutput{Robot::kAlertPort};
Robot m_robot;
std::optional<std::thread> m_thread;
wpi::sim::DIOSim allianceOutput{Robot::kAlliancePort};
wpi::sim::DIOSim enabledOutput{Robot::kEnabledPort};
wpi::sim::DIOSim autonomousOutput{Robot::kAutonomousPort};
wpi::sim::DIOSim alertOutput{Robot::kAlertPort};
Robot robot;
std::optional<std::thread> thread;
void SetUp() override {
wpi::sim::PauseTiming();
wpi::sim::SetProgramStarted(false);
wpi::sim::DriverStationSim::ResetData();
m_thread = std::thread([&] { m_robot.StartCompetition(); });
thread = std::thread([&] { robot.StartCompetition(); });
wpi::sim::WaitForProgramStart();
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
m_allianceOutput.ResetData();
m_enabledOutput.ResetData();
m_autonomousOutput.ResetData();
m_alertOutput.ResetData();
robot.EndCompetition();
thread->join();
allianceOutput.ResetData();
enabledOutput.ResetData();
autonomousOutput.ResetData();
alertOutput.ResetData();
}
};
@@ -50,8 +50,8 @@ TEST_P(AllianceTest, Alliance) {
wpi::sim::DriverStationSim::SetAllianceStationId(alliance);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_allianceOutput.GetInitialized());
EXPECT_FALSE(m_allianceOutput.GetIsInput());
EXPECT_TRUE(allianceOutput.GetInitialized());
EXPECT_FALSE(allianceOutput.GetIsInput());
wpi::sim::StepTiming(20_ms);
@@ -69,7 +69,7 @@ TEST_P(AllianceTest, Alliance) {
isRed = true;
break;
}
EXPECT_EQ(isRed, m_allianceOutput.GetValue());
EXPECT_EQ(isRed, allianceOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(
@@ -106,12 +106,12 @@ TEST_P(EnabledTest, Enabled) {
wpi::sim::DriverStationSim::SetEnabled(enabled);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_enabledOutput.GetInitialized());
EXPECT_FALSE(m_enabledOutput.GetIsInput());
EXPECT_TRUE(enabledOutput.GetInitialized());
EXPECT_FALSE(enabledOutput.GetIsInput());
wpi::sim::StepTiming(20_ms);
EXPECT_EQ(enabled, m_enabledOutput.GetValue());
EXPECT_EQ(enabled, enabledOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(DigitalCommunicationTests, EnabledTest,
@@ -125,12 +125,12 @@ TEST_P(AutonomousTest, Autonomous) {
autonomous ? HAL_ROBOT_MODE_AUTONOMOUS : HAL_ROBOT_MODE_TELEOPERATED);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_autonomousOutput.GetInitialized());
EXPECT_FALSE(m_autonomousOutput.GetIsInput());
EXPECT_TRUE(autonomousOutput.GetInitialized());
EXPECT_FALSE(autonomousOutput.GetIsInput());
wpi::sim::StepTiming(20_ms);
EXPECT_EQ(autonomous, m_autonomousOutput.GetValue());
EXPECT_EQ(autonomous, autonomousOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(DigitalCommunicationTests, AutonomousTest,
@@ -143,12 +143,12 @@ TEST_P(AlertTest, Alert) {
wpi::sim::DriverStationSim::SetMatchTime(matchTime);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_alertOutput.GetInitialized());
EXPECT_FALSE(m_alertOutput.GetIsInput());
EXPECT_TRUE(alertOutput.GetInitialized());
EXPECT_FALSE(alertOutput.GetIsInput());
wpi::sim::StepTiming(20_ms);
EXPECT_EQ(matchTime <= 30 && matchTime >= 25, m_alertOutput.GetValue());
EXPECT_EQ(matchTime <= 30 && matchTime >= 25, alertOutput.GetValue());
}
INSTANTIATE_TEST_SUITE_P(

30
wpilibcExamples/src/test/cpp/snippets/I2CCommunication/cpp/I2CCommunicationTest.cpp
View File

@@ -25,30 +25,30 @@ void callback(const char* name, void* param, const unsigned char* buffer,
template <typename T>
class I2CCommunicationTest : public testing::TestWithParam<T> {
public:
Robot m_robot;
std::optional<std::thread> m_thread;
int32_t m_callback;
int32_t m_port;
Robot robot;
std::optional<std::thread> thread;
int32_t callbackHandle;
int32_t port;
void SetUp() override {
gString = std::string();
wpi::sim::PauseTiming();
wpi::sim::SetProgramStarted(false);
wpi::sim::DriverStationSim::ResetData();
m_port = static_cast<int32_t>(Robot::kPort);
port = static_cast<int32_t>(Robot::kPort);
m_callback = HALSIM_RegisterI2CWriteCallback(m_port, &callback, nullptr);
callbackHandle = HALSIM_RegisterI2CWriteCallback(port, &callback, nullptr);
m_thread = std::thread([&] { m_robot.StartCompetition(); });
thread = std::thread([&] { robot.StartCompetition(); });
wpi::sim::WaitForProgramStart();
}
void TearDown() override {
m_robot.EndCompetition();
m_thread->join();
robot.EndCompetition();
thread->join();
HALSIM_CancelI2CWriteCallback(m_port, m_callback);
HALSIM_ResetI2CData(m_port);
HALSIM_CancelI2CWriteCallback(port, callbackHandle);
HALSIM_ResetI2CData(port);
}
};
@@ -59,7 +59,7 @@ TEST_P(AllianceTest, Alliance) {
wpi::sim::DriverStationSim::SetAllianceStationId(alliance);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
EXPECT_TRUE(HALSIM_GetI2CInitialized(port));
wpi::sim::StepTiming(20_ms);
@@ -116,7 +116,7 @@ TEST_P(EnabledTest, Enabled) {
wpi::sim::DriverStationSim::SetEnabled(enabled);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
EXPECT_TRUE(HALSIM_GetI2CInitialized(port));
wpi::sim::StepTiming(20_ms);
@@ -135,7 +135,7 @@ TEST_P(AutonomousTest, Autonomous) {
autonomous ? HAL_ROBOT_MODE_AUTONOMOUS : HAL_ROBOT_MODE_TELEOPERATED);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
EXPECT_TRUE(HALSIM_GetI2CInitialized(port));
wpi::sim::StepTiming(20_ms);
@@ -153,7 +153,7 @@ TEST_P(MatchTimeTest, Alert) {
wpi::sim::DriverStationSim::SetMatchTime(matchTime);
wpi::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(HALSIM_GetI2CInitialized(m_port));
EXPECT_TRUE(HALSIM_GetI2CInitialized(port));
wpi::sim::StepTiming(20_ms);