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artf4154: Get rid of raw pointers in C++.

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This deals with the majority of the user-facing code
in wpilibC++Devices and a substantial portion of it in
wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests
are untouched except where it is necessary to make them
work with the rest of the libraries.

There is still a lot to do in the following areas:
-The HAL (which we may not want to touch at all).
-The I2C, Serial, and SPI interfaces in wpilibC++Devices,
  which I haven't gotten around to doing yet.
-Most wpilibC++Devices classes have void* pointers
  for interacting with the HAL.
-InterruptableSensorBase passes a void *params for
  the interrupt handler.
-I haven't converted all the const char* to std::strings.
-There are plenty of other cases of raw pointers still
  existing.
-This doesn't fall directly under raw pointer stuff,
  but move syntax and rvalue references could be introduced
  in many places.
-I haven't touched vision code.
-The Resource classes conflict (one is in the hal, the other
  in wpilibC++). Someone should figure out a more
  permanent fix (eg, just renaming them), then doing
  what I did (making a new namespace for one of them,
  essentially the same as renaming it).

A few other things:
-I created a NullDeleter class which is marked as deprecated.
  What this does is it can be passed as the deleter to a
  std::shared_ptr so that when you are converting raw pointers
  to shared_ptrs the shared_ptr doesn't do any deletion if
  someone else owns the raw pointer. This should only be
  used in making old raw pointer UIs.
-I had to alter the build.gradle so that it did not
  emit errors when deprecated functions called deprecated
  functions. Unfortunately, gradle doesn't appear to be
  actually printing out gcc warnigns for some reason.
  The best way I have found to fix this is to patch
  the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff)
  so that a deprecated function calling a deprecated
  function is fine but a non-deprecated function calling
  a deprecated function will throw a warning (which we
  then elevate with -Werror). I believe that clang
  deals with this properly, although I have not
  tried it myself.

Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
This commit is contained in:
James Kuszmaul
2015-06-30 15:01:20 -04:00
parent fd4c169658
commit 534ea134a4
164 changed files with 1278 additions and 1110 deletions
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117
wpilibc/wpilibC++Devices/src/Counter.cpp
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@@ -60,11 +60,11 @@ Counter::Counter(DigitalSource *source) : Counter() {
* an Analog Trigger).
*
* The counter will start counting immediately.
* @param source A reference to the existing DigitalSource object. It will be
* @param source A pointer to the existing DigitalSource object. It will be
* set as the Up Source.
*/
Counter::Counter(DigitalSource &source) : Counter() {
SetUpSource(&source);
Counter::Counter(::std::shared_ptr<DigitalSource> source) : Counter() {
SetUpSource(source);
ClearDownSource();
}
@@ -92,7 +92,6 @@ Counter::Counter(int32_t channel) : Counter() {
Counter::Counter(AnalogTrigger *trigger) : Counter() {
SetUpSource(trigger->CreateOutput(kState));
ClearDownSource();
m_allocatedUpSource = true;
}
/**
@@ -103,10 +102,9 @@ Counter::Counter(AnalogTrigger *trigger) : Counter() {
* The counter will start counting immediately.
* @param trigger The reference to the existing AnalogTrigger object.
*/
Counter::Counter(AnalogTrigger &trigger) : Counter() {
Counter::Counter(const AnalogTrigger &trigger) : Counter() {
SetUpSource(trigger.CreateOutput(kState));
ClearDownSource();
m_allocatedUpSource = true;
}
/**
@@ -117,10 +115,27 @@ Counter::Counter(AnalogTrigger &trigger) : Counter() {
* @param downSource The pointer to the DigitalSource to set as the down source
* @param inverted True to invert the output (reverse the direction)
*/
Counter::Counter(EncodingType encodingType, DigitalSource *upSource,
DigitalSource *downSource, bool inverted)
: Counter(kExternalDirection) {
: Counter(encodingType,
::std::shared_ptr<DigitalSource>(upSource,
NullDeleter<DigitalSource>()),
::std::shared_ptr<DigitalSource>(downSource,
NullDeleter<DigitalSource>()),
inverted) {}
/**
* Create an instance of a Counter object.
* Creates a full up-down counter given two Digital Sources
* @param encodingType The quadrature decoding mode (1x or 2x)
* @param upSource The pointer to the DigitalSource to set as the up source
* @param downSource The pointer to the DigitalSource to set as the down source
* @param inverted True to invert the output (reverse the direction)
*/
Counter::Counter(EncodingType encodingType,
::std::shared_ptr<DigitalSource> upSource,
::std::shared_ptr<DigitalSource> downSource, bool inverted)
: Counter(kExternalDirection) {
if (encodingType != k1X && encodingType != k2X) {
wpi_setWPIErrorWithContext(
ParameterOutOfRange,
@@ -148,14 +163,6 @@ Counter::Counter(EncodingType encodingType, DigitalSource *upSource,
*/
Counter::~Counter() {
SetUpdateWhenEmpty(true);
if (m_allocatedUpSource) {
delete m_upSource;
m_upSource = nullptr;
}
if (m_allocatedDownSource) {
delete m_downSource;
m_downSource = nullptr;
}
int32_t status = 0;
freeCounter(m_counter, &status);
@@ -170,8 +177,7 @@ Counter::~Counter() {
*/
void Counter::SetUpSource(int32_t channel) {
if (StatusIsFatal()) return;
SetUpSource(new DigitalInput(channel));
m_allocatedUpSource = true;
SetUpSource(::std::make_shared<DigitalInput>(channel));
}
/**
@@ -181,9 +187,9 @@ void Counter::SetUpSource(int32_t channel) {
*/
void Counter::SetUpSource(AnalogTrigger *analogTrigger,
AnalogTriggerType triggerType) {
if (StatusIsFatal()) return;
SetUpSource(analogTrigger->CreateOutput(triggerType));
m_allocatedUpSource = true;
SetUpSource(::std::shared_ptr<AnalogTrigger>(analogTrigger,
NullDeleter<AnalogTrigger>()),
triggerType);
}
/**
@@ -191,9 +197,10 @@ void Counter::SetUpSource(AnalogTrigger *analogTrigger,
* @param analogTrigger The analog trigger object that is used for the Up Source
* @param triggerType The analog trigger output that will trigger the counter.
*/
void Counter::SetUpSource(AnalogTrigger &analogTrigger,
void Counter::SetUpSource(::std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType) {
SetUpSource(&analogTrigger, triggerType);
if (StatusIsFatal()) return;
SetUpSource(analogTrigger->CreateOutput(triggerType));
}
/**
@@ -201,16 +208,11 @@ void Counter::SetUpSource(AnalogTrigger &analogTrigger,
* Set the up counting DigitalSource.
* @param source Pointer to the DigitalSource object to set as the up source
*/
void Counter::SetUpSource(DigitalSource *source) {
void Counter::SetUpSource(::std::shared_ptr<DigitalSource> source) {
if (StatusIsFatal()) return;
if (m_allocatedUpSource) {
delete m_upSource;
m_upSource = nullptr;
m_allocatedUpSource = false;
}
m_upSource = source;
if (m_upSource->StatusIsFatal()) {
CloneError(m_upSource);
CloneError(*m_upSource);
} else {
int32_t status = 0;
setCounterUpSource(m_counter, source->GetChannelForRouting(),
@@ -219,12 +221,20 @@ void Counter::SetUpSource(DigitalSource *source) {
}
}
void Counter::SetUpSource(DigitalSource *source) {
SetUpSource(
::std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
}
/**
* Set the source object that causes the counter to count up.
* Set the up counting DigitalSource.
* @param source Reference to the DigitalSource object to set as the up source
*/
void Counter::SetUpSource(DigitalSource &source) { SetUpSource(&source); }
void Counter::SetUpSource(DigitalSource &source) {
SetUpSource(
::std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
}
/**
* Set the edge sensitivity on an up counting source.
@@ -249,11 +259,7 @@ void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
*/
void Counter::ClearUpSource() {
if (StatusIsFatal()) return;
if (m_allocatedUpSource) {
delete m_upSource;
m_upSource = nullptr;
m_allocatedUpSource = false;
}
m_upSource.reset();
int32_t status = 0;
clearCounterUpSource(m_counter, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -266,8 +272,7 @@ void Counter::ClearUpSource() {
*/
void Counter::SetDownSource(int32_t channel) {
if (StatusIsFatal()) return;
SetDownSource(new DigitalInput(channel));
m_allocatedDownSource = true;
SetDownSource(::std::make_shared<DigitalInput>(channel));
}
/**
@@ -278,9 +283,7 @@ void Counter::SetDownSource(int32_t channel) {
*/
void Counter::SetDownSource(AnalogTrigger *analogTrigger,
AnalogTriggerType triggerType) {
if (StatusIsFatal()) return;
SetDownSource(analogTrigger->CreateOutput(triggerType));
m_allocatedDownSource = true;
SetDownSource(::std::shared_ptr<AnalogTrigger>(analogTrigger, NullDeleter<AnalogTrigger>()), triggerType);
}
/**
@@ -289,9 +292,10 @@ void Counter::SetDownSource(AnalogTrigger *analogTrigger,
* Source
* @param triggerType The analog trigger output that will trigger the counter.
*/
void Counter::SetDownSource(AnalogTrigger &analogTrigger,
void Counter::SetDownSource(::std::shared_ptr<AnalogTrigger> analogTrigger,
AnalogTriggerType triggerType) {
SetDownSource(&analogTrigger, triggerType);
if (StatusIsFatal()) return;
SetDownSource(analogTrigger->CreateOutput(triggerType));
}
/**
@@ -299,16 +303,11 @@ void Counter::SetDownSource(AnalogTrigger &analogTrigger,
* Set the down counting DigitalSource.
* @param source Pointer to the DigitalSource object to set as the down source
*/
void Counter::SetDownSource(DigitalSource *source) {
void Counter::SetDownSource(::std::shared_ptr<DigitalSource> source) {
if (StatusIsFatal()) return;
if (m_allocatedDownSource) {
delete m_downSource;
m_downSource = nullptr;
m_allocatedDownSource = false;
}
m_downSource = source;
if (m_downSource->StatusIsFatal()) {
CloneError(m_downSource);
CloneError(*m_downSource);
} else {
int32_t status = 0;
setCounterDownSource(m_counter, source->GetChannelForRouting(),
@@ -317,12 +316,18 @@ void Counter::SetDownSource(DigitalSource *source) {
}
}
void Counter::SetDownSource(DigitalSource *source) {
SetDownSource(::std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
}
/**
* Set the source object that causes the counter to count down.
* Set the down counting DigitalSource.
* @param source Reference to the DigitalSource object to set as the down source
*/
void Counter::SetDownSource(DigitalSource &source) { SetDownSource(&source); }
void Counter::SetDownSource(DigitalSource &source) {
SetDownSource(::std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
}
/**
* Set the edge sensitivity on a down counting source.
@@ -347,11 +352,7 @@ void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
*/
void Counter::ClearDownSource() {
if (StatusIsFatal()) return;
if (m_allocatedDownSource) {
delete m_downSource;
m_downSource = nullptr;
m_allocatedDownSource = false;
}
m_downSource.reset();
int32_t status = 0;
clearCounterDownSource(m_counter, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
@@ -581,9 +582,9 @@ void Counter::StopLiveWindowMode() {}
std::string Counter::GetSmartDashboardType() const { return "Counter"; }
void Counter::InitTable(ITable *subTable) {
void Counter::InitTable(::std::shared_ptr<ITable> subTable) {
m_table = subTable;
UpdateTable();
}
ITable *Counter::GetTable() const { return m_table; }
::std::shared_ptr<ITable> Counter::GetTable() const { return m_table; }