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Improve const correctness.

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See https://usfirst.collab.net/sf/tracker/do/viewArtifact/projects.wpilib/tracker.4_defects/artf4148

Change-Id: I47b0d5a91fd49e47e2c7348b0705e998ec815682
This commit is contained in:
Tyler Veness
2015-06-19 17:23:54 -07:00
parent c6b790cadd
commit 5598445a67
172 changed files with 1165 additions and 1140 deletions
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79
wpilibc/wpilibC++Devices/src/CANJaguar.cpp
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@@ -374,7 +374,7 @@ void CANJaguar::Set(float outputValue, uint8_t syncGroup)
*
* @return The most recently set outputValue setpoint.
*/
float CANJaguar::Get()
float CANJaguar::Get() const
{
return m_value;
}
@@ -441,34 +441,34 @@ uint8_t CANJaguar::packint32_t(uint8_t *buffer, int32_t value)
return sizeof(int32_t);
}
double CANJaguar::unpackPercentage(uint8_t *buffer)
double CANJaguar::unpackPercentage(uint8_t *buffer) const
{
int16_t value = *((int16_t*)buffer);
value = swap16(value);
return value / 32767.0;
}
double CANJaguar::unpackFXP8_8(uint8_t *buffer)
double CANJaguar::unpackFXP8_8(uint8_t *buffer) const
{
int16_t value = *((int16_t*)buffer);
value = swap16(value);
return value / 256.0;
}
double CANJaguar::unpackFXP16_16(uint8_t *buffer)
double CANJaguar::unpackFXP16_16(uint8_t *buffer) const
{
int32_t value = *((int32_t*)buffer);
value = swap32(value);
return value / 65536.0;
}
int16_t CANJaguar::unpackint16_t(uint8_t *buffer)
int16_t CANJaguar::unpackint16_t(uint8_t *buffer) const
{
int16_t value = *((int16_t*)buffer);
return swap16(value);
}
int32_t CANJaguar::unpackint32_t(uint8_t *buffer)
int32_t CANJaguar::unpackint32_t(uint8_t *buffer) const
{
int32_t value = *((int32_t*)buffer);
return swap32(value);
@@ -516,7 +516,7 @@ void CANJaguar::requestMessage(uint32_t messageID, int32_t period)
*
* @return true if the message was found. Otherwise, no new message is available.
*/
bool CANJaguar::getMessage(uint32_t messageID, uint32_t messageMask, uint8_t *data, uint8_t *dataSize)
bool CANJaguar::getMessage(uint32_t messageID, uint32_t messageMask, uint8_t *data, uint8_t *dataSize) const
{
uint32_t targetedMessageID = messageID | m_deviceNumber;
int32_t status = 0;
@@ -580,33 +580,39 @@ void CANJaguar::setupPeriodicStatus() {
/**
* Check for new periodic status updates and unpack them into local variables
*/
void CANJaguar::updatePeriodicStatus() {
void CANJaguar::updatePeriodicStatus() const {
uint8_t data[8];
uint8_t dataSize;
// Check if a new bus voltage/output voltage/current/temperature message
// has arrived and unpack the values into the cached member variables
if(getMessage(LM_API_PSTAT_DATA_S0, CAN_MSGID_FULL_M, data, &dataSize)) {
m_mutex.lock();
m_busVoltage = unpackFXP8_8(data);
m_outputVoltage = unpackPercentage(data + 2) * m_busVoltage;
m_outputCurrent = unpackFXP8_8(data + 4);
m_temperature = unpackFXP8_8(data + 6);
m_mutex.unlock();
m_receivedStatusMessage0 = true;
}
// Check if a new position/speed message has arrived and do the same
if(getMessage(LM_API_PSTAT_DATA_S1, CAN_MSGID_FULL_M, data, &dataSize)) {
m_mutex.lock();
m_position = unpackFXP16_16(data);
m_speed = unpackFXP16_16(data + 4);
m_mutex.unlock();
m_receivedStatusMessage1 = true;
}
// Check if a new limits/faults message has arrived and do the same
if(getMessage(LM_API_PSTAT_DATA_S2, CAN_MSGID_FULL_M, data, &dataSize)) {
m_mutex.lock();
m_limits = data[0];
m_faults = data[1];
m_mutex.unlock();
m_receivedStatusMessage2 = true;
}
@@ -1094,7 +1100,7 @@ void CANJaguar::SetSpeedReference(uint8_t reference)
* @return A speed reference indicating the currently selected reference device
* for speed controller mode.
*/
uint8_t CANJaguar::GetSpeedReference()
uint8_t CANJaguar::GetSpeedReference() const
{
return m_speedReference;
}
@@ -1124,7 +1130,7 @@ void CANJaguar::SetPositionReference(uint8_t reference)
*
* @return A PositionReference indicating the currently selected reference device for position controller mode.
*/
uint8_t CANJaguar::GetPositionReference()
uint8_t CANJaguar::GetPositionReference() const
{
return m_positionReference;
}
@@ -1253,7 +1259,7 @@ void CANJaguar::SetD(double d)
*
* @return The proportional gain.
*/
double CANJaguar::GetP()
double CANJaguar::GetP() const
{
if(m_controlMode == kPercentVbus || m_controlMode == kVoltage)
{
@@ -1269,7 +1275,7 @@ double CANJaguar::GetP()
*
* @return The integral gain.
*/
double CANJaguar::GetI()
double CANJaguar::GetI() const
{
if(m_controlMode == kPercentVbus || m_controlMode == kVoltage)
{
@@ -1285,7 +1291,7 @@ double CANJaguar::GetI()
*
* @return The differential gain.
*/
double CANJaguar::GetD()
double CANJaguar::GetD() const
{
if(m_controlMode == kPercentVbus || m_controlMode == kVoltage)
{
@@ -1659,7 +1665,7 @@ void CANJaguar::SetControlMode(ControlMode controlMode)
*
* @return ControlMode that the Jag is in.
*/
CANJaguar::ControlMode CANJaguar::GetControlMode()
CANJaguar::ControlMode CANJaguar::GetControlMode() const
{
return m_controlMode;
}
@@ -1669,9 +1675,10 @@ CANJaguar::ControlMode CANJaguar::GetControlMode()
*
* @return The bus voltage in volts.
*/
float CANJaguar::GetBusVoltage()
float CANJaguar::GetBusVoltage() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_busVoltage;
}
@@ -1681,9 +1688,10 @@ float CANJaguar::GetBusVoltage()
*
* @return The output voltage in volts.
*/
float CANJaguar::GetOutputVoltage()
float CANJaguar::GetOutputVoltage() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_outputVoltage;
}
@@ -1693,9 +1701,10 @@ float CANJaguar::GetOutputVoltage()
*
* @return The output current in amps.
*/
float CANJaguar::GetOutputCurrent()
float CANJaguar::GetOutputCurrent() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_outputCurrent;
}
@@ -1705,9 +1714,10 @@ float CANJaguar::GetOutputCurrent()
*
* @return The temperature of the Jaguar in degrees Celsius.
*/
float CANJaguar::GetTemperature()
float CANJaguar::GetTemperature() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_temperature;
}
@@ -1719,9 +1729,10 @@ float CANJaguar::GetTemperature()
* @see CANJaguar#ConfigPotentiometerTurns(int)
* @see CANJaguar#ConfigEncoderCodesPerRev(int)
*/
double CANJaguar::GetPosition()
double CANJaguar::GetPosition() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_position;
}
@@ -1731,9 +1742,10 @@ double CANJaguar::GetPosition()
*
* @return The speed of the motor in RPM based on the configured feedback.
*/
double CANJaguar::GetSpeed()
double CANJaguar::GetSpeed() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_speed;
}
@@ -1743,9 +1755,10 @@ double CANJaguar::GetSpeed()
*
* @return The motor is allowed to turn in the forward direction when true.
*/
bool CANJaguar::GetForwardLimitOK()
bool CANJaguar::GetForwardLimitOK() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_limits & kForwardLimit;
}
@@ -1755,9 +1768,10 @@ bool CANJaguar::GetForwardLimitOK()
*
* @return The motor is allowed to turn in the reverse direction when true.
*/
bool CANJaguar::GetReverseLimitOK()
bool CANJaguar::GetReverseLimitOK() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_limits & kReverseLimit;
}
@@ -1771,9 +1785,10 @@ bool CANJaguar::GetReverseLimitOK()
* @see #kTemperatureFault
* @see #kGateDriverFault
*/
uint16_t CANJaguar::GetFaults()
uint16_t CANJaguar::GetFaults() const
{
updatePeriodicStatus();
std::lock_guard<std::recursive_mutex> lock(m_mutex);
return m_faults;
}
@@ -1818,7 +1833,7 @@ void CANJaguar::SetVoltageRampRate(double rampRate)
*
* @return The firmware version. 0 if the device did not respond.
*/
uint32_t CANJaguar::GetFirmwareVersion()
uint32_t CANJaguar::GetFirmwareVersion() const
{
return m_firmwareVersion;
}
@@ -1828,7 +1843,7 @@ uint32_t CANJaguar::GetFirmwareVersion()
*
* @return The hardware version. 1: Jaguar, 2: Black Jaguar
*/
uint8_t CANJaguar::GetHardwareVersion()
uint8_t CANJaguar::GetHardwareVersion() const
{
return m_hardwareVersion;
}
@@ -2030,19 +2045,19 @@ void CANJaguar::SetExpiration(float timeout)
if (m_safetyHelper) m_safetyHelper->SetExpiration(timeout);
}
float CANJaguar::GetExpiration()
float CANJaguar::GetExpiration() const
{
if (!m_safetyHelper) return 0.0;
return m_safetyHelper->GetExpiration();
}
bool CANJaguar::IsAlive()
bool CANJaguar::IsAlive() const
{
if (!m_safetyHelper) return false;
return m_safetyHelper->IsAlive();
}
bool CANJaguar::IsSafetyEnabled()
bool CANJaguar::IsSafetyEnabled() const
{
if (!m_safetyHelper) return false;
return m_safetyHelper->IsSafetyEnabled();
@@ -2053,12 +2068,12 @@ void CANJaguar::SetSafetyEnabled(bool enabled)
if (m_safetyHelper) m_safetyHelper->SetSafetyEnabled(enabled);
}
void CANJaguar::GetDescription(char *desc)
void CANJaguar::GetDescription(char *desc) const
{
sprintf(desc, "CANJaguar ID %d", m_deviceNumber);
}
uint8_t CANJaguar::GetDeviceID()
uint8_t CANJaguar::GetDeviceID() const
{
return m_deviceNumber;
}
@@ -2103,7 +2118,7 @@ void CANJaguar::StopLiveWindowMode()
}
}
std::string CANJaguar::GetSmartDashboardType()
std::string CANJaguar::GetSmartDashboardType() const
{
return "Speed Controller";
}
@@ -2114,7 +2129,7 @@ void CANJaguar::InitTable(ITable *subTable)
UpdateTable();
}
ITable * CANJaguar::GetTable()
ITable * CANJaguar::GetTable() const
{
return m_table;
}