From 614eb1db18f4fae285d75300ffa5be701dc04c5c Mon Sep 17 00:00:00 2001 From: Peter Johnson Date: Fri, 13 Mar 2026 00:02:12 -0700 Subject: [PATCH] [hal,wpilib] Rename CAN device and manufacturer types to all caps --- .../org/wpilib/hardware/hal/CANAPITypes.java | 72 +++++++++--------- .../main/native/include/wpi/hal/CANAPITypes.h | 76 +++++++++---------- hal/src/main/native/sim/PowerDistribution.cpp | 4 +- hal/src/main/native/systemcore/CTREPCM.cpp | 4 +- hal/src/main/native/systemcore/CTREPDP.cpp | 4 +- hal/src/main/native/systemcore/REVPDH.cpp | 4 +- hal/src/main/native/systemcore/REVPH.cpp | 4 +- hal/src/test/native/cpp/can/CANTest.cpp | 8 +- .../native/include/wpi/hardware/bus/CAN.hpp | 4 +- .../java/org/wpilib/hardware/bus/CAN.java | 4 +- 10 files changed, 92 insertions(+), 92 deletions(-) diff --git a/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java b/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java index 97d6c48ed2..df13e5c67f 100644 --- a/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java +++ b/hal/src/main/java/org/wpilib/hardware/hal/CANAPITypes.java @@ -24,35 +24,35 @@ public final class CANAPITypes { */ public enum CANDeviceType { /** Broadcast. */ - kBroadcast(0), + BROADCAST(0), /** Robot controller. */ - kRobotController(1), + ROBOT_CONTROLLER(1), /** Motor controller. */ - kMotorController(2), + MOTOR_CONTROLLER(2), /** Relay controller. */ - kRelayController(3), + RELAY_CONTROLLER(3), /** Gyro sensor. */ - kGyroSensor(4), + GYRO_SENSOR(4), /** Accelerometer. */ - kAccelerometer(5), + ACCELEROMETER(5), /** Distance sensor. */ - kDistanceSensor(6), + DISTANCE_SENSOR(6), /** Encoder. */ - kEncoder(7), + ENCODER(7), /** Power distribution. */ - kPowerDistribution(8), + POWER_DISTRIBUTION(8), /** Pneumatics. */ - kPneumatics(9), + PNEUMATICS(9), /** Miscellaneous. */ - kMiscellaneous(10), + MISCELLANEOUS(10), /** IO breakout. */ - kIOBreakout(11), + IO_BREAKOUT(11), /** Servo Controller. */ - kServoController(12), + SERVO_CONTROLLER(12), /** Color Sensor. */ - kColorSensor(13), + COLOR_SENSOR(13), /** Firmware update. */ - kFirmwareUpdate(31); + FIRMWARE_UPDATE(31); /** The device type ID. */ @SuppressWarnings("MemberName") @@ -75,47 +75,47 @@ public final class CANAPITypes { */ public enum CANManufacturer { /** Broadcast. */ - kBroadcast(0), + BROADCAST(0), /** National Instruments. */ - kNI(1), + NI(1), /** Luminary Micro. */ - kLM(2), + LM(2), /** DEKA Research and Development Corp. */ - kDEKA(3), + DEKA(3), /** Cross the Road Electronics. */ - kCTRE(4), + CTRE(4), /** REV Robotics. */ - kREV(5), + REV(5), /** Grapple. */ - kGrapple(6), + GRAPPLE(6), /** MindSensors. */ - kMS(7), + MS(7), /** Team use. */ - kTeamUse(8), + TEAM_USE(8), /** Kauai Labs. */ - kKauaiLabs(9), + KAUAI_LABS(9), /** Copperforge. */ - kCopperforge(10), + COPPERFORGE(10), /** Playing With Fusion. */ - kPWF(11), + PWF(11), /** Studica. */ - kStudica(12), + STUDICA(12), /** TheThriftyBot. */ - kTheThriftyBot(13), + THRIFTYBOT(13), /** Redux Robotics. */ - kReduxRobotics(14), + REDUX_ROBOTICS(14), /** AndyMark. */ - kAndyMark(15), + ANDYMARK(15), /** Vivid-Hosting. */ - kVividHosting(16), + VIVID_HOSTING(16), /** Vertos Robotics. */ - kVertosRobotics(17), + VERTOS_ROBOTICS(17), /** SWYFT Robotics. */ - kSWYFTRobotics(18), + SWYFT_ROBOTICS(18), /** Lumyn Labs. */ - kLumynLabs(19), + LUMYN_LABS(19), /** Brushland Labs. */ - kBrushlandLabs(20); + BRUSHLAND_LABS(20); /** The manufacturer ID. */ @SuppressWarnings("MemberName") diff --git a/hal/src/main/native/include/wpi/hal/CANAPITypes.h b/hal/src/main/native/include/wpi/hal/CANAPITypes.h index 15e95c9bb2..e8eb180d42 100644 --- a/hal/src/main/native/include/wpi/hal/CANAPITypes.h +++ b/hal/src/main/native/include/wpi/hal/CANAPITypes.h @@ -17,89 +17,89 @@ /** * The CAN device type. * - * Teams should use HAL_CAN_Dev_kMiscellaneous + * Teams should use HAL_CAN_DEV_MISCELLANEOUS */ HAL_ENUM(HAL_CANDeviceType) { /// Broadcast. - HAL_CAN_Dev_kBroadcast = 0, + HAL_CAN_DEV_BROADCAST = 0, /// Robot controller. - HAL_CAN_Dev_kRobotController = 1, + HAL_CAN_DEV_ROBOT_CONTROLLER = 1, /// Motor controller. - HAL_CAN_Dev_kMotorController = 2, + HAL_CAN_DEV_MOTOR_CONTROLLER = 2, /// Relay controller. - HAL_CAN_Dev_kRelayController = 3, + HAL_CAN_DEV_RELAY_CONTROLLER = 3, /// Gyro sensor. - HAL_CAN_Dev_kGyroSensor = 4, + HAL_CAN_DEV_GYRO_SENSOR = 4, /// Accelerometer. - HAL_CAN_Dev_kAccelerometer = 5, + HAL_CAN_DEV_ACCELEROMETER = 5, /// Distance sensor. - HAL_CAN_Dev_kDistanceSensor = 6, + HAL_CAN_DEV_DISTANCE_SENSOR = 6, /// Encoder. - HAL_CAN_Dev_kEncoder = 7, + HAL_CAN_DEV_ENCODER = 7, /// Power distribution. - HAL_CAN_Dev_kPowerDistribution = 8, + HAL_CAN_DEV_POWER_DISTRIBUTION = 8, /// Pneumatics. - HAL_CAN_Dev_kPneumatics = 9, + HAL_CAN_DEV_PNEUMATICS = 9, /// Miscellaneous. - HAL_CAN_Dev_kMiscellaneous = 10, + HAL_CAN_DEV_MISCELLANEOUS = 10, /// IO breakout. - HAL_CAN_Dev_kIOBreakout = 11, + HAL_CAN_DEV_IO_BREAKOUT = 11, /// Servo controller. - HAL_CAN_Dev_kServoController = 12, + HAL_CAN_DEV_SERVO_CONTROLLER = 12, /// Color Sensor. - HAL_CAN_Dev_ColorSensor = 13, + HAL_CAN_DEV_COLOR_SENSOR = 13, /// Firmware update. - HAL_CAN_Dev_kFirmwareUpdate = 31 + HAL_CAN_DEV_FIRMWARE_UPDATE = 31 }; /** * The CAN manufacturer ID. * - * Teams should use HAL_CAN_Man_kTeamUse. + * Teams should use HAL_CAN_MAN_TEAM_USE. */ HAL_ENUM(HAL_CANManufacturer) { /// Broadcast. - HAL_CAN_Man_kBroadcast = 0, + HAL_CAN_MAN_BROADCAST = 0, /// National Instruments. - HAL_CAN_Man_kNI = 1, + HAL_CAN_MAN_NI = 1, /// Luminary Micro. - HAL_CAN_Man_kLM = 2, + HAL_CAN_MAN_LM = 2, /// DEKA Research and Development Corp. - HAL_CAN_Man_kDEKA = 3, + HAL_CAN_MAN_DEKA = 3, /// Cross the Road Electronics. - HAL_CAN_Man_kCTRE = 4, + HAL_CAN_MAN_CTRE = 4, /// REV robotics. - HAL_CAN_Man_kREV = 5, + HAL_CAN_MAN_REV = 5, /// Grapple. - HAL_CAN_Man_kGrapple = 6, + HAL_CAN_MAN_GRAPPLE = 6, /// MindSensors. - HAL_CAN_Man_kMS = 7, + HAL_CAN_MAN_MS = 7, /// Team use. - HAL_CAN_Man_kTeamUse = 8, + HAL_CAN_MAN_TEAM_USE = 8, /// Kauai Labs. - HAL_CAN_Man_kKauaiLabs = 9, + HAL_CAN_MAN_KAUAI_LABS = 9, /// Copperforge. - HAL_CAN_Man_kCopperforge = 10, + HAL_CAN_MAN_COPPERFORGE = 10, /// Playing With Fusion. - HAL_CAN_Man_kPWF = 11, + HAL_CAN_MAN_PWF = 11, /// Studica. - HAL_CAN_Man_kStudica = 12, + HAL_CAN_MAN_STUDICA = 12, /// TheThriftyBot. - HAL_CAN_Man_kTheThriftyBot = 13, + HAL_CAN_MAN_THRIFTYBOT = 13, /// Redux Robotics. - HAL_CAN_Man_kReduxRobotics = 14, + HAL_CAN_MAN_REDUX_ROBOTICS = 14, /// AndyMark. - HAL_CAN_Man_kAndyMark = 15, + HAL_CAN_MAN_ANDYMARK = 15, /// Vivid-Hosting. - HAL_CAN_Man_kVividHosting = 16, + HAL_CAN_MAN_VIVID_HOSTING = 16, /// Vertos Robotics. - HAL_CAN_Man_kVertosRobotics = 17, + HAL_CAN_MAN_VERTOS_ROBOTICS = 17, /// SWYFT Robotics. - HAL_CAN_Man_kSWYFTRobotics = 18, + HAL_CAN_MAN_SWYFT_ROBOTICS = 18, /// Lumyn Labs. - HAL_CAN_Man_kLumynLabs = 19, + HAL_CAN_MAN_LUMYN_LABS = 19, /// Brushland Labs - HAL_CAN_Man_kBrushlandLabs = 20 + HAL_CAN_MAN_BRUSHLAND_LABS = 20 }; /** diff --git a/hal/src/main/native/sim/PowerDistribution.cpp b/hal/src/main/native/sim/PowerDistribution.cpp index 5aac878c32..71d16d1e9a 100644 --- a/hal/src/main/native/sim/PowerDistribution.cpp +++ b/hal/src/main/native/sim/PowerDistribution.cpp @@ -17,10 +17,10 @@ using namespace wpi::hal; static constexpr HAL_CANManufacturer manufacturer = - HAL_CANManufacturer::HAL_CAN_Man_kCTRE; + HAL_CANManufacturer::HAL_CAN_MAN_CTRE; static constexpr HAL_CANDeviceType deviceType = - HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution; + HAL_CANDeviceType::HAL_CAN_DEV_POWER_DISTRIBUTION; namespace wpi::hal::init { void InitializePowerDistribution() {} diff --git a/hal/src/main/native/systemcore/CTREPCM.cpp b/hal/src/main/native/systemcore/CTREPCM.cpp index 483333bf45..c184a78802 100644 --- a/hal/src/main/native/systemcore/CTREPCM.cpp +++ b/hal/src/main/native/systemcore/CTREPCM.cpp @@ -18,10 +18,10 @@ using namespace wpi::hal; static constexpr HAL_CANManufacturer manufacturer = - HAL_CANManufacturer::HAL_CAN_Man_kCTRE; + HAL_CANManufacturer::HAL_CAN_MAN_CTRE; static constexpr HAL_CANDeviceType deviceType = - HAL_CANDeviceType::HAL_CAN_Dev_kPneumatics; + HAL_CANDeviceType::HAL_CAN_DEV_PNEUMATICS; static constexpr int32_t Status1 = 0x50; static constexpr int32_t StatusSolFaults = 0x51; diff --git a/hal/src/main/native/systemcore/CTREPDP.cpp b/hal/src/main/native/systemcore/CTREPDP.cpp index 2fae19a546..32adb3c6c9 100644 --- a/hal/src/main/native/systemcore/CTREPDP.cpp +++ b/hal/src/main/native/systemcore/CTREPDP.cpp @@ -19,10 +19,10 @@ using namespace wpi::hal; static constexpr HAL_CANManufacturer manufacturer = - HAL_CANManufacturer::HAL_CAN_Man_kCTRE; + HAL_CANManufacturer::HAL_CAN_MAN_CTRE; static constexpr HAL_CANDeviceType deviceType = - HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution; + HAL_CANDeviceType::HAL_CAN_DEV_POWER_DISTRIBUTION; static constexpr int32_t Status1 = 0x50; static constexpr int32_t Status2 = 0x51; diff --git a/hal/src/main/native/systemcore/REVPDH.cpp b/hal/src/main/native/systemcore/REVPDH.cpp index 11f4370e94..e3f6b8f162 100644 --- a/hal/src/main/native/systemcore/REVPDH.cpp +++ b/hal/src/main/native/systemcore/REVPDH.cpp @@ -24,10 +24,10 @@ using namespace wpi::hal; static constexpr HAL_CANManufacturer manufacturer = - HAL_CANManufacturer::HAL_CAN_Man_kREV; + HAL_CANManufacturer::HAL_CAN_MAN_REV; static constexpr HAL_CANDeviceType deviceType = - HAL_CANDeviceType::HAL_CAN_Dev_kPowerDistribution; + HAL_CANDeviceType::HAL_CAN_DEV_POWER_DISTRIBUTION; static constexpr int32_t kDefaultControlPeriod = 50; diff --git a/hal/src/main/native/systemcore/REVPH.cpp b/hal/src/main/native/systemcore/REVPH.cpp index d65bfcc6b3..01772b8577 100644 --- a/hal/src/main/native/systemcore/REVPH.cpp +++ b/hal/src/main/native/systemcore/REVPH.cpp @@ -20,10 +20,10 @@ using namespace wpi::hal; static constexpr HAL_CANManufacturer manufacturer = - HAL_CANManufacturer::HAL_CAN_Man_kREV; + HAL_CANManufacturer::HAL_CAN_MAN_REV; static constexpr HAL_CANDeviceType deviceType = - HAL_CANDeviceType::HAL_CAN_Dev_kPneumatics; + HAL_CANDeviceType::HAL_CAN_DEV_PNEUMATICS; static constexpr int32_t kDefaultControlPeriod = 20; static constexpr uint8_t kDefaultCompressorDuty = 255; diff --git a/hal/src/test/native/cpp/can/CANTest.cpp b/hal/src/test/native/cpp/can/CANTest.cpp index 4b520630ac..f8a3a2f482 100644 --- a/hal/src/test/native/cpp/can/CANTest.cpp +++ b/hal/src/test/native/cpp/can/CANTest.cpp @@ -15,8 +15,8 @@ struct CANTestStore { CANTestStore(int32_t busId, int32_t deviceId, int32_t* status) { this->deviceId = deviceId; handle = HAL_InitializeCAN( - busId, HAL_CANManufacturer::HAL_CAN_Man_kTeamUse, deviceId, - HAL_CANDeviceType::HAL_CAN_Dev_kMiscellaneous, status); + busId, HAL_CANManufacturer::HAL_CAN_MAN_TEAM_USE, deviceId, + HAL_CANDeviceType::HAL_CAN_DEV_MISCELLANEOUS, status); } ~CANTestStore() { @@ -78,9 +78,9 @@ TEST(CANTest, CanIdPacking) { ASSERT_EQ(deviceId, storePair.first & 0x3F); ASSERT_EQ(apiId, (storePair.first & 0x0000FFC0) >> 6); - ASSERT_EQ(static_cast(HAL_CANManufacturer::HAL_CAN_Man_kTeamUse), + ASSERT_EQ(static_cast(HAL_CANManufacturer::HAL_CAN_MAN_TEAM_USE), (storePair.first & 0x00FF0000) >> 16); - ASSERT_EQ(static_cast(HAL_CANDeviceType::HAL_CAN_Dev_kMiscellaneous), + ASSERT_EQ(static_cast(HAL_CANDeviceType::HAL_CAN_DEV_MISCELLANEOUS), (storePair.first & 0x1F000000) >> 24); } } // namespace wpi::hal diff --git a/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp b/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp index 2fc0ce79ed..459bd4941f 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/bus/CAN.hpp @@ -148,11 +148,11 @@ class CAN { bool ReadPacketTimeout(int apiId, int timeoutMs, HAL_CANReceiveMessage* data); /// Team manufacturer. - static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_Man_kTeamUse; + static constexpr HAL_CANManufacturer kTeamManufacturer = HAL_CAN_MAN_TEAM_USE; /// Team device type. static constexpr HAL_CANDeviceType kTeamDeviceType = - HAL_CAN_Dev_kMiscellaneous; + HAL_CAN_DEV_MISCELLANEOUS; private: wpi::hal::Handle m_handle; diff --git a/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java b/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java index c297b11b38..bd59345d4d 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/bus/CAN.java @@ -22,10 +22,10 @@ import org.wpilib.hardware.hal.can.CANReceiveMessage; */ public class CAN implements Closeable { /** Team manufacturer. */ - public static final int kTeamManufacturer = CANAPITypes.CANManufacturer.kTeamUse.id; + public static final int kTeamManufacturer = CANAPITypes.CANManufacturer.TEAM_USE.id; /** Team device type. */ - public static final int kTeamDeviceType = CANAPITypes.CANDeviceType.kMiscellaneous.id; + public static final int kTeamDeviceType = CANAPITypes.CANDeviceType.MISCELLANEOUS.id; private final int m_handle;