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Use wpi::span instead of wpi::ArrayRef across all libraries (#3414)

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- Remove ArrayRef.h
- Add SpanExtras.h for a couple of convenience functions
This commit is contained in:
Peter Johnson
2021-06-06 19:51:14 -07:00
committed by GitHub
parent 2abbbd9e70
commit 64f5413253
167 changed files with 974 additions and 1433 deletions
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2
wpilibc/src/main/native/cpp/AddressableLED.cpp
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@@ -51,7 +51,7 @@ void AddressableLED::SetLength(int length) {
static_assert(sizeof(AddressableLED::LEDData) == sizeof(HAL_AddressableLEDData),
"LED Structs MUST be the same size");
void AddressableLED::SetData(wpi::ArrayRef<LEDData> ledData) {
void AddressableLED::SetData(wpi::span<const LEDData> ledData) {
int32_t status = 0;
HAL_WriteAddressableLEDData(m_handle, ledData.begin(), ledData.size(),
&status);

3
wpilibc/src/main/native/cpp/SPI.cpp
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@@ -260,7 +260,8 @@ void SPI::FreeAuto() {
FRC_CheckErrorStatus(status, "Port {}", m_port);
}
void SPI::SetAutoTransmitData(wpi::ArrayRef<uint8_t> dataToSend, int zeroSize) {
void SPI::SetAutoTransmitData(wpi::span<const uint8_t> dataToSend,
int zeroSize) {
int32_t status = 0;
HAL_SetSPIAutoTransmitData(m_port, dataToSend.data(), dataToSend.size(),
zeroSize, &status);

2
wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp
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@@ -42,7 +42,7 @@ double RobotDriveBase::ApplyDeadband(double value, double deadband) {
}
}
void RobotDriveBase::Normalize(wpi::MutableArrayRef<double> wheelSpeeds) {
void RobotDriveBase::Normalize(wpi::span<double> wheelSpeeds) {
double maxMagnitude = std::abs(wheelSpeeds[0]);
for (size_t i = 1; i < wheelSpeeds.size(); i++) {
double temp = std::abs(wheelSpeeds[i]);

12
wpilibc/src/main/native/cpp/shuffleboard/ShuffleboardContainer.cpp
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@@ -110,17 +110,17 @@ SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
}
SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
wpi::ArrayRef<bool> defaultValue) {
wpi::span<const bool> defaultValue) {
return Add(title, nt::Value::MakeBooleanArray(defaultValue));
}
SimpleWidget& ShuffleboardContainer::Add(std::string_view title,
wpi::ArrayRef<double> defaultValue) {
wpi::span<const double> defaultValue) {
return Add(title, nt::Value::MakeDoubleArray(defaultValue));
}
SimpleWidget& ShuffleboardContainer::Add(
std::string_view title, wpi::ArrayRef<std::string> defaultValue) {
std::string_view title, wpi::span<const std::string> defaultValue) {
return Add(title, nt::Value::MakeStringArray(defaultValue));
}
@@ -254,17 +254,17 @@ SimpleWidget& ShuffleboardContainer::AddPersistent(
}
SimpleWidget& ShuffleboardContainer::AddPersistent(
std::string_view title, wpi::ArrayRef<bool> defaultValue) {
std::string_view title, wpi::span<const bool> defaultValue) {
return AddPersistent(title, nt::Value::MakeBooleanArray(defaultValue));
}
SimpleWidget& ShuffleboardContainer::AddPersistent(
std::string_view title, wpi::ArrayRef<double> defaultValue) {
std::string_view title, wpi::span<const double> defaultValue) {
return AddPersistent(title, nt::Value::MakeDoubleArray(defaultValue));
}
SimpleWidget& ShuffleboardContainer::AddPersistent(
std::string_view title, wpi::ArrayRef<std::string> defaultValue) {
std::string_view title, wpi::span<const std::string> defaultValue) {
return AddPersistent(title, nt::Value::MakeStringArray(defaultValue));
}

10
wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
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@@ -28,12 +28,12 @@ FieldObject2d& FieldObject2d::operator=(FieldObject2d&& rhs) {
}
void FieldObject2d::SetPose(const Pose2d& pose) {
SetPoses(wpi::makeArrayRef(pose));
SetPoses({pose});
}
void FieldObject2d::SetPose(units::meter_t x, units::meter_t y,
Rotation2d rotation) {
SetPoses(wpi::makeArrayRef(Pose2d{x, y, rotation}));
SetPoses({{x, y, rotation}});
}
Pose2d FieldObject2d::GetPose() const {
@@ -45,14 +45,14 @@ Pose2d FieldObject2d::GetPose() const {
return m_poses[0];
}
void FieldObject2d::SetPoses(wpi::ArrayRef<Pose2d> poses) {
void FieldObject2d::SetPoses(wpi::span<const Pose2d> poses) {
std::scoped_lock lock(m_mutex);
m_poses.assign(poses.begin(), poses.end());
UpdateEntry();
}
void FieldObject2d::SetPoses(std::initializer_list<Pose2d> poses) {
SetPoses(wpi::makeArrayRef(poses.begin(), poses.end()));
SetPoses({poses.begin(), poses.end()});
}
void FieldObject2d::SetTrajectory(const Trajectory& trajectory) {
@@ -71,7 +71,7 @@ std::vector<Pose2d> FieldObject2d::GetPoses() const {
return std::vector<Pose2d>(m_poses.begin(), m_poses.end());
}
wpi::ArrayRef<Pose2d> FieldObject2d::GetPoses(
wpi::span<const Pose2d> FieldObject2d::GetPoses(
wpi::SmallVectorImpl<Pose2d>& out) const {
std::scoped_lock lock(m_mutex);
UpdateFromEntry();

18
wpilibc/src/main/native/cpp/smartdashboard/SendableBuilderImpl.cpp
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@@ -177,7 +177,7 @@ void SendableBuilderImpl::AddStringProperty(
void SendableBuilderImpl::AddBooleanArrayProperty(
std::string_view key, std::function<std::vector<int>()> getter,
std::function<void(wpi::ArrayRef<int>)> setter) {
std::function<void(wpi::span<const int>)> setter) {
m_properties.emplace_back(*m_table, key);
if (getter) {
m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -203,7 +203,7 @@ void SendableBuilderImpl::AddBooleanArrayProperty(
void SendableBuilderImpl::AddDoubleArrayProperty(
std::string_view key, std::function<std::vector<double>()> getter,
std::function<void(wpi::ArrayRef<double>)> setter) {
std::function<void(wpi::span<const double>)> setter) {
m_properties.emplace_back(*m_table, key);
if (getter) {
m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -229,7 +229,7 @@ void SendableBuilderImpl::AddDoubleArrayProperty(
void SendableBuilderImpl::AddStringArrayProperty(
std::string_view key, std::function<std::vector<std::string>()> getter,
std::function<void(wpi::ArrayRef<std::string>)> setter) {
std::function<void(wpi::span<const std::string>)> setter) {
m_properties.emplace_back(*m_table, key);
if (getter) {
m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -331,8 +331,8 @@ void SendableBuilderImpl::AddSmallStringProperty(
void SendableBuilderImpl::AddSmallBooleanArrayProperty(
std::string_view key,
std::function<wpi::ArrayRef<int>(wpi::SmallVectorImpl<int>& buf)> getter,
std::function<void(wpi::ArrayRef<int>)> setter) {
std::function<wpi::span<const int>(wpi::SmallVectorImpl<int>& buf)> getter,
std::function<void(wpi::span<const int>)> setter) {
m_properties.emplace_back(*m_table, key);
if (getter) {
m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -359,9 +359,9 @@ void SendableBuilderImpl::AddSmallBooleanArrayProperty(
void SendableBuilderImpl::AddSmallDoubleArrayProperty(
std::string_view key,
std::function<wpi::ArrayRef<double>(wpi::SmallVectorImpl<double>& buf)>
std::function<wpi::span<const double>(wpi::SmallVectorImpl<double>& buf)>
getter,
std::function<void(wpi::ArrayRef<double>)> setter) {
std::function<void(wpi::span<const double>)> setter) {
m_properties.emplace_back(*m_table, key);
if (getter) {
m_properties.back().update = [=](nt::NetworkTableEntry entry,
@@ -389,9 +389,9 @@ void SendableBuilderImpl::AddSmallDoubleArrayProperty(
void SendableBuilderImpl::AddSmallStringArrayProperty(
std::string_view key,
std::function<
wpi::ArrayRef<std::string>(wpi::SmallVectorImpl<std::string>& buf)>
wpi::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
getter,
std::function<void(wpi::ArrayRef<std::string>)> setter) {
std::function<void(wpi::span<const std::string>)> setter) {
m_properties.emplace_back(*m_table, key);
if (getter) {
m_properties.back().update = [=](nt::NetworkTableEntry entry,

20
wpilibc/src/main/native/cpp/smartdashboard/SmartDashboard.cpp
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@@ -170,52 +170,52 @@ std::string SmartDashboard::GetString(std::string_view keyName,
}
bool SmartDashboard::PutBooleanArray(std::string_view key,
wpi::ArrayRef<int> value) {
wpi::span<const int> value) {
return Singleton::GetInstance().table->GetEntry(key).SetBooleanArray(value);
}
bool SmartDashboard::SetDefaultBooleanArray(std::string_view key,
wpi::ArrayRef<int> defaultValue) {
wpi::span<const int> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultBooleanArray(
defaultValue);
}
std::vector<int> SmartDashboard::GetBooleanArray(
std::string_view key, wpi::ArrayRef<int> defaultValue) {
std::string_view key, wpi::span<const int> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).GetBooleanArray(
defaultValue);
}
bool SmartDashboard::PutNumberArray(std::string_view key,
wpi::ArrayRef<double> value) {
wpi::span<const double> value) {
return Singleton::GetInstance().table->GetEntry(key).SetDoubleArray(value);
}
bool SmartDashboard::SetDefaultNumberArray(std::string_view key,
wpi::ArrayRef<double> defaultValue) {
bool SmartDashboard::SetDefaultNumberArray(
std::string_view key, wpi::span<const double> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultDoubleArray(
defaultValue);
}
std::vector<double> SmartDashboard::GetNumberArray(
std::string_view key, wpi::ArrayRef<double> defaultValue) {
std::string_view key, wpi::span<const double> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).GetDoubleArray(
defaultValue);
}
bool SmartDashboard::PutStringArray(std::string_view key,
wpi::ArrayRef<std::string> value) {
wpi::span<const std::string> value) {
return Singleton::GetInstance().table->GetEntry(key).SetStringArray(value);
}
bool SmartDashboard::SetDefaultStringArray(
std::string_view key, wpi::ArrayRef<std::string> defaultValue) {
std::string_view key, wpi::span<const std::string> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).SetDefaultStringArray(
defaultValue);
}
std::vector<std::string> SmartDashboard::GetStringArray(
std::string_view key, wpi::ArrayRef<std::string> defaultValue) {
std::string_view key, wpi::span<const std::string> defaultValue) {
return Singleton::GetInstance().table->GetEntry(key).GetStringArray(
defaultValue);
}