Ran format.py after writing unit tests for and fixing bugs in it (#239)

hal/include/HAL/HAL.h

@@ -38,10 +38,7 @@
 
 namespace HALUsageReporting = nUsageReporting;
 
-enum HAL_RuntimeType : int32_t {
-  HAL_Athena,
-  HAL_Mock
-};
+enum HAL_RuntimeType : int32_t { HAL_Athena, HAL_Mock };
 
 #ifdef __cplusplus
 extern "C" {

hal/include/HAL/cpp/priority_condition_variable.h

@@ -23,7 +23,7 @@
 #include "priority_mutex.h"
 
 class priority_condition_variable {
-  typedef std::chrono::system_clock clock_t;
+  typedef std::chrono::system_clock clock;
 
  public:
   typedef std::condition_variable::native_handle_type native_handle_type;
@@ -93,13 +93,13 @@ class priority_condition_variable {
   template <typename Lock, typename Rep, typename Period>
   std::cv_status wait_for(Lock& lock,
                           const std::chrono::duration<Rep, Period>& rtime) {
-    return wait_until(lock, clock_t::now() + rtime);
+    return wait_until(lock, clock::now() + rtime);
   }
 
   template <typename Lock, typename Rep, typename Period, typename Predicate>
   bool wait_for(Lock& lock, const std::chrono::duration<Rep, Period>& rtime,
                 Predicate p) {
-    return wait_until(lock, clock_t::now() + rtime, std::move(p));
+    return wait_until(lock, clock::now() + rtime, std::move(p));
   }
 
   native_handle_type native_handle() { return m_cond.native_handle(); }

hal/lib/athena/FRCDriverStation.cpp

@@ -5,6 +5,7 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <cstdio>
 #include <cstdlib>
 #include <cstring>
 #include <limits>
@@ -54,11 +55,12 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
                                                 details, location, callStack);
     if (printMsg) {
       if (location && location[0] != '\0') {
-        fprintf(stderr, "%s at %s: ", isError ? "Error" : "Warning", location);
+        std::fprintf(stderr, "%s at %s: ", isError ? "Error" : "Warning",
+                     location);
       }
-      fprintf(stderr, "%s\n", details);
+      std::fprintf(stderr, "%s\n", details);
       if (callStack && callStack[0] != '\0') {
-        fprintf(stderr, "%s\n", callStack);
+        std::fprintf(stderr, "%s\n", callStack);
       }
     }
     if (i == KEEP_MSGS) {

hal/lib/athena/HAL.cpp

@@ -167,9 +167,7 @@ const char* HAL_GetErrorMessage(int32_t code) {
 /**
  * Returns the runtime type of this HAL
  */
-HAL_RuntimeType HAL_GetRuntimeType() {
-  return HAL_Athena;
-}
+HAL_RuntimeType HAL_GetRuntimeType() { return HAL_Athena; }
 
 /**
  * Return the FPGA Version number.

hal/lib/athena/SPI.cpp

@@ -8,6 +8,7 @@
 #include "HAL/SPI.h"
 
 #include <atomic>
+#include <cstdio>
 
 #include "DigitalInternal.h"
 #include "HAL/DIO.h"
@@ -98,18 +99,18 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
       if (*status != 0) return;
       if ((spiMXPDigitalHandle1 = HAL_InitializeDIOPort(
                HAL_GetPort(14), false, status)) == HAL_kInvalidHandle) {
-        printf("Failed to allocate DIO 14\n");
+        std::printf("Failed to allocate DIO 14\n");
         return;
       }
       if ((spiMXPDigitalHandle2 = HAL_InitializeDIOPort(
                HAL_GetPort(15), false, status)) == HAL_kInvalidHandle) {
-        printf("Failed to allocate DIO 15\n");
+        std::printf("Failed to allocate DIO 15\n");
         HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
         return;
       }
       if ((spiMXPDigitalHandle3 = HAL_InitializeDIOPort(
                HAL_GetPort(16), false, status)) == HAL_kInvalidHandle) {
-        printf("Failed to allocate DIO 16\n");
+        std::printf("Failed to allocate DIO 16\n");
         HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
         HAL_FreeDIOPort(
             spiMXPDigitalHandle2);  // free the second port allocated
@@ -117,7 +118,7 @@ void HAL_InitializeSPI(int32_t port, int32_t* status) {
       }
       if ((spiMXPDigitalHandle4 = HAL_InitializeDIOPort(
                HAL_GetPort(17), false, status)) == HAL_kInvalidHandle) {
-        printf("Failed to allocate DIO 17\n");
+        std::printf("Failed to allocate DIO 17\n");
         HAL_FreeDIOPort(spiMXPDigitalHandle1);  // free the first port allocated
         HAL_FreeDIOPort(
             spiMXPDigitalHandle2);  // free the second port allocated

wpilibc/athena/src/AnalogGyro.cpp

@@ -7,7 +7,7 @@
 
 #include "AnalogGyro.h"
 
-#include <limits.h>
+#include <climits>
 
 #include "AnalogInput.h"
 #include "HAL/HAL.h"

wpilibc/athena/src/IterativeRobot.cpp

@@ -19,7 +19,7 @@ constexpr double IterativeRobot::kDefaultPeriod;
  * Provide an alternate "main loop" via StartCompetition().
  *
  * This specific StartCompetition() implements "main loop" behaviour synced with
- * the DS packets
+ * the DS packets.
  */
 void IterativeRobot::StartCompetition() {
   HAL_Report(HALUsageReporting::kResourceType_Framework,
@@ -164,12 +164,14 @@ void IterativeRobot::TestInit() {
 /**
  * Periodic code for all modes should go here.
  *
- * This function is called each time a new packet is received from the driver station.
+ * This function is called each time a new packet is received from the driver
+ * station.
  *
- * Packets are received approximately every 20ms.  Fixed loop timing is not guaranteed due to
- * network timing variability and the function may not be called at all if the Driver Station is
- * disconnected.  For most use cases the variable timing will not be an issue.  If your code does
- * require guaranteed fixed periodic timing, consider using Notifier or PIDController instead.
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
  */
 void IterativeRobot::RobotPeriodic() {
   static bool firstRun = true;
@@ -182,13 +184,15 @@ void IterativeRobot::RobotPeriodic() {
 /**
  * Periodic code for disabled mode should go here.
  *
- * Users should override this method for code which will be called each time a new packet is
- * received from the driver station and the robot is in disabled mode.
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in disabled
+ * mode.
  *
- * Packets are received approximately every 20ms.  Fixed loop timing is not guaranteed due to
- * network timing variability and the function may not be called at all if the Driver Station is
- * disconnected.  For most use cases the variable timing will not be an issue.  If your code does
- * require guaranteed fixed periodic timing, consider using Notifier or PIDController instead.
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
  */
 void IterativeRobot::DisabledPeriodic() {
   static bool firstRun = true;
@@ -201,13 +205,15 @@ void IterativeRobot::DisabledPeriodic() {
 /**
  * Periodic code for autonomous mode should go here.
  *
- * Users should override this method for code which will be called each time a new packet is
- * received from the driver station and the robot is in autonomous mode.
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in autonomous
+ * mode.
  *
- * Packets are received approximately every 20ms.  Fixed loop timing is not guaranteed due to
- * network timing variability and the function may not be called at all if the Driver Station is
- * disconnected.  For most use cases the variable timing will not be an issue.  If your code does
- * require guaranteed fixed periodic timing, consider using Notifier or PIDController instead.
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
  */
 void IterativeRobot::AutonomousPeriodic() {
   static bool firstRun = true;
@@ -220,13 +226,15 @@ void IterativeRobot::AutonomousPeriodic() {
 /**
  * Periodic code for teleop mode should go here.
  *
- * Users should override this method for code which will be called each time a new packet is
- * received from the driver station and the robot is in teleop mode.
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in teleop
+ * mode.
  *
- * Packets are received approximately every 20ms.  Fixed loop timing is not guaranteed due to
- * network timing variability and the function may not be called at all if the Driver Station is
- * disconnected.  For most use cases the variable timing will not be an issue.  If your code does
- * require guaranteed fixed periodic timing, consider using Notifier or PIDController instead.
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
  */
 void IterativeRobot::TeleopPeriodic() {
   static bool firstRun = true;
@@ -239,13 +247,14 @@ void IterativeRobot::TeleopPeriodic() {
 /**
  * Periodic code for test mode should go here.
  *
- * Users should override this method for code which will be called each time a new packet is
- * received from the driver station and the robot is in test mode.
+ * Users should override this method for code which will be called each time a
+ * new packet is received from the driver station and the robot is in test mode.
  *
- * Packets are received approximately every 20ms.  Fixed loop timing is not guaranteed due to
- * network timing variability and the function may not be called at all if the Driver Station is
- * disconnected.  For most use cases the variable timing will not be an issue.  If your code does
- * require guaranteed fixed periodic timing, consider using Notifier or PIDController instead.
+ * Packets are received approximately every 20ms. Fixed loop timing is not
+ * guaranteed due to network timing variability and the function may not be
+ * called at all if the Driver Station is disconnected. For most use cases the
+ * variable timing will not be an issue. If your code does require guaranteed
+ * fixed periodic timing, consider using Notifier or PIDController instead.
  */
 void IterativeRobot::TestPeriodic() {
   static bool firstRun = true;

wpilibc/athena/src/RobotBase.cpp

@@ -35,7 +35,7 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
   NetworkTable::SetNetworkIdentity("Robot");
   NetworkTable::SetPersistentFilename("/home/lvuser/networktables.ini");
 
-  FILE* file = nullptr;
+  std::FILE* file = nullptr;
   file = std::fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
 
   if (file != nullptr) {

wpilibc/athena/src/Task.cpp

@@ -8,6 +8,7 @@
 #include "Task.h"
 
 #include <cerrno>
+#include <cstdio>
 
 #include "WPIErrors.h"
 
@@ -98,7 +99,7 @@ bool Task::HandleError(STATUS results) {
   if (errsv == HAL_TaskLib_ILLEGAL_PRIORITY) {
     wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName.c_str());
   } else {
-    printf("ERROR: errno=%i", errsv);
+    std::printf("ERROR: errno=%i", errsv);
     wpi_setWPIErrorWithContext(TaskError, m_taskName.c_str());
   }
   return false;

wpilibc/athena/src/USBCamera.cpp

@@ -10,6 +10,7 @@
 #include "Utility.h"
 
 #include <chrono>
+#include <cstdlib>
 #include <iomanip>
 #include <iostream>
 #include <memory>
@@ -160,7 +161,7 @@ void USBCamera::UpdateSettings() {
     int height = static_cast<int>(std::stoul(m[2].str()));
     if (width != m_width) continue;
     if (height != m_height) continue;
-    double fps = atof(m[4].str().c_str());
+    double fps = std::atof(m[4].str().c_str());
     if (fps < m_fps) continue;
     if (fps > foundFps) continue;
     bool isJpeg =

wpilibc/athena/src/Utility.cpp

@@ -10,6 +10,8 @@
 #include <cxxabi.h>
 #include <execinfo.h>
 
+#include <cstdio>
+#include <cstdlib>
 #include <sstream>
 
 #include "HAL/HAL.h"
@@ -182,7 +184,7 @@ static std::string demangle(char const* mangledSymbol) {
   size_t length;
   int32_t status;
 
-  if (sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer)) {
+  if (std::sscanf(mangledSymbol, "%*[^(]%*[(]%255[^)+]", buffer)) {
     char* symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
     if (status == 0) {
       return symbol;
@@ -214,7 +216,7 @@ std::string GetStackTrace(int offset) {
     }
   }
 
-  free(mangledSymbols);
+  std::free(mangledSymbols);
 
   return trace.str();
 }

wpilibc/athena/src/Vision/AxisCamera.cpp

@@ -13,6 +13,7 @@
 #include <sys/types.h>
 #include <unistd.h>
 
+#include <cstdlib>
 #include <cstring>
 #include <iostream>
 #include <sstream>
@@ -463,8 +464,8 @@ void AxisCamera::ReadImagesFromCamera() {
       if (imgBuffer) delete[] imgBuffer;
       return;
     }
-    contentLength = contentLength + 16;    // skip past "content length"
-    int readLength = atol(contentLength);  // get the image byte count
+    contentLength = contentLength + 16;         // skip past "content length"
+    int readLength = std::atol(contentLength);  // get the image byte count
 
     // Make sure buffer is large enough
     if (imgBufferLength < readLength) {

wpilibc/athena/src/Vision/BaeUtilities.cpp

@@ -14,6 +14,7 @@
 #include <cmath>
 #include <cstdarg>
 #include <cstdio>
+#include <cstring>
 #include <iomanip>
 #include <iostream>
 
@@ -55,7 +56,7 @@ void dprintf(const char* tempString, ...) {
   const char* functionName; /* Format passed in argument */
   const char* fmt;          /* Format passed in argument */
   char text[512];           /* Text string */
-  FILE* outfile_fd;         /* Output file pointer */
+  std::FILE* outfile_fd;    /* Output file pointer */
   char filepath[128];       /* Text string */
   int fatalFlag = 0;
   const char* filename;
@@ -68,7 +69,7 @@ void dprintf(const char* tempString, ...) {
 
   va_start(args, tempString);
 
-  tempStringLen = strlen(tempString);
+  tempStringLen = std::strlen(tempString);
   filename = tempString;
   for (index = 0; index < tempStringLen; index++) {
     if (tempString[index] == ' ') {
@@ -298,7 +299,7 @@ void panForTarget(Servo* panServo, double sinStart) {
  * @return int number of lines or -1 if error
  **/
 int processFile(char* inputFile, char* outputString, int lineNumber) {
-  FILE* infile;
+  std::FILE* infile;
   const int kStringSize = 80;  // max size of one line in file
   char inputStr[kStringSize];
   inputStr[0] = '\0';
@@ -348,7 +349,7 @@ int emptyString(char* string) {
 
   if (string == nullptr) return (1);
 
-  len = strlen(string);
+  len = std::strlen(string);
   for (i = 0; i < len; i++) {
     // Ignore the following characters
     if (string[i] == '\n' || string[i] == '\r' || string[i] == '\t' ||
@@ -368,7 +369,7 @@ void stripString(char* string) {
 
   if (string == nullptr) return;
 
-  len = strlen(string);
+  len = std::strlen(string);
   for (i = 0, j = 0; i < len; i++) {
     // Remove the following characters from the string
     if (string[i] == '\n' || string[i] == '\r' || string[i] == '\"') continue;

wpilibc/shared/src/Commands/PrintCommand.cpp

@@ -6,8 +6,9 @@
 /*----------------------------------------------------------------------------*/
 
 #include "Commands/PrintCommand.h"
+
+#include <cstdio>
 #include <sstream>
-#include "stdio.h"
 
 PrintCommand::PrintCommand(const std::string& message)
     : Command(((std::stringstream&)(std::stringstream("Print \"") << message
@@ -17,7 +18,7 @@ PrintCommand::PrintCommand(const std::string& message)
   m_message = message;
 }
 
-void PrintCommand::Initialize() { printf("%s", m_message.c_str()); }
+void PrintCommand::Initialize() { std::printf("%s", m_message.c_str()); }
 
 void PrintCommand::Execute() {}
 

wpilibc/shared/src/ErrorBase.cpp

@@ -8,6 +8,8 @@
 #include "ErrorBase.h"
 
 #include <cerrno>
+#include <cstdio>
+#include <cstring>
 #include <iomanip>
 #include <sstream>
 
@@ -49,7 +51,7 @@ void ErrorBase::SetErrnoError(llvm::StringRef contextMessage,
     err += contextMessage;
   } else {
     std::ostringstream oss;
-    oss << strerror(errNo) << " (0x" << std::setfill('0') << std::hex
+    oss << std::strerror(errNo) << " (0x" << std::setfill('0') << std::hex
         << std::uppercase << std::setw(8) << errNo << "): " << contextMessage;
     err = oss.str();
   }
@@ -140,9 +142,10 @@ void ErrorBase::SetErrorRange(Error::Code code, int32_t minRange,
   if (code != 0) {
     size_t size = contextMessage.size() + 100;
     char* buf = new char[size];
-    snprintf(buf, size,
-             "%s, Minimum Value: %d, Maximum Value: %d, Requested Value: %d",
-             contextMessage.data(), minRange, maxRange, requestedValue);
+    std::snprintf(
+        buf, size,
+        "%s, Minimum Value: %d, Maximum Value: %d, Requested Value: %d",
+        contextMessage.data(), minRange, maxRange, requestedValue);
     //  Set the current error information for this object.
     m_error.Set(code, buf, filename, function, lineNumber, this);
     delete[] buf;

wpilibc/sim/src/Utility.cpp

@@ -7,14 +7,16 @@
 
 #include "Utility.h"
 
-#include <cstdio>
-#include <iostream>
-#include <sstream>
-#if not defined(_WIN32)
+#ifndef _WIN32
 #include <cxxabi.h>
 #include <execinfo.h>
 #endif
 
+#include <cstdio>
+#include <cstdlib>
+#include <iostream>
+#include <sstream>
+
 #include "Timer.h"
 #include "simulation/simTime.h"
 
@@ -192,7 +194,7 @@ std::string GetStackTrace(int offset) {
     }
   }
 
-  free(mangledSymbols);
+  std::free(mangledSymbols);
 
   return trace.str();
 }

wpilibcIntegrationTests/src/TestEnvironment.cpp

@@ -5,6 +5,8 @@
 /* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
+#include <cstdlib>
+
 #include "DriverStation.h"
 #include "LiveWindow/LiveWindow.h"
 #include "Timer.h"
@@ -22,7 +24,7 @@ class TestEnvironment : public testing::Environment {
 
     if (!HAL_Initialize(0)) {
       std::cerr << "FATAL ERROR: HAL could not be initialized" << std::endl;
-      exit(-1);
+      std::exit(-1);
     }
 
     /* This sets up the network communications library to enable the driver

wpilibj/src/athena/java/edu/wpi/first/wpilibj/IterativeRobot.java

@@ -205,7 +205,7 @@ public class IterativeRobot extends RobotBase {
   }
 
   /* ----------- Overridable periodic code ----------------- */
-  
+
   private boolean m_rpFirstRun = true;
 
   /**

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/HALUtil.java

@@ -23,7 +23,7 @@ public class HALUtil extends JNIWrapper {
   public static native int getFPGARevision();
 
   public static native long getFPGATime();
-  
+
   public static native int getHALRuntimeType();
 
   public static native boolean getFPGAButton();

wpilibj/src/sim/java/edu/wpi/first/wpilibj/IterativeRobot.java

@@ -210,7 +210,7 @@ public class IterativeRobot extends RobotBase {
   }
 
     /* ----------- Overridable periodic code -----------------*/
-    
+
   private boolean m_rpFirstRun = true;
 
   /**