Replaced floats with doubles (#355)

This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
2026-06-26 01:51:41 +00:00 · 2016-11-20 07:25:03 -08:00
parent 7bcd243ec3
commit 69422dc063
129 changed files with 643 additions and 639 deletions
--- a/wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/AnalogGyroJNI.cpp
@@ -75,10 +75,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_freeAnalogGy
 /*
 * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
 * Method:    setAnalogGyroParameters
- * Signature: (IFFI)V
+ * Signature: (IDDI)V
 */
 JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroParameters(
-    JNIEnv* env, jclass, jint id, jfloat vPDPS, jfloat offset, jint center) {
+    JNIEnv* env, jclass, jint id, jdouble vPDPS, jdouble offset, jint center) {
  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroParameters";
  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
  int32_t status = 0;
@@ -90,10 +90,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr
 /*
 * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
 * Method:    setAnalogGyroVoltsPerDegreePerSecond
- * Signature: (IF)V
+ * Signature: (ID)V
 */
 JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroVoltsPerDegreePerSecond(
-    JNIEnv* env, jclass, jint id, jfloat vPDPS) {
+    JNIEnv* env, jclass, jint id, jdouble vPDPS) {
  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroVoltsPerDegreePerSecond";
  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
  ANALOGGYROJNI_LOG(logDEBUG) << "vPDPS = " << vPDPS;
@@ -136,10 +136,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_calibrateAna
 /*
 * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
 * Method:    setAnalogGyroDeadband
- * Signature: (IF)V
+ * Signature: (ID)V
 */
 JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyroDeadband(
-    JNIEnv* env, jclass, jint id, jfloat deadband) {
+    JNIEnv* env, jclass, jint id, jdouble deadband) {
  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI setAnalogGyroDeadband";
  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
  int32_t status = 0;
@@ -151,14 +151,14 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_setAnalogGyr
 /*
 * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
 * Method:    getAnalogGyroAngle
- * Signature: (I)F
+ * Signature: (I)D
 */
-JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroAngle(
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroAngle(
    JNIEnv* env, jclass, jint id) {
  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroAngle";
  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
  int32_t status = 0;
-  jfloat value = HAL_GetAnalogGyroAngle((HAL_GyroHandle)id, &status);
+  jdouble value = HAL_GetAnalogGyroAngle((HAL_GyroHandle)id, &status);
  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
  ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
  CheckStatus(env, status);
@@ -185,14 +185,14 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalog
 /*
 * Class:     edu_wpi_first_wpilibj_hal_AnalogGyroJNI
 * Method:    getAnalogGyroOffset
- * Signature: (I)F
+ * Signature: (I)D
 */
-JNIEXPORT jfloat JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroOffset(
+JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogGyroJNI_getAnalogGyroOffset(
    JNIEnv* env, jclass, jint id) {
  ANALOGGYROJNI_LOG(logDEBUG) << "Calling ANALOGGYROJNI getAnalogGyroOffset";
  ANALOGGYROJNI_LOG(logDEBUG) << "Gyro Handle = " << (HAL_GyroHandle)id;
  int32_t status = 0;
-  jfloat value = HAL_GetAnalogGyroOffset((HAL_GyroHandle)id, &status);
+  jdouble value = HAL_GetAnalogGyroOffset((HAL_GyroHandle)id, &status);
  ANALOGGYROJNI_LOG(logDEBUG) << "Status = " << status;
  ANALOGGYROJNI_LOG(logDEBUG) << "Result = " << value;
  CheckStatus(env, status);
--- a/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/CompressorJNI.cpp
@@ -98,13 +98,13 @@ Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorPressureSwitch(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_CompressorJNI
 * Method:    getCompressorCurrent
- * Signature: (J)F
+ * Signature: (J)D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_CompressorJNI_getCompressorCurrent(
    JNIEnv *env, jclass, jint compressorHandle) {
  int32_t status = 0;
-  float val = HAL_GetCompressorCurrent((HAL_CompressorHandle)compressorHandle, &status);
+  double val = HAL_GetCompressorCurrent((HAL_CompressorHandle)compressorHandle, &status);
  CheckStatus(env, status);
  return val;
 }
--- a/wpilibj/src/athena/cpp/lib/HAL.cpp
+++ b/wpilibj/src/athena/cpp/lib/HAL.cpp
@@ -287,9 +287,9 @@ Java_edu_wpi_first_wpilibj_hal_HAL_waitForDSData(JNIEnv* env, jclass) {
 /*
 * Class: edu_wpi_first_wpilibj_hal_HAL
 * Method:    HAL_GetMatchTime
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_HAL_getMatchTime(JNIEnv* env, jclass) {
  int32_t status = 0;
  return HAL_GetMatchTime(&status);
--- a/wpilibj/src/athena/cpp/lib/PWMJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/PWMJNI.cpp
@@ -176,10 +176,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMRaw(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMSpeed
- * Signature: (IF)V
+ * Signature: (ID)V
 */
 JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
-    JNIEnv* env, jclass, jint id, jfloat value) {
+    JNIEnv* env, jclass, jint id, jdouble value) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
  int32_t status = 0;
@@ -191,10 +191,10 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMSpeed(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    setPWMPosition
- * Signature: (IF)V
+ * Signature: (ID)V
 */
 JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_PWMJNI_setPWMPosition(
-    JNIEnv* env, jclass, jint id, jfloat value) {
+    JNIEnv* env, jclass, jint id, jdouble value) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  PWMJNI_LOG(logDEBUG) << "PWM Value = " << value;
  int32_t status = 0;
@@ -223,14 +223,14 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMRaw(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    getPWMSpeed
- * Signature: (I)F
+ * Signature: (I)D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
    JNIEnv* env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
-  jfloat returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
+  jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
  CheckStatus(env, status);
@@ -240,14 +240,14 @@ Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMSpeed(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PWMJNI
 * Method:    getPWMPosition
- * Signature: (I)F
+ * Signature: (I)D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PWMJNI_getPWMPosition(
    JNIEnv* env, jclass, jint id) {
  PWMJNI_LOG(logDEBUG) << "PWM Handle = " << (HAL_DigitalHandle)id;
  int32_t status = 0;
-  jfloat returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
+  jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status);
  PWMJNI_LOG(logDEBUG) << "Status = " << status;
  PWMJNI_LOG(logDEBUG) << "Value = " << returnValue;
  CheckStatus(env, status);
--- a/wpilibj/src/athena/cpp/lib/PowerJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/PowerJNI.cpp
@@ -17,12 +17,12 @@ extern "C" {
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getVinVoltage
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetVinVoltage(&status);
+  double val = HAL_GetVinVoltage(&status);
  CheckStatus(env, status);
  return val;
 }
@@ -30,12 +30,12 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinVoltage(JNIEnv* env, jclass) {
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getVinCurrent
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetVinCurrent(&status);
+  double val = HAL_GetVinCurrent(&status);
  CheckStatus(env, status);
  return val;
 }
@@ -43,12 +43,12 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getVinCurrent(JNIEnv* env, jclass) {
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getUserVoltage6V
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetUserVoltage6V(&status);
+  double val = HAL_GetUserVoltage6V(&status);
  CheckStatus(env, status);
  return val;
 }
@@ -56,12 +56,12 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage6V(JNIEnv* env, jclass) {
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getUserCurrent6V
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent6V(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetUserCurrent6V(&status);
+  double val = HAL_GetUserCurrent6V(&status);
  CheckStatus(env, status);
  return val;
 }
@@ -96,12 +96,12 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults6V(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getUserVoltage5V
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetUserVoltage5V(&status);
+  double val = HAL_GetUserVoltage5V(&status);
  CheckStatus(env, status);
  return val;
 }
@@ -109,12 +109,12 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage5V(JNIEnv* env, jclass) {
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getUserCurrent5V
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent5V(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetUserCurrent5V(&status);
+  double val = HAL_GetUserCurrent5V(&status);
  CheckStatus(env, status);
  return val;
 }
@@ -149,12 +149,12 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrentFaults5V(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getUserVoltage3V3
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetUserVoltage3V3(&status);
+  double val = HAL_GetUserVoltage3V3(&status);
  CheckStatus(env, status);
  return val;
 }
@@ -162,12 +162,12 @@ Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserVoltage3V3(JNIEnv* env, jclass) {
 /*
 * Class:     edu_wpi_first_wpilibj_hal_PowerJNI
 * Method:    getUserCurrent3V3
- * Signature: ()F
+ * Signature: ()D
 */
-JNIEXPORT jfloat JNICALL
+JNIEXPORT jdouble JNICALL
 Java_edu_wpi_first_wpilibj_hal_PowerJNI_getUserCurrent3V3(JNIEnv* env, jclass) {
  int32_t status = 0;
-  float val = HAL_GetUserCurrent3V3(&status);
+  double val = HAL_GetUserCurrent3V3(&status);
  CheckStatus(env, status);
  return val;
 }
--- a/wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp
+++ b/wpilibj/src/athena/cpp/lib/SerialPortJNI.cpp
@@ -142,11 +142,11 @@ Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetFlowControl(
 /*
 * Class:     edu_wpi_first_wpilibj_hal_SerialPortJNI
 * Method:    serialSetTimeout
- * Signature: (BF)V
+ * Signature: (BD)V
 */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_wpilibj_hal_SerialPortJNI_serialSetTimeout(
-    JNIEnv* env, jclass, jbyte port, jfloat timeout) {
+    JNIEnv* env, jclass, jbyte port, jdouble timeout) {
  SERIALJNI_LOG(logDEBUG) << "Setting Serial Timeout";
  SERIALJNI_LOG(logDEBUG) << "Timeout: " << timeout;
  int32_t status = 0;