Use stricter C++ type conversions (#4357)

Now, implicit narrowing conversions are only used with wpi::Now(). This also fixes clang-tidy warnings about C-style casts. For example: ``` == clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc == /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting] auto curTime = units::second_t(m_timer.Get()); ^ ``` In that case at least, the cast was removed entirely since Get() already returns a units::second_t.
2026-06-23 01:21:42 +00:00 · 2022-08-17 13:42:36 -07:00
parent 151dabb2af
commit ac9be78e27
139 changed files with 547 additions and 593 deletions
--- a/wpilibc/src/main/native/cpp/RobotController.cpp
+++ b/wpilibc/src/main/native/cpp/RobotController.cpp
@@ -163,7 +163,7 @@ units::volt_t RobotController::GetBrownoutVoltage() {
  int32_t status = 0;
  double retVal = HAL_GetBrownoutVoltage(&status);
  FRC_CheckErrorStatus(status, "{}", "GetBrownoutVoltage");
-  return units::volt_t(retVal);
+  return units::volt_t{retVal};
 }

 void RobotController::SetBrownoutVoltage(units::volt_t brownoutVoltage) {
--- a/wpilibc/src/main/native/cpp/Timer.cpp
+++ b/wpilibc/src/main/native/cpp/Timer.cpp
@@ -21,9 +21,9 @@ units::second_t GetTime() {
  using std::chrono::duration_cast;
  using std::chrono::system_clock;

-  return units::second_t(
+  return units::second_t{
      duration_cast<duration<double>>(system_clock::now().time_since_epoch())
-          .count());
+          .count()};
 }

 }  // namespace frc
@@ -78,9 +78,9 @@ bool Timer::AdvanceIfElapsed(units::second_t period) {

 units::second_t Timer::GetFPGATimestamp() {
  // FPGA returns the timestamp in microseconds
-  return units::second_t(frc::RobotController::GetFPGATime() * 1.0e-6);
+  return units::second_t{frc::RobotController::GetFPGATime() * 1.0e-6};
 }

 units::second_t Timer::GetMatchTime() {
-  return units::second_t(frc::DriverStation::GetMatchTime());
+  return units::second_t{frc::DriverStation::GetMatchTime()};
 }
--- a/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
@@ -27,6 +27,5 @@ units::turn_t AnalogEncoderSim::GetTurns() {
 }

 frc::Rotation2d AnalogEncoderSim::GetPosition() {
-  units::radian_t rads = GetTurns();
-  return frc::Rotation2d{rads};
+  return units::radian_t{GetTurns()};
 }
--- a/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
@@ -82,20 +82,20 @@ double DifferentialDrivetrainSim::GetState(int state) const {
 }

 Rotation2d DifferentialDrivetrainSim::GetHeading() const {
-  return Rotation2d(units::radian_t(GetOutput(State::kHeading)));
+  return units::radian_t{GetOutput(State::kHeading)};
 }

 Pose2d DifferentialDrivetrainSim::GetPose() const {
-  return Pose2d(units::meter_t(GetOutput(State::kX)),
-                units::meter_t(GetOutput(State::kY)), GetHeading());
+  return Pose2d{units::meter_t{GetOutput(State::kX)},
+                units::meter_t{GetOutput(State::kY)}, GetHeading()};
 }

 units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
  auto loadIleft =
      m_motor.Current(
-          units::radians_per_second_t(m_x(State::kLeftVelocity) *
-                                      m_currentGearing / m_wheelRadius.value()),
-          units::volt_t(m_u(0))) *
+          units::radians_per_second_t{m_x(State::kLeftVelocity) *
+                                      m_currentGearing / m_wheelRadius.value()},
+          units::volt_t{m_u(0)}) *
      wpi::sgn(m_u(0));

  return loadIleft;
@@ -104,9 +104,9 @@ units::ampere_t DifferentialDrivetrainSim::GetLeftCurrentDraw() const {
 units::ampere_t DifferentialDrivetrainSim::GetRightCurrentDraw() const {
  auto loadIRight =
      m_motor.Current(
-          units::radians_per_second_t(m_x(State::kRightVelocity) *
-                                      m_currentGearing / m_wheelRadius.value()),
-          units::volt_t(m_u(1))) *
+          units::radians_per_second_t{m_x(State::kRightVelocity) *
+                                      m_currentGearing / m_wheelRadius.value()},
+          units::volt_t{m_u(1)}) *
      wpi::sgn(m_u(1));

  return loadIRight;
--- a/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
@@ -49,11 +49,11 @@ bool ElevatorSim::WouldHitUpperLimit(units::meter_t elevatorHeight) const {
 }

 bool ElevatorSim::HasHitLowerLimit() const {
-  return WouldHitLowerLimit(units::meter_t(m_y(0)));
+  return WouldHitLowerLimit(units::meter_t{m_y(0)});
 }

 bool ElevatorSim::HasHitUpperLimit() const {
-  return WouldHitUpperLimit(units::meter_t(m_y(0)));
+  return WouldHitUpperLimit(units::meter_t{m_y(0)});
 }

 units::meter_t ElevatorSim::GetPosition() const {
@@ -96,10 +96,10 @@ Vectord<2> ElevatorSim::UpdateX(const Vectord<2>& currentXhat,
      },
      currentXhat, u, dt);
  // Check for collision after updating x-hat.
-  if (WouldHitLowerLimit(units::meter_t(updatedXhat(0)))) {
+  if (WouldHitLowerLimit(units::meter_t{updatedXhat(0)})) {
    return Vectord<2>{m_minHeight.value(), 0.0};
  }
-  if (WouldHitUpperLimit(units::meter_t(updatedXhat(0)))) {
+  if (WouldHitUpperLimit(units::meter_t{updatedXhat(0)})) {
    return Vectord<2>{m_maxHeight.value(), 0.0};
  }
  return updatedXhat;
--- a/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
@@ -39,7 +39,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterVInVoltageCallback(
 }

 units::volt_t RoboRioSim::GetVInVoltage() {
-  return units::volt_t(HALSIM_GetRoboRioVInVoltage());
+  return units::volt_t{HALSIM_GetRoboRioVInVoltage()};
 }

 void RoboRioSim::SetVInVoltage(units::volt_t vInVoltage) {
@@ -56,7 +56,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterVInCurrentCallback(
 }

 units::ampere_t RoboRioSim::GetVInCurrent() {
-  return units::ampere_t(HALSIM_GetRoboRioVInCurrent());
+  return units::ampere_t{HALSIM_GetRoboRioVInCurrent()};
 }

 void RoboRioSim::SetVInCurrent(units::ampere_t vInCurrent) {
@@ -73,7 +73,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage6VCallback(
 }

 units::volt_t RoboRioSim::GetUserVoltage6V() {
-  return units::volt_t(HALSIM_GetRoboRioUserVoltage6V());
+  return units::volt_t{HALSIM_GetRoboRioUserVoltage6V()};
 }

 void RoboRioSim::SetUserVoltage6V(units::volt_t userVoltage6V) {
@@ -90,7 +90,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent6VCallback(
 }

 units::ampere_t RoboRioSim::GetUserCurrent6V() {
-  return units::ampere_t(HALSIM_GetRoboRioUserCurrent6V());
+  return units::ampere_t{HALSIM_GetRoboRioUserCurrent6V()};
 }

 void RoboRioSim::SetUserCurrent6V(units::ampere_t userCurrent6V) {
@@ -124,7 +124,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage5VCallback(
 }

 units::volt_t RoboRioSim::GetUserVoltage5V() {
-  return units::volt_t(HALSIM_GetRoboRioUserVoltage5V());
+  return units::volt_t{HALSIM_GetRoboRioUserVoltage5V()};
 }

 void RoboRioSim::SetUserVoltage5V(units::volt_t userVoltage5V) {
@@ -141,7 +141,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent5VCallback(
 }

 units::ampere_t RoboRioSim::GetUserCurrent5V() {
-  return units::ampere_t(HALSIM_GetRoboRioUserCurrent5V());
+  return units::ampere_t{HALSIM_GetRoboRioUserCurrent5V()};
 }

 void RoboRioSim::SetUserCurrent5V(units::ampere_t userCurrent5V) {
@@ -175,7 +175,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserVoltage3V3Callback(
 }

 units::volt_t RoboRioSim::GetUserVoltage3V3() {
-  return units::volt_t(HALSIM_GetRoboRioUserVoltage3V3());
+  return units::volt_t{HALSIM_GetRoboRioUserVoltage3V3()};
 }

 void RoboRioSim::SetUserVoltage3V3(units::volt_t userVoltage3V3) {
@@ -192,7 +192,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterUserCurrent3V3Callback(
 }

 units::ampere_t RoboRioSim::GetUserCurrent3V3() {
-  return units::ampere_t(HALSIM_GetRoboRioUserCurrent3V3());
+  return units::ampere_t{HALSIM_GetRoboRioUserCurrent3V3()};
 }

 void RoboRioSim::SetUserCurrent3V3(units::ampere_t userCurrent3V3) {
@@ -277,7 +277,7 @@ std::unique_ptr<CallbackStore> RoboRioSim::RegisterBrownoutVoltageCallback(
 }

 units::volt_t RoboRioSim::GetBrownoutVoltage() {
-  return units::volt_t(HALSIM_GetRoboRioBrownoutVoltage());
+  return units::volt_t{HALSIM_GetRoboRioBrownoutVoltage()};
 }

 void RoboRioSim::SetBrownoutVoltage(units::volt_t vInVoltage) {
--- a/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
+++ b/wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
@@ -48,11 +48,11 @@ bool SingleJointedArmSim::WouldHitUpperLimit(units::radian_t armAngle) const {
 }

 bool SingleJointedArmSim::HasHitLowerLimit() const {
-  return WouldHitLowerLimit(units::radian_t(m_y(0)));
+  return WouldHitLowerLimit(units::radian_t{m_y(0)});
 }

 bool SingleJointedArmSim::HasHitUpperLimit() const {
-  return WouldHitUpperLimit(units::radian_t(m_y(0)));
+  return WouldHitUpperLimit(units::radian_t{m_y(0)});
 }

 units::radian_t SingleJointedArmSim::GetAngle() const {
@@ -102,9 +102,9 @@ Vectord<2> SingleJointedArmSim::UpdateX(const Vectord<2>& currentXhat,
      currentXhat, u, dt);

  // Check for collisions.
-  if (WouldHitLowerLimit(units::radian_t(updatedXhat(0)))) {
+  if (WouldHitLowerLimit(units::radian_t{updatedXhat(0)})) {
    return Vectord<2>{m_minAngle.value(), 0.0};
-  } else if (WouldHitUpperLimit(units::radian_t(updatedXhat(0)))) {
+  } else if (WouldHitUpperLimit(units::radian_t{updatedXhat(0)})) {
    return Vectord<2>{m_maxAngle.value(), 0.0};
  }
  return updatedXhat;
--- a/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/FieldObject2d.cpp
@@ -140,7 +140,7 @@ void FieldObject2d::UpdateFromEntry() const {
    for (size_t i = 0; i < size / 3; ++i) {
      m_poses[i] =
          Pose2d{units::meter_t{arr[i * 3 + 0]}, units::meter_t{arr[i * 3 + 1]},
-                 Rotation2d{units::degree_t{arr[i * 3 + 2]}}};
+                 units::degree_t{arr[i * 3 + 2]}};
    }
  } else if (val->IsRaw()) {
    // treat it simply as an array of doubles
@@ -163,8 +163,8 @@ void FieldObject2d::UpdateFromEntry() const {
      double rot = wpi::BitsToDouble(
          wpi::support::endian::readNext<uint64_t, wpi::support::big,
                                         wpi::support::unaligned>(p));
-      m_poses[i] = Pose2d{units::meter_t{x}, units::meter_t{y},
-                          Rotation2d{units::degree_t{rot}}};
+      m_poses[i] =
+          Pose2d{units::meter_t{x}, units::meter_t{y}, units::degree_t{rot}};
    }
  }
 }
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismLigament2d.cpp
@@ -12,7 +12,7 @@ MechanismLigament2d::MechanismLigament2d(std::string_view name, double length,
                                         units::degree_t angle,
                                         double lineWeight,
                                         const frc::Color8Bit& color)
-    : MechanismObject2d(name),
+    : MechanismObject2d{name},
      m_length{length},
      m_angle{angle.value()},
      m_weight{lineWeight} {
--- a/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
+++ b/wpilibc/src/main/native/cpp/smartdashboard/MechanismRoot2d.cpp
@@ -10,7 +10,7 @@ using namespace frc;

 MechanismRoot2d::MechanismRoot2d(std::string_view name, double x, double y,
                                 const private_init&)
-    : MechanismObject2d(name), m_x{x}, m_y{y} {}
+    : MechanismObject2d{name}, m_x{x}, m_y{y} {}

 void MechanismRoot2d::SetPosition(double x, double y) {
  std::scoped_lock lock(m_mutex);