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Use stricter C++ type conversions (#4357)

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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.
This commit is contained in:
Tyler Veness
2022-08-17 13:42:36 -07:00
committed by GitHub
parent 151dabb2af
commit ac9be78e27
139 changed files with 547 additions and 593 deletions
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3
wpilibc/src/main/native/cpp/simulation/AnalogEncoderSim.cpp
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@@ -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()};
}

18
wpilibc/src/main/native/cpp/simulation/DifferentialDrivetrainSim.cpp
View File

@@ -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;

8
wpilibc/src/main/native/cpp/simulation/ElevatorSim.cpp
View File

@@ -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;

18
wpilibc/src/main/native/cpp/simulation/RoboRioSim.cpp
View File

@@ -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) {

8
wpilibc/src/main/native/cpp/simulation/SingleJointedArmSim.cpp
View File

@@ -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;