[wpimath] Remove unit suffixes from variable names

* Move units into API docs instead because suffixes make user code verbose and hard to read * Rename trackWidth to trackwidth * Make ultrasonic classes use meters instead of a mix of m, cm, mm, ft, and inches
wpilibsuite · Feb 7, 2025 · 8306130 · 8306130
1 parent 764ada9
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diff --git a/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java b/cscore/src/main/java/edu/wpi/first/cscore/CameraServerJNI.java
@@ -1025,10 +1025,10 @@ public interface LoggerFunction {
   /**
    * Runs main run loop with timeout.
    *
-   * @param timeoutSeconds Timeout in seconds.
+   * @param timeout Timeout in seconds.
    * @return 3 on timeout, 2 on signal, 1 on other.
    */
-  public static native int runMainRunLoopTimeout(double timeoutSeconds);
+  public static native int runMainRunLoopTimeout(double timeout);
 
   /** Stops main run loop. */
   public static native void stopMainRunLoop();

diff --git a/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp b/cscore/src/main/native/cpp/jni/CameraServerJNI.cpp
@@ -2085,9 +2085,9 @@ Java_edu_wpi_first_cscore_CameraServerJNI_runMainRunLoop
  */
 JNIEXPORT jint JNICALL
 Java_edu_wpi_first_cscore_CameraServerJNI_runMainRunLoopTimeout
-  (JNIEnv*, jclass, jdouble timeoutSeconds)
+  (JNIEnv*, jclass, jdouble timeout)
 {
-  return cs::RunMainRunLoopTimeout(timeoutSeconds);
+  return cs::RunMainRunLoopTimeout(timeout);
 }
 
 /*

diff --git a/cscore/src/main/native/include/cscore_runloop.h b/cscore/src/main/native/include/cscore_runloop.h
@@ -5,7 +5,16 @@
 #pragma once
 
 namespace cs {
+
 void RunMainRunLoop();
-int RunMainRunLoopTimeout(double timeoutSeconds);
+
+/**
+ * Runs main run loop with timeout.
+ *
+ * @param timeout Timeout in seconds.
+ */
+int RunMainRunLoopTimeout(double timeout);
+
 void StopMainRunLoop();
+
 }  // namespace cs
diff --git a/cscore/src/main/native/linux/RunLoopHelpers.cpp b/cscore/src/main/native/linux/RunLoopHelpers.cpp
@@ -12,16 +12,16 @@ static wpi::Event& GetInstance() {
 }
 
 namespace cs {
+
 void RunMainRunLoop() {
   wpi::Event& event = GetInstance();
   wpi::WaitForObject(event.GetHandle());
 }
 
-int RunMainRunLoopTimeout(double timeoutSeconds) {
+int RunMainRunLoopTimeout(double timeout) {
   wpi::Event& event = GetInstance();
   bool timedOut = false;
-  bool signaled =
-      wpi::WaitForObject(event.GetHandle(), timeoutSeconds, &timedOut);
+  bool signaled = wpi::WaitForObject(event.GetHandle(), timeout, &timedOut);
   if (timedOut) {
     return 3;
   }
@@ -35,4 +35,5 @@ void StopMainRunLoop() {
   wpi::Event& event = GetInstance();
   event.Set();
 }
+
 }  // namespace cs
diff --git a/cscore/src/main/native/objcpp/RunLoopHelpers.mm b/cscore/src/main/native/objcpp/RunLoopHelpers.mm
@@ -8,6 +8,7 @@
 #import <Foundation/Foundation.h>
 
 namespace cs {
+
 void RunMainRunLoop() {
   if (CFRunLoopGetMain() != CFRunLoopGetCurrent()) {
     NSLog(@"This method can only be called from the main thread");
@@ -16,15 +17,16 @@ void RunMainRunLoop() {
   CFRunLoopRun();
 }
 
-int RunMainRunLoopTimeout(double timeoutSeconds) {
+int RunMainRunLoopTimeout(double timeout) {
   if (CFRunLoopGetMain() != CFRunLoopGetCurrent()) {
     NSLog(@"This method can only be called from the main thread");
     return -1;
   }
-  return CFRunLoopRunInMode(kCFRunLoopDefaultMode, timeoutSeconds, false);
+  return CFRunLoopRunInMode(kCFRunLoopDefaultMode, timeout, false);
 }
 
 void StopMainRunLoop() {
   CFRunLoopStop(CFRunLoopGetMain());
 }
+
 }
diff --git a/cscore/src/main/native/windows/RunLoopHelpers.cpp b/cscore/src/main/native/windows/RunLoopHelpers.cpp
@@ -12,16 +12,16 @@ static wpi::Event& GetInstance() {
 }
 
 namespace cs {
+
 void RunMainRunLoop() {
   wpi::Event& event = GetInstance();
   wpi::WaitForObject(event.GetHandle());
 }
 
-int RunMainRunLoopTimeout(double timeoutSeconds) {
+int RunMainRunLoopTimeout(double timeout) {
   wpi::Event& event = GetInstance();
   bool timedOut = false;
-  bool signaled =
-      wpi::WaitForObject(event.GetHandle(), timeoutSeconds, &timedOut);
+  bool signaled = wpi::WaitForObject(event.GetHandle(), timeout, &timedOut);
   if (timedOut) {
     return 3;
   }
@@ -35,4 +35,5 @@ void StopMainRunLoop() {
   wpi::Event& event = GetInstance();
   event.Set();
 }
+
 }  // namespace cs
diff --git a/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java b/hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java
@@ -57,29 +57,25 @@ public class AddressableLEDJNI extends JNIWrapper {
    * those.
    *
    * @param handle the Addressable LED handle
-   * @param highTime0NanoSeconds high time for 0 bit (default 400ns)
-   * @param lowTime0NanoSeconds low time for 0 bit (default 900ns)
-   * @param highTime1NanoSeconds high time for 1 bit (default 900ns)
-   * @param lowTime1NanoSeconds low time for 1 bit (default 600ns)
+   * @param highTime0 high time for 0 bit in nanoseconds (default 400 ns)
+   * @param lowTime0 low time for 0 bit in nanoseconds (default 900 ns)
+   * @param highTime1 high time for 1 bit in nanoseconds (default 900 ns)
+   * @param lowTime1 low time for 1 bit in nanoseconds (default 600 ns)
    * @see "HAL_SetAddressableLEDBitTiming"
    */
   public static native void setBitTiming(
-      int handle,
-      int highTime0NanoSeconds,
-      int lowTime0NanoSeconds,
-      int highTime1NanoSeconds,
-      int lowTime1NanoSeconds);
+      int handle, int highTime0, int lowTime0, int highTime1, int lowTime1);
 
   /**
    * Sets the sync time.
    *
    * <p>The sync time is the time to hold output so LEDs enable. Default set for WS2812B and WS2815.
    *
    * @param handle the Addressable LED handle
-   * @param syncTimeMicroSeconds the sync time (default 280us)
+   * @param syncTime the sync time in microseconds (default 280 μs)
    * @see "HAL_SetAddressableLEDSyncTime"
    */
-  public static native void setSyncTime(int handle, int syncTimeMicroSeconds);
+  public static native void setSyncTime(int handle, int syncTime);
 
   /**
    * Starts the output.

diff --git a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java
@@ -89,10 +89,10 @@ public class DIOJNI extends JNIWrapper {
    * going at any time.
    *
    * @param dioPortHandle the digital port handle
-   * @param pulseLengthSeconds the active length of the pulse (in seconds)
+   * @param pulseLength the active length of the pulse in seconds
    * @see "HAL_Pulse"
    */
-  public static native void pulse(int dioPortHandle, double pulseLengthSeconds);
+  public static native void pulse(int dioPortHandle, double pulseLength);
 
   /**
    * Generates a single digital pulse on multiple channels.
@@ -101,10 +101,10 @@ public class DIOJNI extends JNIWrapper {
    * any time.
    *
    * @param channelMask the channel mask
-   * @param pulseLengthSeconds the active length of the pulse (in seconds)
+   * @param pulseLength the active length of the pulse in seconds
    * @see "HAL_PulseMultiple"
    */
-  public static native void pulseMultiple(long channelMask, double pulseLengthSeconds);
+  public static native void pulseMultiple(long channelMask, double pulseLength);
 
   /**
    * Checks a DIO line to see if it is currently generating a pulse.

diff --git a/hal/src/main/native/include/hal/AddressableLED.h b/hal/src/main/native/include/hal/AddressableLED.h
@@ -81,17 +81,15 @@ void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
  * needs to be set for those.
  *
  * @param[in] handle the Addressable LED handle
- * @param[in] highTime0NanoSeconds high time for 0 bit (default 400ns)
- * @param[in] lowTime0NanoSeconds low time for 0 bit (default 900ns)
- * @param[in] highTime1NanoSeconds high time for 1 bit (default 900ns)
- * @param[in] lowTime1NanoSeconds low time for 1 bit (default 600ns)
+ * @param[in] highTime0 high time for 0 bit in nanoseconds (default 400 ns)
+ * @param[in] lowTime0 low time for 0 bit in nanoseconds (default 900 ns)
+ * @param[in] highTime1 high time for 1 bit in nanoseconds (default 900 ns)
+ * @param[in] lowTime1 low time for 1 bit in nanoseconds (default 600 ns)
  * @param[out] status the error code, or 0 for success
  */
 void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
-                                    int32_t highTime0NanoSeconds,
-                                    int32_t lowTime0NanoSeconds,
-                                    int32_t highTime1NanoSeconds,
-                                    int32_t lowTime1NanoSeconds,
+                                    int32_t highTime0, int32_t lowTime0,
+                                    int32_t highTime1, int32_t lowTime1,
                                     int32_t* status);
 
 /**
@@ -101,12 +99,11 @@ void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
  * WS2812B and WS2815.
  *
  * @param[in] handle the Addressable LED handle
- * @param[in] syncTimeMicroSeconds the sync time (default 280us)
+ * @param[in] syncTime the sync time in microseconds (default 280 μs)
  * @param[out] status the error code, or 0 for success
  */
 void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
-                                   int32_t syncTimeMicroSeconds,
-                                   int32_t* status);
+                                   int32_t syncTime, int32_t* status);
 
 /**
  * Starts the output.

diff --git a/hal/src/main/native/include/hal/DIO.h b/hal/src/main/native/include/hal/DIO.h
@@ -158,10 +158,10 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status);
  * single pulse going at any time.
  *
  * @param[in] dioPortHandle the digital port handle
- * @param[in] pulseLengthSeconds   the active length of the pulse (in seconds)
+ * @param[in] pulseLength   the active length of the pulse in seconds
  * @param[out] status       Error status variable. 0 on success.
  */
-void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
+void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
                int32_t* status);
 
 /**
@@ -171,10 +171,10 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
  * single pulse going at any time.
  *
  * @param[in] channelMask the channel mask
- * @param[in] pulseLengthSeconds   the active length of the pulse (in seconds)
- * @param[out] status       Error status variable. 0 on success.
+ * @param[in] pulseLength the active length of the pulse in seconds
+ * @param[out] status     Error status variable. 0 on success.
  */
-void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
+void HAL_PulseMultiple(uint32_t channelMask, double pulseLength,
                        int32_t* status);
 
 /**

diff --git a/hal/src/main/native/sim/AddressableLED.cpp b/hal/src/main/native/sim/AddressableLED.cpp
@@ -146,15 +146,12 @@ void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
 }
 
 void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
-                                    int32_t highTime0NanoSeconds,
-                                    int32_t lowTime0NanoSeconds,
-                                    int32_t highTime1NanoSeconds,
-                                    int32_t lowTime1NanoSeconds,
+                                    int32_t highTime0, int32_t lowTime0,
+                                    int32_t highTime1, int32_t lowTime1,
                                     int32_t* status) {}
 
 void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
-                                   int32_t syncTimeMicroSeconds,
-                                   int32_t* status) {}
+                                   int32_t syncTime, int32_t* status) {}
 
 void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,
                                    int32_t* status) {

diff --git a/hal/src/main/native/sim/DutyCycle.cpp b/hal/src/main/native/sim/DutyCycle.cpp
@@ -107,9 +107,8 @@ int32_t HAL_GetDutyCycleHighTime(HAL_DutyCycleHandle dutyCycleHandle,
     return 0;
   }
 
-  double periodSeconds = 1.0 / SimDutyCycleData[dutyCycle->index].frequency;
-  double periodNanoSeconds = periodSeconds * 1e9;
-  return periodNanoSeconds * SimDutyCycleData[dutyCycle->index].output;
+  double period = 1e9 / SimDutyCycleData[dutyCycle->index].frequency;  // ns
+  return period * SimDutyCycleData[dutyCycle->index].output;
 }
 
 int32_t HAL_GetDutyCycleOutputScaleFactor(HAL_DutyCycleHandle dutyCycleHandle,

diff --git a/hal/src/main/native/systemcore/AddressableLED.cpp b/hal/src/main/native/systemcore/AddressableLED.cpp
@@ -54,18 +54,15 @@ void HAL_WriteAddressableLEDData(HAL_AddressableLEDHandle handle,
 }
 
 void HAL_SetAddressableLEDBitTiming(HAL_AddressableLEDHandle handle,
-                                    int32_t highTime0NanoSeconds,
-                                    int32_t lowTime0NanoSeconds,
-                                    int32_t highTime1NanoSeconds,
-                                    int32_t lowTime1NanoSeconds,
+                                    int32_t highTime0, int32_t lowTime0,
+                                    int32_t highTime1, int32_t lowTime1,
                                     int32_t* status) {
   *status = HAL_HANDLE_ERROR;
   return;
 }
 
 void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
-                                   int32_t syncTimeMicroSeconds,
-                                   int32_t* status) {
+                                   int32_t syncTime, int32_t* status) {
   *status = HAL_HANDLE_ERROR;
   return;
 }

diff --git a/hal/src/main/native/systemcore/DIO.cpp b/hal/src/main/native/systemcore/DIO.cpp
@@ -177,13 +177,13 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) {
   }
 }
 
-void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
+void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength,
                int32_t* status) {
   *status = HAL_HANDLE_ERROR;
   return;
 }
 
-void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
+void HAL_PulseMultiple(uint32_t channelMask, double pulseLength,
                        int32_t* status) {
   *status = HAL_HANDLE_ERROR;
   return;

diff --git a/...clude/sysid/analysis/TrackWidthAnalysis.h → ...clude/sysid/analysis/TrackwidthAnalysis.h b/...clude/sysid/analysis/TrackWidthAnalysis.h → ...clude/sysid/analysis/TrackwidthAnalysis.h
@@ -10,14 +10,14 @@
 namespace sysid {
 
 /**
- * Calculates the track width given the left distance, right distance, and
+ * Calculates the trackwidth given the left distance, right distance, and
  * accumulated gyro angle.
  *
  * @param l     The distance traveled by the left side of the drivetrain.
  * @param r     The distance traveled by the right side of the drivetrain.
  * @param accum The accumulated gyro angle.
  */
-constexpr double CalculateTrackWidth(double l, double r,
+constexpr double CalculateTrackwidth(double l, double r,
                                      units::radian_t accum) {
   // The below comes from solving ω = (vr − vl) / 2r for 2r.
   return (gcem::abs(r) + gcem::abs(l)) / gcem::abs(accum.value());

diff --git a/...e/cpp/analysis/TrackWidthAnalysisTest.cpp → ...e/cpp/analysis/TrackwidthAnalysisTest.cpp b/...e/cpp/analysis/TrackWidthAnalysisTest.cpp → ...e/cpp/analysis/TrackwidthAnalysisTest.cpp
@@ -4,9 +4,9 @@
 
 #include <gtest/gtest.h>
 
-#include "sysid/analysis/TrackWidthAnalysis.h"
+#include "sysid/analysis/TrackwidthAnalysis.h"
 
-TEST(TrackWidthAnalysisTest, Calculate) {
-  double result = sysid::CalculateTrackWidth(-0.5386, 0.5386, 90_deg);
+TEST(TrackwidthAnalysisTest, Calculate) {
+  double result = sysid::CalculateTrackwidth(-0.5386, 0.5386, 90_deg);
   EXPECT_NEAR(result, 0.6858, 1E-4);
 }
diff --git a/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java b/wpilibNewCommands/src/main/java/edu/wpi/first/wpilibj2/command/Commands.java
@@ -121,12 +121,12 @@ public static Command print(String message) {
   /**
    * Constructs a command that does nothing, finishing after a specified duration.
    *
-   * @param seconds after how long the command finishes
+   * @param time after how long the command finishes in seconds
    * @return the command
    * @see WaitCommand
    */
-  public static Command waitSeconds(double seconds) {
-    return new WaitCommand(seconds);
+  public static Command wait(double time) {
+    return new WaitCommand(time);
   }
 
   /**