[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

.github/workflows/tools.yml

@@ -120,31 +120,31 @@ jobs:
             build/allOutputs/
           retention-days: 7
 
-  PathWeaver:
-    name: "Build - PathWeaver"
-    needs: [build-artifacts]
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: wpilibsuite/PathWeaver
-          fetch-depth: 0
-      - name: Patch PathWeaver to use local development
-        run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
-      - uses: actions/download-artifact@v4
-        with:
-          name: MavenArtifacts
-      - uses: actions/setup-java@v4
-        with:
-          java-version: 17
-          distribution: 'temurin'
-      - name: Move artifacts
-        run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
-      - name: Build with Gradle
-        run: ./gradlew build
-      - uses: actions/upload-artifact@v4
-        with:
-          name: PathWeaver Build
-          path: |
-            build/allOutputs/
-          retention-days: 7
+  # PathWeaver:
+  #   name: "Build - PathWeaver"
+  #   needs: [build-artifacts]
+  #   runs-on: ubuntu-24.04
+  #   steps:
+  #     - uses: actions/checkout@v4
+  #       with:
+  #         repository: wpilibsuite/PathWeaver
+  #         fetch-depth: 0
+  #     - name: Patch PathWeaver to use local development
+  #       run: sed -i "s/wpilibTools.deps.wpilibVersion.*/wpilibTools.deps.wpilibVersion = \'$YEAR\.424242\.+\'/" dependencies.gradle
+  #     - uses: actions/download-artifact@v4
+  #       with:
+  #         name: MavenArtifacts
+  #     - uses: actions/setup-java@v4
+  #       with:
+  #         java-version: 17
+  #         distribution: 'temurin'
+  #     - name: Move artifacts
+  #       run: mkdir -p ~/releases/maven/development && cp -r edu ~/releases/maven/development
+  #     - name: Build with Gradle
+  #       run: ./gradlew build
+  #     - uses: actions/upload-artifact@v4
+  #       with:
+  #         name: PathWeaver Build
+  #         path: |
+  #           build/allOutputs/
+  #         retention-days: 7

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();

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);
 }
 
 /*

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

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

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());
 }
+
 }

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

hal/src/main/java/edu/wpi/first/hal/AddressableLEDJNI.java

@@ -56,29 +56,25 @@ public class AddressableLEDJNI extends JNIWrapper {
    * <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to be set for 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.
    *
    * @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.

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.

hal/src/main/java/edu/wpi/first/hal/DMAJNI.java

@@ -47,10 +47,10 @@ public class DMAJNI extends JNIWrapper {
    * <p>This can only be called if DMA is not started.
    *
    * @param handle the dma handle
-   * @param periodSeconds the period to trigger in seconds
+   * @param period the period to trigger in seconds
    * @see "HAL_SetDMATimedTrigger"
    */
-  public static native void setTimedTrigger(int handle, double periodSeconds);
+  public static native void setTimedTrigger(int handle, double period);
 
   /**
    * Sets DMA transfers to occur at a specific timed interval in FPGA cycles.
@@ -229,14 +229,13 @@ public static native int setExternalTrigger(
    * Reads a DMA sample from the queue.
    *
    * @param handle the dma handle
-   * @param timeoutSeconds the time to wait for data to be queued before timing out
+   * @param timeout the time in seconds to wait for data to be queued before timing out
    * @param buffer the sample object to place data into
    * @param sampleStore index 0-21 channelOffsets, index 22: capture size, index 23: triggerChannels
    *     (bitflags), index 24: remaining, index 25: read status
    * @return timestamp of the DMA Sample
    */
-  public static native long readDMA(
-      int handle, double timeoutSeconds, int[] buffer, int[] sampleStore);
+  public static native long readDMA(int handle, double timeout, int[] buffer, int[] sampleStore);
 
   /**
    * Get the sensor DMA sample.

hal/src/main/java/edu/wpi/first/hal/DMAJNISample.java

@@ -29,8 +29,8 @@ static class BaseStore {
   /** Default constructor. */
   public DMAJNISample() {}
 
-  public int update(int dmaHandle, double timeoutSeconds) {
-    m_timeStamp = DMAJNI.readDMA(dmaHandle, timeoutSeconds, m_dataBuffer, m_storage);
+  public int update(int dmaHandle, double timeout) {
+    m_timeStamp = DMAJNI.readDMA(dmaHandle, timeout, m_dataBuffer, m_storage);
     return m_storage[25];
   }
 

hal/src/main/native/athena/AddressableLED.cpp

@@ -211,33 +211,30 @@ 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) {
   auto led = addressableLEDHandles->Get(handle);
   if (!led) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
 
-  led->led->writeLowBitTickTiming(0, highTime0NanoSeconds / 25, status);
-  led->led->writeLowBitTickTiming(1, lowTime0NanoSeconds / 25, status);
-  led->led->writeHighBitTickTiming(0, highTime1NanoSeconds / 25, status);
-  led->led->writeHighBitTickTiming(1, lowTime1NanoSeconds / 25, status);
+  led->led->writeLowBitTickTiming(0, highTime0 / 25, status);
+  led->led->writeLowBitTickTiming(1, lowTime0 / 25, status);
+  led->led->writeHighBitTickTiming(0, highTime1 / 25, status);
+  led->led->writeHighBitTickTiming(1, lowTime1 / 25, status);
 }
 
 void HAL_SetAddressableLEDSyncTime(HAL_AddressableLEDHandle handle,
-                                   int32_t syncTimeMicroSeconds,
-                                   int32_t* status) {
+                                   int32_t syncTime, int32_t* status) {
   auto led = addressableLEDHandles->Get(handle);
   if (!led) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
 
-  led->led->writeSyncTiming(syncTimeMicroSeconds, status);
+  led->led->writeSyncTiming(syncTime, status);
 }
 
 void HAL_StartAddressableLEDOutput(HAL_AddressableLEDHandle handle,

hal/src/main/native/athena/DIO.cpp

@@ -433,18 +433,17 @@ 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) {
   auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO);
   if (port == nullptr) {
     *status = HAL_HANDLE_ERROR;
     return;
   }
 
-  uint32_t pulseLengthMicroseconds =
-      static_cast<uint32_t>(pulseLengthSeconds * 1e6);
+  uint32_t pulseLengthUs = static_cast<uint32_t>(pulseLength * 1e6);  // μs
 
-  if (pulseLengthMicroseconds <= 0 || pulseLengthMicroseconds > 0xFFFF) {
+  if (pulseLengthUs <= 0 || pulseLengthUs > 0xFFFF) {
     *status = PARAMETER_OUT_OF_RANGE;
     hal::SetLastError(status,
                       "Length must be between 1 and 65535 microseconds");
@@ -461,17 +460,15 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLengthSeconds,
     pulse.MXP = 1u << remapMXPChannel(port->channel);
   }
 
-  digitalSystem->writePulseLength(
-      static_cast<uint16_t>(pulseLengthMicroseconds), status);
+  digitalSystem->writePulseLength(static_cast<uint16_t>(pulseLengthUs), status);
   digitalSystem->writePulse(pulse, status);
 }
 
-void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
+void HAL_PulseMultiple(uint32_t channelMask, double pulseLength,
                        int32_t* status) {
-  uint32_t pulseLengthMicroseconds =
-      static_cast<uint32_t>(pulseLengthSeconds * 1e6);
+  uint32_t pulseLengthUs = static_cast<uint32_t>(pulseLength * 1e6);  // μs
 
-  if (pulseLengthMicroseconds <= 0 || pulseLengthMicroseconds > 0xFFFF) {
+  if (pulseLengthUs <= 0 || pulseLengthUs > 0xFFFF) {
     *status = PARAMETER_OUT_OF_RANGE;
     hal::SetLastError(status,
                       "Length must be between 1 and 65535 microseconds");
@@ -483,8 +480,7 @@ void HAL_PulseMultiple(uint32_t channelMask, double pulseLengthSeconds,
   pulse.MXP = (channelMask & 0xFFFF) >> 10;
   pulse.SPIPort = (channelMask & 0x1F) >> 26;
 
-  digitalSystem->writePulseLength(
-      static_cast<uint16_t>(pulseLengthMicroseconds), status);
+  digitalSystem->writePulseLength(static_cast<uint16_t>(pulseLengthUs), status);
   digitalSystem->writePulse(pulse, status);
 }