[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/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];
   }
 

sysid/src/main/native/include/sysid/analysis/TrackWidthAnalysis.h → sysid/src/main/native/include/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());

sysid/src/test/native/cpp/analysis/TrackWidthAnalysisTest.cpp → sysid/src/test/native/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);
 }