refactor: improve sensor methods

2 files changed, 46 insertions, 45 deletions

diff --git a/src/sensor/sensor.cpp b/src/sensor/sensor.cpp
index 5ca5dc3..9f48e7f 100644
--- a/src/sensor/sensor.cpp
+++ b/src/sensor/sensor.cpp
@@ -16,7 +16,7 @@ Sensor::Sensor(uint8_t address, TwoWire wire, SerialStream sout,
 {
 }
 
-bool Sensor::begin()
+bool Sensor::begin() noexcept
 {
 	_wire.begin();
 
@@ -32,13 +32,13 @@ bool Sensor::begin()
 	return false;
 }
 
-bool Sensor::isConnected()
+bool Sensor::isConnected() noexcept
 {
 	_wire.beginTransmission(_address);
 	return (_wire.endTransmission() == 0);
 }
 
-bool Sensor::read()
+bool Sensor::read() noexcept
 {
 	auto now = time_now();
 
@@ -168,7 +168,7 @@ bool Sensor::read()
 	return true;
 }
 
-bool Sensor::setAccelSensitivity(uint8_t sensitivity)
+bool Sensor::setAccelSensitivity(uint8_t sensitivity) noexcept
 {
 	if (sensitivity > 3)
 	{
@@ -177,7 +177,7 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity)
 
 	_accel_sensitivity = sensitivity;
 
-	uint8_t accel_config = getRegister(SensorRegisters::ACCEL_CONFIG);
+	auto accel_config = static_cast<int>(getRegister(SensorRegisters::ACCEL_CONFIG));
 
 	if (_status != SensorStatus::OK)
 	{
@@ -190,9 +190,10 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity)
 		const uint8_t magic = 0xE7U;
 
 		accel_config &= magic;
-		accel_config |= (_accel_sensitivity << 3);
+		accel_config |= (_accel_sensitivity << 3U);
 
-		if (!setRegister(SensorRegisters::ACCEL_CONFIG, accel_config))
+		if (!setRegister(SensorRegisters::ACCEL_CONFIG,
+						 static_cast<uint8_t>(accel_config)))
 		{
 			return false;
 		}
@@ -204,7 +205,7 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity)
 	return true;
 }
 
-bool Sensor::setGyroSensitivity(uint8_t sensitivity)
+bool Sensor::setGyroSensitivity(uint8_t sensitivity) noexcept
 {
 	if (sensitivity > 3)
 	{
@@ -213,7 +214,7 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 
 	_gyro_sensitivity = sensitivity;
 
-	uint8_t gyro_config = getRegister(SensorRegisters::GYRO_CONFIG);
+	auto gyro_config = static_cast<int>(getRegister(SensorRegisters::GYRO_CONFIG));
 
 	if (_status != SensorStatus::OK)
 	{
@@ -226,9 +227,9 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 		const uint8_t magic = 0xE7U;
 
 		gyro_config &= magic;
-		gyro_config |= (_gyro_sensitivity << 3);
+		gyro_config |= (_gyro_sensitivity << 3U);
 
-		if (!setRegister(SensorRegisters::GYRO_CONFIG, gyro_config))
+		if (!setRegister(SensorRegisters::GYRO_CONFIG, static_cast<uint8_t>(gyro_config)))
 		{
 			return false;
 		}
@@ -239,57 +240,57 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity)
 	return true;
 }
 
-double Sensor::getAccelX() const
+double Sensor::getAccelX() const noexcept
 {
 	return _accel_raw_x;
 }
 
-double Sensor::getAccelY() const
+double Sensor::getAccelY() const noexcept
 {
 	return _accel_raw_y;
 }
 
-double Sensor::getAccelZ() const
+double Sensor::getAccelZ() const noexcept
 {
 	return _accel_raw_z;
 }
 
-double Sensor::getAngleX() const
+double Sensor::getAngleX() const noexcept
 {
 	return _accel_x;
 }
 
-double Sensor::getAngleY() const
+double Sensor::getAngleY() const noexcept
 {
 	return _accel_y;
 }
 
-double Sensor::getGyroX() const
+double Sensor::getGyroX() const noexcept
 {
 	return _gyro_raw_x;
 }
 
-double Sensor::getGyroY() const
+double Sensor::getGyroY() const noexcept
 {
 	return _gyro_raw_y;
 }
 
-double Sensor::getGyroZ() const
+double Sensor::getGyroZ() const noexcept
 {
 	return _gyro_raw_z;
 }
 
-double Sensor::getPitch() const
+double Sensor::getPitch() const noexcept
 {
 	return _pitch;
 }
 
-double Sensor::getRoll() const
+double Sensor::getRoll() const noexcept
 {
 	return _roll;
 }
 
-bool Sensor::setRegister(uint8_t reg, uint8_t value)
+bool Sensor::setRegister(uint8_t reg, uint8_t value) noexcept
 {
 	_wire.beginTransmission(_address);
 	_wire.write(reg);
@@ -304,7 +305,7 @@ bool Sensor::setRegister(uint8_t reg, uint8_t value)
 	return true;
 }
 
-uint8_t Sensor::getRegister(uint8_t reg)
+uint8_t Sensor::getRegister(uint8_t reg) noexcept
 {
 	_wire.beginTransmission(_address);
 	_wire.write(reg);
@@ -322,10 +323,10 @@ uint8_t Sensor::getRegister(uint8_t reg)
 		return 0U;
 	}
 
-	return _wire.read();
+	return static_cast<uint8_t>(_wire.read());
 }
 
-SensorStatus Sensor::getStatus()
+SensorStatus Sensor::getStatus() noexcept
 {
 	SensorStatus status = _status;
 	_status = SensorStatus::OK;
@@ -333,7 +334,7 @@ SensorStatus Sensor::getStatus()
 	return status;
 }
 
-int16_t Sensor::_readHighLow()
+int16_t Sensor::_readHighLow() noexcept
 {
 	const int16_t high = _wire.read();
 	const int16_t low = _wire.read();
diff --git a/src/sensor/sensor.hpp b/src/sensor/sensor.hpp
index 7b76ae2..5bdf6ca 100644
--- a/src/sensor/sensor.hpp
+++ b/src/sensor/sensor.hpp
@@ -43,19 +43,19 @@ public:
 	 *
 	 * @returns Whether or not the sensor can be communicated with.
 	 */
-	bool begin();
+	bool begin() noexcept;
 
 	/**
 	 * Returns whether or not the sensor is connected.
 	 */
-	bool isConnected();
+	bool isConnected() noexcept;
 
 	/**
 	 * Reads from the sensor.
 	 *
 	 * @returns Whether or not it succeeded.
 	 */
-	bool read();
+	bool read() noexcept;
 
 	/**
 	 * Sets the accelerometer sensitivity.
@@ -63,7 +63,7 @@ public:
 	 * @param sensitivity Accelerometer sensitivity. 0, 1, 2, 3 => 2g 4g 8g 16g
 	 * @returns Whether or not it succeeded.
 	 */
-	bool setAccelSensitivity(uint8_t sensitivity);
+	bool setAccelSensitivity(uint8_t sensitivity) noexcept;
 
 	/**
 	 * Sets the gyro sensitivity.
@@ -72,57 +72,57 @@ public:
 	 * 	0, 1, 2, 3 => 250, 500, 1000, 2000 degrees/s
 	 * @returns Whether or not it succeeded.
 	 */
-	bool setGyroSensitivity(uint8_t sensitivity);
+	bool setGyroSensitivity(uint8_t sensitivity) noexcept;
 
 	/**
 	 * Returns the current X axis acceleration in g:s (g-force).
 	 */
-	double getAccelX() const;
+	double getAccelX() const noexcept;
 
 	/**
 	 * Returns the current Y axis acceleration in g:s (g-force).
 	 */
-	double getAccelY() const;
+	double getAccelY() const noexcept;
 
 	/**
 	 * Returns the current Z axis acceleration in g:s (g-force).
 	 */
-	double getAccelZ() const;
+	double getAccelZ() const noexcept;
 
 	/**
 	 * Returns the current X angle.
 	 */
-	double getAngleX() const;
+	double getAngleX() const noexcept;
 
 	/**
 	 * Returns the current Y angle.
 	 */
-	double getAngleY() const;
+	double getAngleY() const noexcept;
 
 	/**
 	 * Returns the current X axis in degrees/s.
 	 */
-	double getGyroX() const;
+	double getGyroX() const noexcept;
 
 	/**
 	 * Returns the current Y axis in degrees/s.
 	 */
-	double getGyroY() const;
+	double getGyroY() const noexcept;
 
 	/**
 	 * Returns the current Z axis in degrees/s.
 	 */
-	double getGyroZ() const;
+	double getGyroZ() const noexcept;
 
 	/**
 	 * Returns the current pitch angle.
 	 */
-	double getPitch() const;
+	double getPitch() const noexcept;
 
 	/**
 	 * Returns the current roll angle.
 	 */
-	double getRoll() const;
+	double getRoll() const noexcept;
 
 	/**
 	 * Sets the value of a key in the sensor's register.
@@ -131,19 +131,19 @@ public:
 	 * @param value A new value
 	 * @returns Whether or not it succeeded.
 	 */
-	bool setRegister(uint8_t reg, uint8_t value);
+	bool setRegister(uint8_t reg, uint8_t value) noexcept;
 
 	/**
 	 * Returns the value of a key in the sensor's registry.
 	 *
 	 * @param reg The address of a registry key
 	 */
-	uint8_t getRegister(uint8_t reg);
+	uint8_t getRegister(uint8_t reg) noexcept;
 
 	/**
 	 * Returns the last sensor status.
 	 */
-	SensorStatus getStatus();
+	SensorStatus getStatus() noexcept;
 
 	// Accelerometer calibration values
 	double accel_cal_x = 0.0F;
@@ -193,5 +193,5 @@ private:
 	double _roll = 0;
 	double _yaw = 0;
 
-	int16_t _readHighLow();
+	int16_t _readHighLow() noexcept;
 };