Moved utils from source to header file to aid compiler optimization

BlueAndi · Aug 16, 2024 · 9570fe8 · 9570fe8
1 parent 8784e9f
commit 9570fe8
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Showing 2 changed files with 11 additions and 14 deletions.
diff --git a/lib/Service/src/Util.cpp b/lib/Service/src/Util.cpp
@@ -33,7 +33,6 @@
  * Includes
  *****************************************************************************/
 #include <Util.h>
-#include <RobotConstants.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -211,17 +210,6 @@ bool Util::isButtonTriggered(IButton& button, bool& lastState)
     return isTriggered;
 }
 
-int32_t Util::stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec)
-{
-    return (static_cast<int32_t>(speedStepsPerSec) * 1000 / static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M));
-}
-
-int16_t Util::millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec)
-{
-    int32_t speedStepsPerSec = speedMmPerSec * static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M);
-    return (static_cast<int16_t>(speedStepsPerSec / 1000));
-}
-
 /******************************************************************************
  * Local Functions
  *****************************************************************************/
diff --git a/lib/Service/src/Util.h b/lib/Service/src/Util.h
@@ -46,6 +46,7 @@
 #include <stdint.h>
 #include <stdlib.h>
 #include <IButton.h>
+#include <RobotConstants.h>
 
 /**
  * Utilities
@@ -121,7 +122,11 @@ namespace Util
      *
      * @return Speed in mm/s
      */
-    int32_t stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec);
+    inline int32_t stepsPerSecondToMillimetersPerSecond(int16_t speedStepsPerSec)
+    {
+        return (static_cast<int32_t>(speedStepsPerSec) * 1000 /
+                static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M));
+    }
 
     /**
      * Convert a speed in mm/s to a speed in encoder steps per second.
@@ -130,7 +135,11 @@ namespace Util
      *
      * @return Speed in encoder steps per second
      */
-    int16_t millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec);
+    inline int16_t millimetersPerSecondToStepsPerSecond(int32_t speedMmPerSec)
+    {
+        int32_t speedStepsPerSec = speedMmPerSec * static_cast<int32_t>(RobotConstants::ENCODER_STEPS_PER_M);
+        return (static_cast<int16_t>(speedStepsPerSec / 1000));
+    }
 
 } /* namespace Util */