spi_transfer Refactor Pointers into std::array

[adrianchan787]

Description

Refactored pointers into arrays. Also changed the C-style casts for the relevant code, used uintptr instead of unsigned long for the casts, and made the receive buffers not constant.

Testing Done

No more pointers.

Resolved Issues

resolves #3751

Length Justification and Key Files to Review

Review Checklist

It is the reviewers responsibility to also make sure every item here has been covered

• [ x ] Function & Class comments: All function definitions (usually in the .h file) should have a javadoc style comment at the start of them. For examples, see the functions defined in thunderbots/software/geom. Similarly, all classes should have an associated Javadoc comment explaining the purpose of the class.
• [ x ] Remove all commented out code
• [ x ] Remove extra print statements: for example, those just used for testing
• [ x ] Resolve all TODO's: All TODO (or similar) statements should either be completed or associated with a github issue

[someone2060]

I've noticed that spi_utils.cpp241:: static const inline std::unordered_map<MotorIndex, const char*> SPI_PATHS still contains a pointer.
Is it possible to remove this pointer, or is it unnecessary to remove it?

[adrianchan787]

I've noticed that spi_utils.cpp241:: static const inline std::unordered_map<MotorIndex, const char*> SPI_PATHS still contains a pointer. Is it possible to remove this pointer, or is it unnecessary to remove it?

I wanna say it's not necessary? way I interpreted the issue, it was just changing the spiTransfer functions in spi_utils. Maybe Grayson could clarify though

[GrayHoang]

some nits

[GrayHoang]

the const char* is a c-style string and I think it should stay that way to be compatible with spidev open()

[williamckha]

Regarding SPI_PATHS, we should use std::string_view. But that is out of scope for this task, so it's up to you if you want to make that change.

[StarrryNight]

@adrianchan787 Any updates on this PR?

[adrianchan787]

@adrianchan787 Any updates on this PR?

Sorry for scuffed communication, was on vacation for past few days and haven't worked on it at all, i did mostly fix everything before the vacation though so i just need to make a few checks and then push

[nycrat]

Left a few comments. I think this PR is pretty close to done, just resolve those review comments whenever you have time 👍

[nycrat]

Good work!