[build] Upgrade clang-format and clang-tidy (NFC) (#3422)

.github/workflows/cmake.yml

@@ -10,7 +10,7 @@ jobs:
         include:
           - os: ubuntu-latest
             name: Linux
-            container: wpilib/roborio-cross-ubuntu:2020-20.04
+            container: wpilib/roborio-cross-ubuntu:2021-20.04
             flags: ""
           - os: macos-latest
             name: macOS

.github/workflows/lint-format.yml

@@ -22,17 +22,17 @@ jobs:
         with:
           python-version: 3.8
       - name: Install clang-format
-        run: sudo apt-get update -q && sudo apt-get install -y clang-format-10
+        run: sudo apt-get update -q && sudo apt-get install -y clang-format-12
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Run
-        run: wpiformat -clang 10
+        run: wpiformat -clang 12
       - name: Check Output
         run: git --no-pager diff --exit-code HEAD
   tidy:
     name: "clang-tidy"
     runs-on: ubuntu-latest
-    container: wpilib/roborio-cross-ubuntu:2020-20.04
+    container: wpilib/roborio-cross-ubuntu:2021-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Fetch all history and metadata
@@ -40,8 +40,16 @@ jobs:
           git fetch --prune --unshallow
           git checkout -b pr
           git branch -f main origin/main
-      - name: Install clang-format and clang-tidy
-        run: sudo apt-get update -q && sudo apt-get install -y clang-format-10 clang-tidy-10 python3.8
+      - name: Set up Python 3.8
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.8
+      - name: Install clang-tidy
+        run: |
+          wget https://apt.llvm.org/llvm.sh
+          chmod +x llvm.sh
+          sudo ./llvm.sh 12
+          sudo apt-get install -y clang-tidy-12
       - name: Install wpiformat
         run: pip3 install wpiformat
       - name: Create compile_commands.json
@@ -49,4 +57,4 @@ jobs:
       - name: List changed files
         run: wpiformat -list-changed-files
       - name: Run clang-tidy
-        run: wpiformat -clang 10 -no-format -tidy-changed -compile-commands=build-cmake
+        run: wpiformat -clang 12 -no-format -tidy-changed -compile-commands=build-cmake

cscore/src/main/native/cpp/jni/CameraServerJNI.cpp

@@ -2154,7 +2154,7 @@ struct LogMessage {
   std::string m_msg;
 };
 
-typedef JSingletonCallbackManager<LogMessage> LoggerJNI;
+using LoggerJNI = JSingletonCallbackManager<LogMessage>;
 
 }  // namespace
 

cscore/src/main/native/include/cscore_raw.h

@@ -14,7 +14,7 @@
 /**
  * Raw Frame
  */
-typedef struct CS_RawFrame {
+typedef struct CS_RawFrame {  // NOLINT
   char* data;
   int dataLength;
   int pixelFormat;

cscore/src/main/native/include/cscore_raw_cv.h

@@ -9,6 +9,8 @@
 #error "Cannot include both cscore_cv.h and cscore_raw_cv.h in the same file"
 #endif
 
+#include <opencv2/core/mat.hpp>
+
 #include "cscore_raw.h"
 
 namespace cs {

cscore/src/main/native/windows/UsbCameraImpl.cpp

@@ -533,8 +533,9 @@ bool UsbCameraImpl::CacheProperties(CS_Status* status) const {
   auto result = m_messagePump->SendWindowMessage<CS_Status>(
       WaitForStartupMessage, nullptr, nullptr);
   *status = result;
-  if (*status != CS_OK)
+  if (*status != CS_OK) {
     return false;
+  }
   if (!m_properties_cached) {
     *status = CS_SOURCE_IS_DISCONNECTED;
     return false;
@@ -883,10 +884,12 @@ CS_StatusValue UsbCameraImpl::DeviceCmdSetMode(
 }
 
 bool UsbCameraImpl::DeviceStreamOn() {
-  if (m_streaming)
+  if (m_streaming) {
     return false;
-  if (!m_deviceValid)
+  }
+  if (!m_deviceValid) {
     return false;
+  }
   m_streaming = true;
   m_sourceReader->ReadSample(MF_SOURCE_READER_FIRST_VIDEO_STREAM, 0, NULL, NULL,
                              NULL, NULL);

cscore/src/main/native/windows/UsbCameraImpl.h

@@ -45,7 +45,7 @@ class UsbCameraImpl : public SourceImpl,
                 Telemetry& telemetry, int deviceId);
   ~UsbCameraImpl() override;
 
-  void Start();
+  void Start() override;
 
   // Property functions
   void SetProperty(int property, int value, CS_Status* status) override;

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

@@ -389,8 +389,9 @@ void HAL_SetCTREPCMOneShotDuration(HAL_CTREPCMHandle handle, int32_t index,
   }
 
   std::scoped_lock lock{pcm->lock};
-  pcm->oneShot.sol10MsPerUnit[index] = (std::min)(
-      static_cast<uint32_t>(durMs) / 10, static_cast<uint32_t>(0xFF));
+  pcm->oneShot.sol10MsPerUnit[index] =
+      (std::min)(static_cast<uint32_t>(durMs) / 10,
+                 static_cast<uint32_t>(0xFF));
   HAL_WriteCANPacketRepeating(pcm->canHandle, pcm->oneShot.sol10MsPerUnit, 8,
                               Control2, SendPeriod, status);
 }

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

@@ -158,8 +158,9 @@ int32_t HAL_SendError(HAL_Bool isError, int32_t errorCode, HAL_Bool isLVCode,
   auto curTime = std::chrono::steady_clock::now();
   int i;
   for (i = 0; i < KEEP_MSGS; ++i) {
-    if (prevMsg[i] == details)
+    if (prevMsg[i] == details) {
       break;
+    }
   }
   int retval = 0;
   if (i == KEEP_MSGS || (curTime - prevMsgTime[i]) >= std::chrono::seconds(1)) {

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

@@ -76,10 +76,12 @@ static void alarmCallback() {
 
   // process all notifiers
   notifierHandles->ForEach([&](HAL_NotifierHandle handle, Notifier* notifier) {
-    if (notifier->triggerTime == UINT64_MAX)
+    if (notifier->triggerTime == UINT64_MAX) {
       return;
-    if (currentTime == 0)
+    }
+    if (currentTime == 0) {
       currentTime = HAL_GetFPGATime(&status);
+    }
     std::unique_lock lock(notifier->mutex);
     if (notifier->triggerTime < currentTime) {
       notifier->triggerTime = UINT64_MAX;

hal/src/main/native/cpp/jni/simulation/SimulatorJNI.h

@@ -7,7 +7,7 @@
 #include "hal/Types.h"
 #include "jni.h"
 
-typedef HAL_Handle SIM_JniHandle;
+using SIM_JniHandle = HAL_Handle;  // NOLINT
 
 namespace hal::sim {
 JavaVM* GetJVM();

hal/src/main/native/sim/ErrorsInternal.h

@@ -6,7 +6,7 @@
 
 #include <stdint.h>
 
-typedef enum {
+enum CTR_Code {
   CTR_OKAY,       // No Error - Function executed as expected
   CTR_RxTimeout,  // CAN frame has not been received within specified period of
                   // time.
@@ -17,7 +17,7 @@ typedef enum {
   CTR_SigNotUpdated,      // Have not received an value response for signal.
   CTR_BufferFull,  // Caller attempted to insert data into a buffer that is
                    // full.
-} CTR_Code;
+};
 
 // VISA Error
 #define _VI_ERROR (-2147483647L - 1)
@@ -108,7 +108,7 @@ typedef enum {
  * Represents the resulting status of a function call through its return value.
  * 0 is success, negative values are errors, and positive values are warnings.
  */
-typedef int32_t NiFpga_Status;  // NOLINT
+using NiFpga_Status = int32_t;  // NOLINT
 
 /**
  * No errors or warnings.

hal/src/main/native/sim/Interrupts.cpp

@@ -60,7 +60,7 @@ struct SynchronousWaitData {
 static LimitedHandleResource<HAL_InterruptHandle, Interrupt, kNumInterrupts,
                              HAL_HandleEnum::Interrupt>* interruptHandles;
 
-typedef HAL_Handle SynchronousWaitDataHandle;
+using SynchronousWaitDataHandle = HAL_Handle;
 static UnlimitedHandleResource<SynchronousWaitDataHandle, SynchronousWaitData,
                                HAL_HandleEnum::Vendor>*
     synchronousInterruptHandles;

ntcore/src/main/native/cpp/Dispatcher.h

@@ -37,7 +37,7 @@ class DispatcherBase : public IDispatcher {
   friend class DispatcherTest;
 
  public:
-  typedef std::function<std::unique_ptr<wpi::NetworkStream>()> Connector;
+  using Connector = std::function<std::unique_ptr<wpi::NetworkStream>()>;
 
   DispatcherBase(IStorage& storage, IConnectionNotifier& notifier,
                  wpi::Logger& logger);

ntcore/src/main/native/cpp/Message.h

@@ -37,7 +37,7 @@ class Message {
     kExecuteRpc = 0x20,
     kRpcResponse = 0x21
   };
-  typedef std::function<NT_Type(unsigned int id)> GetEntryTypeFunc;
+  using GetEntryTypeFunc = std::function<NT_Type(unsigned int id)>;
 
   Message() = default;
   Message(MsgType type, const private_init&) : m_type(type) {}

ntcore/src/main/native/cpp/NetworkConnection.h

@@ -36,11 +36,10 @@ class IConnectionNotifier;
 
 class NetworkConnection : public INetworkConnection {
  public:
-  typedef std::function<bool(
+  using HandshakeFunc = std::function<bool(
       NetworkConnection& conn,
       std::function<std::shared_ptr<Message>()> get_msg,
-      std::function<void(wpi::span<std::shared_ptr<Message>>)> send_msgs)>
-      HandshakeFunc;
+      std::function<void(wpi::span<std::shared_ptr<Message>>)> send_msgs)>;
   using ProcessIncomingFunc =
       std::function<void(std::shared_ptr<Message>, NetworkConnection*)>;
   using Outgoing = std::vector<std::shared_ptr<Message>>;

ntcore/src/main/native/cpp/RpcServer.h

@@ -19,7 +19,7 @@ namespace nt {
 
 namespace impl {
 
-typedef std::pair<unsigned int, unsigned int> RpcIdPair;
+using RpcIdPair = std::pair<unsigned int, unsigned int>;
 
 struct RpcNotifierData : public RpcAnswer {
   RpcNotifierData(NT_Entry entry_, NT_RpcCall call_, std::string_view name_,

ntcore/src/main/native/cpp/Storage.h

@@ -197,7 +197,7 @@ class Storage : public IStorage {
     unsigned int rpc_call_uid{0};
   };
 
-  typedef wpi::StringMap<Entry*> EntriesMap;
+  using EntriesMap = wpi::StringMap<Entry*>;
   using IdMap = std::vector<Entry*>;
   using LocalMap = std::vector<std::unique_ptr<Entry>>;
   using RpcIdPair = std::pair<unsigned int, unsigned int>;

ntcore/src/main/native/cpp/Storage_load.cpp

@@ -21,7 +21,7 @@ namespace {
 
 class LoadPersistentImpl {
  public:
-  typedef std::pair<std::string, std::shared_ptr<Value>> Entry;
+  using Entry = std::pair<std::string, std::shared_ptr<Value>>;
   using WarnFunc = std::function<void(size_t, const char*)>;
 
   LoadPersistentImpl(wpi::raw_istream& is, WarnFunc warn)

ntcore/src/main/native/include/networktables/NetworkTableValue.h

@@ -486,7 +486,7 @@ inline bool operator!=(const Value& lhs, const Value& rhs) {
  * NetworkTable Value alias for similarity with Java.
  * @ingroup ntcore_cpp_api
  */
-typedef Value NetworkTableValue;
+using NetworkTableValue = Value;
 
 }  // namespace nt
 

ntcore/src/test/native/cpp/ValueTest.cpp

@@ -26,7 +26,7 @@ namespace nt {
 
 class ValueTest : public ::testing::Test {};
 
-typedef ValueTest ValueDeathTest;
+using ValueDeathTest = ValueTest;
 
 TEST_F(ValueTest, ConstructEmpty) {
   Value v;

simulation/frc_gazebo_plugins/src/clockTest/cpp/clockTest.cpp

@@ -22,7 +22,7 @@ void cb(gazebo::msgs::ConstFloat64Ptr& msg) {
   latest_time = msg->data();
 }
 
-TEST(ClockTests, test_clock) {
+TEST(ClockTests, TestClock) {
   gazebo::physics::WorldPtr world;
 
   ASSERT_TRUE(library);

simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h

@@ -13,7 +13,7 @@
 #include "simulation/gz_msgs/msgs.h"
 
 /// \brief The axis about which to measure rotation.
-typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
+enum ROTATION { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ };
 
 /**
  * \brief Plugin for reading the speed and relative angle of a link.

wpigui/src/main/native/directx11/wpigui_directx11.cpp

@@ -243,8 +243,9 @@ void gui::DeleteTexture(ImTextureID texture) {
   if (!gPlatformValid) {
     return;
   }
-  if (texture)
+  if (texture) {
     static_cast<ID3D11ShaderResourceView*>(texture)->Release();
+  }
 }
 
 }  // namespace wpi

wpilibc/src/main/native/cppcs/RobotBase.cpp

@@ -24,7 +24,7 @@
 #include "frc/livewindow/LiveWindow.h"
 #include "frc/smartdashboard/SmartDashboard.h"
 
-typedef void (*SetCameraServerSharedFP)(frc::CameraServerShared* shared);
+using SetCameraServerSharedFP = void (*)(frc::CameraServerShared*);
 
 using namespace frc;
 

wpilibc/src/main/native/include/frc/shuffleboard/SendableCameraWrapper.h

@@ -14,8 +14,8 @@
 namespace cs {
 class VideoSource;
 }  // namespace cs
-typedef int CS_Handle;
-typedef CS_Handle CS_Source;
+using CS_Handle = int;        // NOLINT
+using CS_Source = CS_Handle;  // NOLINT
 #endif
 
 #include "frc/smartdashboard/Sendable.h"

wpilibcIntegrationTests/src/main/native/cpp/TestEnvironment.cpp

@@ -59,7 +59,7 @@ class TestEnvironment : public testing::Environment {
     }
   }
 
-  ~TestEnvironment() { m_mockDS.Stop(); }
+  ~TestEnvironment() override { m_mockDS.Stop(); }
 };
 
 testing::Environment* const environment =

wpiutil/src/main/native/include/wpi/CallbackManager.h

@@ -49,7 +49,7 @@ template <typename Derived, typename TUserInfo,
           typename TNotifierData = TUserInfo>
 class CallbackThread : public wpi::SafeThread {
  public:
-  typedef TUserInfo UserInfo;
+  using UserInfo = TUserInfo;
   using NotifierData = TNotifierData;
   using ListenerData = TListenerData;
 

wpiutil/src/main/native/include/wpi/function_ref.h

@@ -37,19 +37,20 @@ class function_ref<Ret(Params...)> {
 
   template <typename Callable>
   static Ret callback_fn(intptr_t callable, Params... params) {
-    return (*reinterpret_cast<Callable*>(callable))(
-        std::forward<Params>(params)...);
+    return (*reinterpret_cast<Callable*>(callable))(std::forward<Params>(
+        params)...);
   }
 
  public:
   function_ref() = default;
-  function_ref(std::nullptr_t) {}
+  /*implicit*/ function_ref(std::nullptr_t) {}  // NOLINT
 
   template <typename Callable>
-  function_ref(Callable&& callable,
-               typename std::enable_if<
-                   !std::is_same<typename std::remove_reference<Callable>::type,
-                                 function_ref>::value>::type* = nullptr)
+  /*implicit*/ function_ref(  // NOLINT
+      Callable&& callable,
+      typename std::enable_if<
+          !std::is_same<typename std::remove_reference<Callable>::type,
+                        function_ref>::value>::type* = nullptr)
       : callback(callback_fn<typename std::remove_reference<Callable>::type>),
         callable(reinterpret_cast<intptr_t>(&callable)) {}