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[wpiutil] Upgrade to fmt 10.2.1, add wpi::print (#6161)

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We now use a wrapper (wpi::print) to catch exceptions since we can't patch
std::print() to not throw when we ultimately migrate to it.

fmtlib and std format/print throw the same exceptions and always have. We previously patched fmt::print() to not throw a write failure exception, but we can't do that for std::print(); wpi::print() is the migration plan.
This commit is contained in:
Tyler Veness
2024-05-12 06:25:42 -07:00
committed by GitHub
parent 6c9dcc157e
commit d88c71ffdc
99 changed files with 1374 additions and 1130 deletions
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8
wpimath/src/test/native/cpp/DARETestUtil.cpp
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@@ -5,8 +5,8 @@
#include "DARETestUtil.h"
#include <Eigen/Eigenvalues>
#include <fmt/core.h>
#include <gtest/gtest.h>
#include <wpi/print.h>
#include "frc/fmt/Eigen.h"
@@ -20,9 +20,9 @@ void ExpectMatrixEqual(const Eigen::MatrixXd& lhs, const Eigen::MatrixXd& rhs,
}
if (::testing::Test::HasFailure()) {
fmt::print("lhs =\n{}\n", lhs);
fmt::print("rhs =\n{}\n", rhs);
fmt::print("delta =\n{}\n", Eigen::MatrixXd{lhs - rhs});
wpi::print("lhs =\n{}\n", lhs);
wpi::print("rhs =\n{}\n", rhs);
wpi::print("delta =\n{}\n", Eigen::MatrixXd{lhs - rhs});
}
}

27
wpimath/src/test/native/cpp/UnitsTest.cpp
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@@ -8,6 +8,7 @@
#include <type_traits>
#include <gtest/gtest.h>
#include <wpi/print.h>
#include "units/acceleration.h"
#include "units/angle.h"
@@ -1426,59 +1427,59 @@ TEST_F(UnitContainer, cout) {
#if __has_include(<fmt/format.h>) && !defined(UNIT_LIB_DISABLE_FMT)
TEST_F(UnitContainer, fmtlib) {
testing::internal::CaptureStdout();
fmt::print("{}", degree_t(349.87));
wpi::print("{}", degree_t(349.87));
std::string output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("349.87 deg", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{}", meter_t(1.0));
wpi::print("{}", meter_t(1.0));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("1 m", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{}", dB_t(31.0));
wpi::print("{}", dB_t(31.0));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("31 dB", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{}", volt_t(21.79));
wpi::print("{}", volt_t(21.79));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("21.79 V", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{}", dBW_t(12.0));
wpi::print("{}", dBW_t(12.0));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("12 dBW", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{}", dBm_t(120.0));
wpi::print("{}", dBm_t(120.0));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("120 dBm", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{}", miles_per_hour_t(72.1));
wpi::print("{}", miles_per_hour_t(72.1));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("72.1 mph", output.c_str());
// undefined unit
testing::internal::CaptureStdout();
fmt::print("{}", units::math::cpow<4>(meter_t(2)));
wpi::print("{}", units::math::cpow<4>(meter_t(2)));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("16 m^4", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{}", units::math::cpow<3>(foot_t(2)));
wpi::print("{}", units::math::cpow<3>(foot_t(2)));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("8 cu_ft", output.c_str());
testing::internal::CaptureStdout();
fmt::print("{:.9}", units::math::cpow<4>(foot_t(2)));
wpi::print("{:.9}", units::math::cpow<4>(foot_t(2)));
output = testing::internal::GetCapturedStdout();
EXPECT_STREQ("0.138095597 m^4", output.c_str());
// constants
testing::internal::CaptureStdout();
fmt::print("{:.8}", constants::k_B);
wpi::print("{:.8}", constants::k_B);
output = testing::internal::GetCapturedStdout();
#if defined(_MSC_VER) && (_MSC_VER <= 1800)
EXPECT_STREQ("1.3806485e-023 m^2 kg s^-2 K^-1", output.c_str());
@@ -1487,7 +1488,7 @@ TEST_F(UnitContainer, fmtlib) {
#endif
testing::internal::CaptureStdout();
fmt::print("{:.9}", constants::mu_B);
wpi::print("{:.9}", constants::mu_B);
output = testing::internal::GetCapturedStdout();
#if defined(_MSC_VER) && (_MSC_VER <= 1800)
EXPECT_STREQ("9.27400999e-024 m^2 A", output.c_str());
@@ -1496,7 +1497,7 @@ TEST_F(UnitContainer, fmtlib) {
#endif
testing::internal::CaptureStdout();
fmt::print("{:.7}", constants::sigma);
wpi::print("{:.7}", constants::sigma);
output = testing::internal::GetCapturedStdout();
#if defined(_MSC_VER) && (_MSC_VER <= 1800)
EXPECT_STREQ("5.670367e-008 kg s^-3 K^-4", output.c_str());

9
wpimath/src/test/native/cpp/estimator/DifferentialDrivePoseEstimatorTest.cpp
View File

@@ -8,6 +8,7 @@
#include <utility>
#include <gtest/gtest.h>
#include <wpi/print.h>
#include "frc/StateSpaceUtil.h"
#include "frc/estimator/DifferentialDrivePoseEstimator.h"
@@ -50,7 +51,7 @@ void testFollowTrajectory(
double errorSum = 0;
if (debug) {
fmt::print(
wpi::print(
"time, est_x, est_y, est_theta, true_x, true_y, true_theta, left, "
"right\n");
}
@@ -95,7 +96,7 @@ void testFollowTrajectory(
leftDistance, rightDistance);
if (debug) {
fmt::print(
wpi::print(
"{}, {}, {}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
xhat.Y().value(), xhat.Rotation().Radians().value(),
groundTruthState.pose.X().value(), groundTruthState.pose.Y().value(),
@@ -116,14 +117,14 @@ void testFollowTrajectory(
}
if (debug) {
fmt::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
units::second_t apply_time;
units::second_t measure_time;
frc::Pose2d vision_pose;
for (auto record : visionLog) {
std::tie(apply_time, measure_time, vision_pose) = record;
fmt::print("{}, {}, {}, {}, {}\n", apply_time.value(),
wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
measure_time.value(), vision_pose.X().value(),
vision_pose.Y().value(),
vision_pose.Rotation().Radians().value());

9
wpimath/src/test/native/cpp/estimator/MecanumDrivePoseEstimatorTest.cpp
View File

@@ -7,6 +7,7 @@
#include <tuple>
#include <gtest/gtest.h>
#include <wpi/print.h>
#include "frc/estimator/MecanumDrivePoseEstimator.h"
#include "frc/geometry/Pose2d.h"
@@ -42,7 +43,7 @@ void testFollowTrajectory(
double errorSum = 0;
if (debug) {
fmt::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
wpi::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
}
while (t < trajectory.TotalTime()) {
@@ -87,7 +88,7 @@ void testFollowTrajectory(
wheelPositions);
if (debug) {
fmt::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
wpi::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
xhat.Y().value(), xhat.Rotation().Radians().value(),
groundTruthState.pose.X().value(),
groundTruthState.pose.Y().value(),
@@ -107,14 +108,14 @@ void testFollowTrajectory(
}
if (debug) {
fmt::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
units::second_t apply_time;
units::second_t measure_time;
frc::Pose2d vision_pose;
for (auto record : visionLog) {
std::tie(apply_time, measure_time, vision_pose) = record;
fmt::print("{}, {}, {}, {}, {}\n", apply_time.value(),
wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
measure_time.value(), vision_pose.X().value(),
vision_pose.Y().value(),
vision_pose.Rotation().Radians().value());

9
wpimath/src/test/native/cpp/estimator/SwerveDrivePoseEstimatorTest.cpp
View File

@@ -9,6 +9,7 @@
#include <fmt/format.h>
#include <gtest/gtest.h>
#include <wpi/print.h>
#include <wpi/timestamp.h>
#include "frc/estimator/SwerveDrivePoseEstimator.h"
@@ -45,7 +46,7 @@ void testFollowTrajectory(
double errorSum = 0;
if (debug) {
fmt::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
wpi::print("time, est_x, est_y, est_theta, true_x, true_y, true_theta\n");
}
while (t < trajectory.TotalTime()) {
@@ -90,7 +91,7 @@ void testFollowTrajectory(
positions);
if (debug) {
fmt::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
wpi::print("{}, {}, {}, {}, {}, {}, {}\n", t.value(), xhat.X().value(),
xhat.Y().value(), xhat.Rotation().Radians().value(),
groundTruthState.pose.X().value(),
groundTruthState.pose.Y().value(),
@@ -110,14 +111,14 @@ void testFollowTrajectory(
}
if (debug) {
fmt::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
wpi::print("apply_time, measured_time, vision_x, vision_y, vision_theta\n");
units::second_t apply_time;
units::second_t measure_time;
frc::Pose2d vision_pose;
for (auto record : visionLog) {
std::tie(apply_time, measure_time, vision_pose) = record;
fmt::print("{}, {}, {}, {}, {}\n", apply_time.value(),
wpi::print("{}, {}, {}, {}, {}\n", apply_time.value(),
measure_time.value(), vision_pose.X().value(),
vision_pose.Y().value(),
vision_pose.Rotation().Radians().value());