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[wpimath, wpiutil] Add wpi::array for compile time size checking (#3087)

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The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.

This is a breaking change but is worthwhile to avoid hard-to-debug errors.
This commit is contained in:
Tyler Veness
2021-01-16 20:26:17 -08:00
committed by GitHub
parent d6ed20c1e4
commit f393989a5b
25 changed files with 227 additions and 118 deletions
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4
wpilibNewCommands/src/test/native/cpp/frc2/command/SwerveControllerCommandTest.cpp
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@@ -31,7 +31,7 @@ class SwerveControllerCommandTest : public ::testing::Test {
frc2::Timer m_timer;
frc::Rotation2d m_angle{0_rad};
std::array<frc::SwerveModuleState, 4> m_moduleStates{
wpi::array<frc::SwerveModuleState, 4> m_moduleStates{
frc::SwerveModuleState{}, frc::SwerveModuleState{},
frc::SwerveModuleState{}, frc::SwerveModuleState{}};
@@ -60,7 +60,7 @@ class SwerveControllerCommandTest : public ::testing::Test {
void TearDown() override { frc::sim::ResumeTiming(); }
std::array<frc::SwerveModuleState, 4> getCurrentWheelSpeeds() {
wpi::array<frc::SwerveModuleState, 4> getCurrentWheelSpeeds() {
return m_moduleStates;
}