Finish clang-tidy cleanups (#3003)

* Add .clang-tidy configuration.
* A separate .clang-tidy is used for hal includes to suppress modernize-use-using
  (as these are C headers).
* Add NOLINT where necessary for a clean run.
* Add clang-tidy job to lint-format workflow.  This workflow is now only run on PRs.
  To reduce runtime, clang-tidy is only run on files changed in the PR.

Two wpilibc changes; both are unlikely to break user code:
* BuiltInAccelerometer: Make SetRange() final
* Counter: Make SetMaxPeriod() final

After these cleanups, the only file that does not run cleanly is
cscore_raw_cv.h due to it not being standalone.

hal/src/main/native/athena/HALInitializer.h

@@ -6,11 +6,10 @@
 
 #include <atomic>
 
-namespace hal {
-namespace init {
+namespace hal::init {
 extern std::atomic_bool HAL_IsInitialized;
 extern void RunInitialize();
-static inline void CheckInit() {
+inline void CheckInit() {
   if (HAL_IsInitialized.load(std::memory_order_relaxed)) {
     return;
   }
@@ -52,5 +51,4 @@ extern void InitializeSerialPort();
 extern void InitializeSolenoid();
 extern void InitializeSPI();
 extern void InitializeThreads();
-}  // namespace init
-}  // namespace hal
+}  // namespace hal::init

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

@@ -155,7 +155,7 @@ void SerialHelper::CoiteratedSort(
       }
     }
   }
-  vec = sortedVec;
+  vec.swap(sortedVec);
 }
 
 void SerialHelper::QueryHubPaths(int32_t* status) {

hal/src/main/native/include/hal/.clang-tidy

@@ -0,0 +1,75 @@
+Checks:
+  'bugprone-assert-side-effect,
+  bugprone-bool-pointer-implicit-conversion,
+  bugprone-copy-constructor-init,
+  bugprone-dangling-handle,
+  bugprone-dynamic-static-initializers,
+  bugprone-exception-escape,
+  bugprone-forward-declaration-namespace,
+  bugprone-forwarding-reference-overload,
+  bugprone-inaccurate-erase,
+  bugprone-incorrect-roundings,
+  bugprone-integer-division,
+  bugprone-lambda-function-name,
+  bugprone-misplaced-operator-in-strlen-in-alloc,
+  bugprone-misplaced-widening-cast,
+  bugprone-move-forwarding-reference,
+  bugprone-multiple-statement-macro,
+  bugprone-parent-virtual-call,
+  bugprone-posix-return,
+  bugprone-sizeof-container,
+  bugprone-sizeof-expression,
+  bugprone-spuriously-wake-up-functions,
+  bugprone-string-constructor,
+  bugprone-string-integer-assignment,
+  bugprone-string-literal-with-embedded-nul,
+  bugprone-suspicious-enum-usage,
+  bugprone-suspicious-include,
+  bugprone-suspicious-memset-usage,
+  bugprone-suspicious-missing-comma,
+  bugprone-suspicious-semicolon,
+  bugprone-suspicious-string-compare,
+  bugprone-throw-keyword-missing,
+  bugprone-too-small-loop-variable,
+  bugprone-undefined-memory-manipulation,
+  bugprone-undelegated-constructor,
+  bugprone-unhandled-self-assignment,
+  bugprone-unused-raii,
+  bugprone-virtual-near-miss,
+  cert-dcl58-cpp,
+  cert-err52-cpp,
+  cert-err60-cpp,
+  cert-mem57-cpp,
+  cert-oop57-cpp,
+  cert-oop58-cpp,
+  clang-diagnostic-*,
+  -clang-diagnostic-deprecated-declarations,
+  -clang-diagnostic-#warnings,
+  -clang-diagnostic-pedantic,
+  clang-analyzer-*,
+  cppcoreguidelines-slicing,
+  google-build-namespaces,
+  google-explicit-constructor,
+  google-global-names-in-headers,
+  google-readability-avoid-underscore-in-googletest-name,
+  google-readability-casting,
+  google-runtime-operator,
+  llvm-twine-local,
+  misc-definitions-in-headers,
+  misc-misplaced-const,
+  misc-new-delete-overloads,
+  misc-non-copyable-objects,
+  modernize-avoid-bind,
+  modernize-concat-nested-namespaces,
+  modernize-make-shared,
+  modernize-make-unique,
+  modernize-pass-by-value,
+  modernize-use-default-member-init,
+  modernize-use-noexcept,
+  modernize-use-nullptr,
+  modernize-use-override,
+  readability-braces-around-statements'
+FormatStyle: file
+CheckOptions:
+  - key: bugprone-dangling-handle
+    value: 'wpi::StringRef;wpi::Twine'

hal/src/main/native/include/hal/handles/HandlesInternal.h

@@ -125,9 +125,8 @@ static inline bool isHandleCorrectVersion(HAL_Handle handle, int16_t version) {
  * @return           true if the handle is proper version and type, otherwise
  * false.
  */
-static inline int16_t getHandleTypedIndex(HAL_Handle handle,
-                                          HAL_HandleEnum enumType,
-                                          int16_t version) {
+inline int16_t getHandleTypedIndex(HAL_Handle handle, HAL_HandleEnum enumType,
+                                   int16_t version) {
   if (!isHandleType(handle, enumType)) {
     return InvalidHandleIndex;
   }
@@ -155,7 +154,7 @@ static inline int16_t getHandleTypedIndex(HAL_Handle handle,
  * @param handle the port handle
  * @return       the port channel
  */
-static inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
+inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
   if (!isHandleType(handle, HAL_HandleEnum::Port)) {
     return InvalidHandleIndex;
   }
@@ -169,7 +168,7 @@ static inline int16_t getPortHandleChannel(HAL_PortHandle handle) {
  * @param handle the port handle
  * @return       the port module
  */
-static inline int16_t getPortHandleModule(HAL_PortHandle handle) {
+inline int16_t getPortHandleModule(HAL_PortHandle handle) {
   if (!isHandleType(handle, HAL_HandleEnum::Port)) {
     return InvalidHandleIndex;
   }
@@ -183,7 +182,7 @@ static inline int16_t getPortHandleModule(HAL_PortHandle handle) {
  * @param handle the port handle
  * @return       the port SPI channel
  */
-static inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
+inline int16_t getPortHandleSPIEnable(HAL_PortHandle handle) {
   if (!isHandleType(handle, HAL_HandleEnum::Port)) {
     return InvalidHandleIndex;
   }

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

@@ -108,104 +108,104 @@ 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;
+typedef int32_t NiFpga_Status;  // NOLINT
 
 /**
  * No errors or warnings.
  */
-static const NiFpga_Status NiFpga_Status_Success = 0;
+constexpr NiFpga_Status NiFpga_Status_Success = 0;
 
 /**
  * The timeout expired before the FIFO operation could complete.
  */
-static const NiFpga_Status NiFpga_Status_FifoTimeout = -50400;
+constexpr NiFpga_Status NiFpga_Status_FifoTimeout = -50400;
 
 /**
  * No transfer is in progress because the transfer was aborted by the client.
  * The operation could not be completed as specified.
  */
-static const NiFpga_Status NiFpga_Status_TransferAborted = -50405;
+constexpr NiFpga_Status NiFpga_Status_TransferAborted = -50405;
 
 /**
  * A memory allocation failed. Try again after rebooting.
  */
-static const NiFpga_Status NiFpga_Status_MemoryFull = -52000;
+constexpr NiFpga_Status NiFpga_Status_MemoryFull = -52000;
 
 /**
  * An unexpected software error occurred.
  */
-static const NiFpga_Status NiFpga_Status_SoftwareFault = -52003;
+constexpr NiFpga_Status NiFpga_Status_SoftwareFault = -52003;
 
 /**
  * A parameter to a function was not valid. This could be a NULL pointer, a bad
  * value, etc.
  */
-static const NiFpga_Status NiFpga_Status_InvalidParameter = -52005;
+constexpr NiFpga_Status NiFpga_Status_InvalidParameter = -52005;
 
 /**
  * A required resource was not found. The NiFpga.* library, the RIO resource, or
  * some other resource may be missing.
  */
-static const NiFpga_Status NiFpga_Status_ResourceNotFound = -52006;
+constexpr NiFpga_Status NiFpga_Status_ResourceNotFound = -52006;
 
 /**
  * A required resource was not properly initialized. This could occur if
  * NiFpga_Initialize was not called or a required NiFpga_IrqContext was not
  * reserved.
  */
-static const NiFpga_Status NiFpga_Status_ResourceNotInitialized = -52010;
+constexpr NiFpga_Status NiFpga_Status_ResourceNotInitialized = -52010;
 
 /**
  * A hardware failure has occurred. The operation could not be completed as
  * specified.
  */
-static const NiFpga_Status NiFpga_Status_HardwareFault = -52018;
+constexpr NiFpga_Status NiFpga_Status_HardwareFault = -52018;
 
 /**
  * The FPGA is already running.
  */
-static const NiFpga_Status NiFpga_Status_FpgaAlreadyRunning = -61003;
+constexpr NiFpga_Status NiFpga_Status_FpgaAlreadyRunning = -61003;
 
 /**
  * An error occurred downloading the VI to the FPGA device. Verify that
  * the target is connected and powered and that the resource of the target
  * is properly configured.
  */
-static const NiFpga_Status NiFpga_Status_DownloadError = -61018;
+constexpr NiFpga_Status NiFpga_Status_DownloadError = -61018;
 
 /**
  * The bitfile was not compiled for the specified resource's device type.
  */
-static const NiFpga_Status NiFpga_Status_DeviceTypeMismatch = -61024;
+constexpr NiFpga_Status NiFpga_Status_DeviceTypeMismatch = -61024;
 
 /**
  * An error was detected in the communication between the host computer and the
  * FPGA target.
  */
-static const NiFpga_Status NiFpga_Status_CommunicationTimeout = -61046;
+constexpr NiFpga_Status NiFpga_Status_CommunicationTimeout = -61046;
 
 /**
  * The timeout expired before any of the IRQs were asserted.
  */
-static const NiFpga_Status NiFpga_Status_IrqTimeout = -61060;
+constexpr NiFpga_Status NiFpga_Status_IrqTimeout = -61060;
 
 /**
  * The specified bitfile is invalid or corrupt.
  */
-static const NiFpga_Status NiFpga_Status_CorruptBitfile = -61070;
+constexpr NiFpga_Status NiFpga_Status_CorruptBitfile = -61070;
 
 /**
  * The requested FIFO depth is invalid. It is either 0 or an amount not
  * supported by the hardware.
  */
-static const NiFpga_Status NiFpga_Status_BadDepth = -61072;
+constexpr NiFpga_Status NiFpga_Status_BadDepth = -61072;
 
 /**
  * The number of FIFO elements is invalid. Either the number is greater than the
  * depth of the host memory DMA FIFO, or more elements were requested for
  * release than had been acquired.
  */
-static const NiFpga_Status NiFpga_Status_BadReadWriteCount = -61073;
+constexpr NiFpga_Status NiFpga_Status_BadReadWriteCount = -61073;
 
 /**
  * A hardware clocking error occurred. A derived clock lost lock with its base
@@ -218,62 +218,62 @@ static const NiFpga_Status NiFpga_Status_BadReadWriteCount = -61073;
  * generated from free-running, on-board sources, please contact National
  * Instruments technical support at ni.com/support.
  */
-static const NiFpga_Status NiFpga_Status_ClockLostLock = -61083;
+constexpr NiFpga_Status NiFpga_Status_ClockLostLock = -61083;
 
 /**
  * The operation could not be performed because the FPGA is busy. Stop all
  * activities on the FPGA before requesting this operation. If the target is in
  * Scan Interface programming mode, put it in FPGA Interface programming mode.
  */
-static const NiFpga_Status NiFpga_Status_FpgaBusy = -61141;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusy = -61141;
 
 /**
  * The operation could not be performed because the FPGA is busy operating in
  * FPGA Interface C API mode. Stop all activities on the FPGA before requesting
  * this operation.
  */
-static const NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterfaceCApi = -61200;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterfaceCApi = -61200;
 
 /**
  * The chassis is in Scan Interface programming mode. In order to run FPGA VIs,
  * you must go to the chassis properties page, select FPGA programming mode, and
  * deploy settings.
  */
-static const NiFpga_Status NiFpga_Status_FpgaBusyScanInterface = -61201;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyScanInterface = -61201;
 
 /**
  * The operation could not be performed because the FPGA is busy operating in
  * FPGA Interface mode. Stop all activities on the FPGA before requesting this
  * operation.
  */
-static const NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterface = -61202;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyFpgaInterface = -61202;
 
 /**
  * The operation could not be performed because the FPGA is busy operating in
  * Interactive mode. Stop all activities on the FPGA before requesting this
  * operation.
  */
-static const NiFpga_Status NiFpga_Status_FpgaBusyInteractive = -61203;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyInteractive = -61203;
 
 /**
  * The operation could not be performed because the FPGA is busy operating in
  * Emulation mode. Stop all activities on the FPGA before requesting this
  * operation.
  */
-static const NiFpga_Status NiFpga_Status_FpgaBusyEmulation = -61204;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyEmulation = -61204;
 
 /**
  * LabVIEW FPGA does not support the Reset method for bitfiles that allow
  * removal of implicit enable signals in single-cycle Timed Loops.
  */
-static const NiFpga_Status NiFpga_Status_ResetCalledWithImplicitEnableRemoval =
+constexpr NiFpga_Status NiFpga_Status_ResetCalledWithImplicitEnableRemoval =
     -61211;
 
 /**
  * LabVIEW FPGA does not support the Abort method for bitfiles that allow
  * removal of implicit enable signals in single-cycle Timed Loops.
  */
-static const NiFpga_Status NiFpga_Status_AbortCalledWithImplicitEnableRemoval =
+constexpr NiFpga_Status NiFpga_Status_AbortCalledWithImplicitEnableRemoval =
     -61212;
 
 /**
@@ -282,7 +282,7 @@ static const NiFpga_Status NiFpga_Status_AbortCalledWithImplicitEnableRemoval =
  * Pass the NiFpga_CloseAttribute_NoResetIfLastSession attribute to NiFpga_Close
  * instead of 0.
  */
-static const NiFpga_Status
+constexpr NiFpga_Status
     NiFpga_Status_CloseAndResetCalledWithImplicitEnableRemoval = -61213;
 
 /**
@@ -290,14 +290,14 @@ static const NiFpga_Status
  * Timed Loops, LabVIEW FPGA does not support this method prior to running the
  * bitfile.
  */
-static const NiFpga_Status NiFpga_Status_ImplicitEnableRemovalButNotYetRun =
+constexpr NiFpga_Status NiFpga_Status_ImplicitEnableRemovalButNotYetRun =
     -61214;
 
 /**
  * Bitfiles that allow removal of implicit enable signals in single-cycle Timed
  * Loops can run only once. Download the bitfile again before re-running the VI.
  */
-static const NiFpga_Status
+constexpr NiFpga_Status
     NiFpga_Status_RunAfterStoppedCalledWithImplicitEnableRemoval = -61215;
 
 /**
@@ -306,8 +306,7 @@ static const NiFpga_Status
  * protocol. If you are generating your clocks internally, please contact
  * National Instruments Technical Support.
  */
-static const NiFpga_Status NiFpga_Status_GatedClockHandshakingViolation =
-    -61216;
+constexpr NiFpga_Status NiFpga_Status_GatedClockHandshakingViolation = -61216;
 
 /**
  * The number of elements requested must be less than or equal to the number of
@@ -315,7 +314,7 @@ static const NiFpga_Status NiFpga_Status_GatedClockHandshakingViolation =
  * fewer unacquired elements left in the FIFO than are being requested. Release
  * some acquired elements before acquiring more elements.
  */
-static const NiFpga_Status NiFpga_Status_ElementsNotPermissibleToBeAcquired =
+constexpr NiFpga_Status NiFpga_Status_ElementsNotPermissibleToBeAcquired =
     -61219;
 
 /**
@@ -323,12 +322,12 @@ static const NiFpga_Status NiFpga_Status_ElementsNotPermissibleToBeAcquired =
  * discovery mode. Wait for configuration or discovery to complete and retry
  * your operation.
  */
-static const NiFpga_Status NiFpga_Status_FpgaBusyConfiguration = -61252;
+constexpr NiFpga_Status NiFpga_Status_FpgaBusyConfiguration = -61252;
 
 /**
  * An unexpected internal error occurred.
  */
-static const NiFpga_Status NiFpga_Status_InternalError = -61499;
+constexpr NiFpga_Status NiFpga_Status_InternalError = -61499;
 
 /**
  * The NI-RIO driver was unable to allocate memory for a FIFO. This can happen
@@ -337,52 +336,52 @@ static const NiFpga_Status NiFpga_Status_InternalError = -61499;
  * to reconfigure the controller with a greater maximum FIFO depth. For more
  * information, refer to the NI KnowledgeBase article 65OF2ERQ.
  */
-static const NiFpga_Status NiFpga_Status_TotalDmaFifoDepthExceeded = -63003;
+constexpr NiFpga_Status NiFpga_Status_TotalDmaFifoDepthExceeded = -63003;
 
 /**
  * Access to the remote system was denied. Use MAX to check the Remote Device
  * Access settings under Software>>NI-RIO>>NI-RIO Settings on the remote system.
  */
-static const NiFpga_Status NiFpga_Status_AccessDenied = -63033;
+constexpr NiFpga_Status NiFpga_Status_AccessDenied = -63033;
 
 /**
  * The NI-RIO software on the host is not compatible with the software on the
  * target. Upgrade the NI-RIO software on the host in order to connect to this
  * target.
  */
-static const NiFpga_Status NiFpga_Status_HostVersionMismatch = -63038;
+constexpr NiFpga_Status NiFpga_Status_HostVersionMismatch = -63038;
 
 /**
  * A connection could not be established to the specified remote device. Ensure
  * that the device is on and accessible over the network, that NI-RIO software
  * is installed, and that the RIO server is running and properly configured.
  */
-static const NiFpga_Status NiFpga_Status_RpcConnectionError = -63040;
+constexpr NiFpga_Status NiFpga_Status_RpcConnectionError = -63040;
 
 /**
  * The RPC session is invalid. The target may have reset or been rebooted. Check
  * the network connection and retry the operation.
  */
-static const NiFpga_Status NiFpga_Status_RpcSessionError = -63043;
+constexpr NiFpga_Status NiFpga_Status_RpcSessionError = -63043;
 
 /**
  * The operation could not complete because another session is accessing the
  * FIFO. Close the other session and retry.
  */
-static const NiFpga_Status NiFpga_Status_FifoReserved = -63082;
+constexpr NiFpga_Status NiFpga_Status_FifoReserved = -63082;
 
 /**
  * A Configure FIFO, Stop FIFO, Read FIFO, or Write FIFO function was called
  * while the host had acquired elements of the FIFO. Release all acquired
  * elements before configuring, stopping, reading, or writing.
  */
-static const NiFpga_Status NiFpga_Status_FifoElementsCurrentlyAcquired = -63083;
+constexpr NiFpga_Status NiFpga_Status_FifoElementsCurrentlyAcquired = -63083;
 
 /**
  * A function was called using a misaligned address. The address must be a
  * multiple of the size of the datatype.
  */
-static const NiFpga_Status NiFpga_Status_MisalignedAccess = -63084;
+constexpr NiFpga_Status NiFpga_Status_MisalignedAccess = -63084;
 
 /**
  * The FPGA Read/Write Control Function is accessing a control or indicator
@@ -390,7 +389,7 @@ static const NiFpga_Status NiFpga_Status_MisalignedAccess = -63084;
  * Refer to the hardware documentation for the limitations on data types for
  * this target.
  */
-static const NiFpga_Status NiFpga_Status_ControlOrIndicatorTooLarge = -63085;
+constexpr NiFpga_Status NiFpga_Status_ControlOrIndicatorTooLarge = -63085;
 
 /**
  * A valid .lvbitx bitfile is required. If you are using a valid .lvbitx
@@ -398,14 +397,14 @@ static const NiFpga_Status NiFpga_Status_ControlOrIndicatorTooLarge = -63085;
  * Determine which version of LabVIEW was used to make the bitfile, update your
  * software to that version or later, and try again.
  */
-static const NiFpga_Status NiFpga_Status_BitfileReadError = -63101;
+constexpr NiFpga_Status NiFpga_Status_BitfileReadError = -63101;
 
 /**
  * The specified signature does not match the signature of the bitfile. If the
  * bitfile has been recompiled, regenerate the C API and rebuild the
  * application.
  */
-static const NiFpga_Status NiFpga_Status_SignatureMismatch = -63106;
+constexpr NiFpga_Status NiFpga_Status_SignatureMismatch = -63106;
 
 /**
  * The bitfile you are trying to use is incompatible with the version
@@ -415,33 +414,33 @@ static const NiFpga_Status NiFpga_Status_SignatureMismatch = -63106;
  * with the same version of NI-RIO that is currently installed on the
  * target and/or host.
  */
-static const NiFpga_Status NiFpga_Status_IncompatibleBitfile = -63107;
+constexpr NiFpga_Status NiFpga_Status_IncompatibleBitfile = -63107;
 
 /**
  * Either the supplied resource name is invalid as a RIO resource name, or the
  * device was not found. Use MAX to find the proper resource name for the
  * intended device.
  */
-static const NiFpga_Status NiFpga_Status_InvalidResourceName = -63192;
+constexpr NiFpga_Status NiFpga_Status_InvalidResourceName = -63192;
 
 /**
  * The requested feature is not supported.
  */
-static const NiFpga_Status NiFpga_Status_FeatureNotSupported = -63193;
+constexpr NiFpga_Status NiFpga_Status_FeatureNotSupported = -63193;
 
 /**
  * The NI-RIO software on the target system is not compatible with this
  * software. Upgrade the NI-RIO software on the target system.
  */
-static const NiFpga_Status NiFpga_Status_VersionMismatch = -63194;
+constexpr NiFpga_Status NiFpga_Status_VersionMismatch = -63194;
 
 /**
  * The session is invalid or has been closed.
  */
-static const NiFpga_Status NiFpga_Status_InvalidSession = -63195;
+constexpr NiFpga_Status NiFpga_Status_InvalidSession = -63195;
 
 /**
  * The maximum number of open FPGA sessions has been reached. Close some open
  * sessions.
  */
-static const NiFpga_Status NiFpga_Status_OutOfHandles = -63198;
+constexpr NiFpga_Status NiFpga_Status_OutOfHandles = -63198;

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

@@ -6,11 +6,10 @@
 
 #include <atomic>
 
-namespace hal {
-namespace init {
+namespace hal::init {
 extern std::atomic_bool HAL_IsInitialized;
 extern void RunInitialize();
-static inline void CheckInit() {
+inline void CheckInit() {
   if (HAL_IsInitialized.load(std::memory_order_relaxed)) {
     return;
   }
@@ -74,5 +73,4 @@ extern void InitializeSolenoid();
 extern void InitializeSPI();
 extern void InitializeThreads();
 
-}  // namespace init
-}  // namespace hal
+}  // namespace hal::init