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Upgrade to C++20 (#4239)

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* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL

* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Tyler Veness
2022-10-15 16:33:14 -07:00
committed by GitHub
parent 396143004c
commit fbdc810887
355 changed files with 1659 additions and 2918 deletions
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26
wpilibc/src/main/native/cpp/ADIS16470_IMU.cpp
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@@ -19,11 +19,11 @@
#include <frc/Timer.h>
#include <cmath>
#include <numbers>
#include <string>
#include <hal/HAL.h>
#include <networktables/NTSendableBuilder.h>
#include <wpi/numbers>
#include <wpi/sendable/SendableRegistry.h>
#include "frc/Errors.h"
@@ -647,29 +647,29 @@ void ADIS16470_IMU::Acquire() {
/* Complementary filter functions */
double ADIS16470_IMU::FormatFastConverge(double compAngle, double accAngle) {
if (compAngle > accAngle + wpi::numbers::pi) {
compAngle = compAngle - 2.0 * wpi::numbers::pi;
} else if (accAngle > compAngle + wpi::numbers::pi) {
compAngle = compAngle + 2.0 * wpi::numbers::pi;
if (compAngle > accAngle + std::numbers::pi) {
compAngle = compAngle - 2.0 * std::numbers::pi;
} else if (accAngle > compAngle + std::numbers::pi) {
compAngle = compAngle + 2.0 * std::numbers::pi;
}
return compAngle;
}
double ADIS16470_IMU::FormatRange0to2PI(double compAngle) {
while (compAngle >= 2 * wpi::numbers::pi) {
compAngle = compAngle - 2.0 * wpi::numbers::pi;
while (compAngle >= 2 * std::numbers::pi) {
compAngle = compAngle - 2.0 * std::numbers::pi;
}
while (compAngle < 0.0) {
compAngle = compAngle + 2.0 * wpi::numbers::pi;
compAngle = compAngle + 2.0 * std::numbers::pi;
}
return compAngle;
}
double ADIS16470_IMU::FormatAccelRange(double accelAngle, double accelZ) {
if (accelZ < 0.0) {
accelAngle = wpi::numbers::pi - accelAngle;
accelAngle = std::numbers::pi - accelAngle;
} else if (accelZ > 0.0 && accelAngle < 0.0) {
accelAngle = 2.0 * wpi::numbers::pi + accelAngle;
accelAngle = 2.0 * std::numbers::pi + accelAngle;
}
return accelAngle;
}
@@ -680,8 +680,8 @@ double ADIS16470_IMU::CompFilterProcess(double compAngle, double accelAngle,
compAngle =
m_alpha * (compAngle + omega * m_dt) + (1.0 - m_alpha) * accelAngle;
compAngle = FormatRange0to2PI(compAngle);
if (compAngle > wpi::numbers::pi) {
compAngle = compAngle - 2.0 * wpi::numbers::pi;
if (compAngle > std::numbers::pi) {
compAngle = compAngle - 2.0 * std::numbers::pi;
}
return compAngle;
}
@@ -809,5 +809,5 @@ int ADIS16470_IMU::GetPort() const {
void ADIS16470_IMU::InitSendable(nt::NTSendableBuilder& builder) {
builder.SetSmartDashboardType("ADIS16470 IMU");
builder.AddDoubleProperty(
"Yaw Angle", [=] { return GetAngle().value(); }, nullptr);
"Yaw Angle", [=, this] { return GetAngle().value(); }, nullptr);
}