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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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24
wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp
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@@ -6,9 +6,9 @@
#include <algorithm>
#include <cmath>
#include <numbers>
#include <hal/FRCUsageReporting.h>
#include <wpi/numbers>
#include <wpi/sendable/SendableBuilder.h>
#include <wpi/sendable/SendableRegistry.h>
@@ -65,8 +65,8 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
reported = true;
}
DriveCartesian(magnitude * std::cos(angle * (wpi::numbers::pi / 180.0)),
magnitude * std::sin(angle * (wpi::numbers::pi / 180.0)),
DriveCartesian(magnitude * std::cos(angle * (std::numbers::pi / 180.0)),
magnitude * std::sin(angle * (std::numbers::pi / 180.0)),
zRotation, 0.0);
}
@@ -108,17 +108,17 @@ std::string MecanumDrive::GetDescription() const {
void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
builder.SetSmartDashboardType("MecanumDrive");
builder.SetActuator(true);
builder.SetSafeState([=] { StopMotor(); });
builder.SetSafeState([=, this] { StopMotor(); });
builder.AddDoubleProperty(
"Front Left Motor Speed", [=] { return m_frontLeftMotor->Get(); },
[=](double value) { m_frontLeftMotor->Set(value); });
"Front Left Motor Speed", [=, this] { return m_frontLeftMotor->Get(); },
[=, this](double value) { m_frontLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Front Right Motor Speed", [=] { return m_frontRightMotor->Get(); },
[=](double value) { m_frontRightMotor->Set(value); });
"Front Right Motor Speed", [=, this] { return m_frontRightMotor->Get(); },
[=, this](double value) { m_frontRightMotor->Set(value); });
builder.AddDoubleProperty(
"Rear Left Motor Speed", [=] { return m_rearLeftMotor->Get(); },
[=](double value) { m_rearLeftMotor->Set(value); });
"Rear Left Motor Speed", [=, this] { return m_rearLeftMotor->Get(); },
[=, this](double value) { m_rearLeftMotor->Set(value); });
builder.AddDoubleProperty(
"Rear Right Motor Speed", [=] { return m_rearRightMotor->Get(); },
[=](double value) { m_rearRightMotor->Set(value); });
"Rear Right Motor Speed", [=, this] { return m_rearRightMotor->Get(); },
[=, this](double value) { m_rearRightMotor->Set(value); });
}