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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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6
wpilibc/src/main/native/include/frc/smartdashboard/FieldObject2d.h
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@@ -5,6 +5,7 @@
#pragma once
#include <initializer_list>
#include <span>
#include <string>
#include <string_view>
#include <utility>
@@ -14,7 +15,6 @@
#include <units/length.h>
#include <wpi/SmallVector.h>
#include <wpi/mutex.h>
#include <wpi/span.h>
#include "frc/geometry/Pose2d.h"
#include "frc/geometry/Rotation2d.h"
@@ -66,7 +66,7 @@ class FieldObject2d {
*
* @param poses array of 2D poses
*/
void SetPoses(wpi::span<const Pose2d> poses);
void SetPoses(std::span<const Pose2d> poses);
/**
* Set multiple poses from an array of Pose objects.
@@ -97,7 +97,7 @@ class FieldObject2d {
* @param out output SmallVector to hold 2D poses
* @return span referring to output SmallVector
*/
wpi::span<const Pose2d> GetPoses(wpi::SmallVectorImpl<Pose2d>& out) const;
std::span<const Pose2d> GetPoses(wpi::SmallVectorImpl<Pose2d>& out) const;
private:
void UpdateEntry(bool setDefault = false);

38
wpilibc/src/main/native/include/frc/smartdashboard/SendableBuilderImpl.h
View File

@@ -6,6 +6,7 @@
#include <functional>
#include <memory>
#include <span>
#include <string>
#include <string_view>
#include <utility>
@@ -17,7 +18,6 @@
#include <networktables/StringTopic.h>
#include <wpi/FunctionExtras.h>
#include <wpi/SmallVector.h>
#include <wpi/span.h>
namespace frc {
@@ -111,28 +111,28 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
void AddBooleanArrayProperty(
std::string_view key, std::function<std::vector<int>()> getter,
std::function<void(wpi::span<const int>)> setter) override;
std::function<void(std::span<const int>)> setter) override;
void AddIntegerArrayProperty(
std::string_view key, std::function<std::vector<int64_t>()> getter,
std::function<void(wpi::span<const int64_t>)> setter) override;
std::function<void(std::span<const int64_t>)> setter) override;
void AddFloatArrayProperty(
std::string_view key, std::function<std::vector<float>()> getter,
std::function<void(wpi::span<const float>)> setter) override;
std::function<void(std::span<const float>)> setter) override;
void AddDoubleArrayProperty(
std::string_view key, std::function<std::vector<double>()> getter,
std::function<void(wpi::span<const double>)> setter) override;
std::function<void(std::span<const double>)> setter) override;
void AddStringArrayProperty(
std::string_view key, std::function<std::vector<std::string>()> getter,
std::function<void(wpi::span<const std::string>)> setter) override;
std::function<void(std::span<const std::string>)> setter) override;
void AddRawProperty(
std::string_view key, std::string_view typeString,
std::function<std::vector<uint8_t>()> getter,
std::function<void(wpi::span<const uint8_t>)> setter) override;
std::function<void(std::span<const uint8_t>)> setter) override;
void AddSmallStringProperty(
std::string_view key,
@@ -141,41 +141,41 @@ class SendableBuilderImpl : public nt::NTSendableBuilder {
void AddSmallBooleanArrayProperty(
std::string_view key,
std::function<wpi::span<const int>(wpi::SmallVectorImpl<int>& buf)>
std::function<std::span<const int>(wpi::SmallVectorImpl<int>& buf)>
getter,
std::function<void(wpi::span<const int>)> setter) override;
std::function<void(std::span<const int>)> setter) override;
void AddSmallIntegerArrayProperty(
std::string_view key,
std::function<
wpi::span<const int64_t>(wpi::SmallVectorImpl<int64_t>& buf)>
std::span<const int64_t>(wpi::SmallVectorImpl<int64_t>& buf)>
getter,
std::function<void(wpi::span<const int64_t>)> setter) override;
std::function<void(std::span<const int64_t>)> setter) override;
void AddSmallFloatArrayProperty(
std::string_view key,
std::function<wpi::span<const float>(wpi::SmallVectorImpl<float>& buf)>
std::function<std::span<const float>(wpi::SmallVectorImpl<float>& buf)>
getter,
std::function<void(wpi::span<const float>)> setter) override;
std::function<void(std::span<const float>)> setter) override;
void AddSmallDoubleArrayProperty(
std::string_view key,
std::function<wpi::span<const double>(wpi::SmallVectorImpl<double>& buf)>
std::function<std::span<const double>(wpi::SmallVectorImpl<double>& buf)>
getter,
std::function<void(wpi::span<const double>)> setter) override;
std::function<void(std::span<const double>)> setter) override;
void AddSmallStringArrayProperty(
std::string_view key,
std::function<
wpi::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
std::span<const std::string>(wpi::SmallVectorImpl<std::string>& buf)>
getter,
std::function<void(wpi::span<const std::string>)> setter) override;
std::function<void(std::span<const std::string>)> setter) override;
void AddSmallRawProperty(
std::string_view key, std::string_view typeString,
std::function<wpi::span<uint8_t>(wpi::SmallVectorImpl<uint8_t>& buf)>
std::function<std::span<uint8_t>(wpi::SmallVectorImpl<uint8_t>& buf)>
getter,
std::function<void(wpi::span<const uint8_t>)> setter) override;
std::function<void(std::span<const uint8_t>)> setter) override;
private:
struct Property {

23
wpilibc/src/main/native/include/frc/smartdashboard/SendableChooser.inc
View File

@@ -58,7 +58,7 @@ void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
}
builder.AddStringArrayProperty(
kOptions,
[=] {
[=, this] {
std::vector<std::string> keys;
for (const auto& choice : m_choices) {
keys.emplace_back(choice.first());
@@ -73,13 +73,13 @@ void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
nullptr);
builder.AddSmallStringProperty(
kDefault,
[=](wpi::SmallVectorImpl<char>&) -> std::string_view {
[=, this](wpi::SmallVectorImpl<char>&) -> std::string_view {
return m_defaultChoice;
},
nullptr);
builder.AddSmallStringProperty(
kActive,
[=](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
[=, this](wpi::SmallVectorImpl<char>& buf) -> std::string_view {
std::scoped_lock lock(m_mutex);
if (m_haveSelected) {
buf.assign(m_selected.begin(), m_selected.end());
@@ -89,14 +89,15 @@ void SendableChooser<T>::InitSendable(nt::NTSendableBuilder& builder) {
}
},
nullptr);
builder.AddStringProperty(kSelected, nullptr, [=](std::string_view val) {
std::scoped_lock lock(m_mutex);
m_haveSelected = true;
m_selected = val;
for (auto& pub : m_activePubs) {
pub.Set(val);
}
});
builder.AddStringProperty(kSelected, nullptr,
[=, this](std::string_view val) {
std::scoped_lock lock(m_mutex);
m_haveSelected = true;
m_selected = val;
for (auto& pub : m_activePubs) {
pub.Set(val);
}
});
}
template <class T>

26
wpilibc/src/main/native/include/frc/smartdashboard/SmartDashboard.h
View File

@@ -5,13 +5,13 @@
#pragma once
#include <memory>
#include <span>
#include <string>
#include <string_view>
#include <vector>
#include <networktables/NetworkTableEntry.h>
#include <networktables/NetworkTableValue.h>
#include <wpi/span.h>
namespace wpi {
class Sendable;
@@ -216,7 +216,7 @@ class SmartDashboard {
* std::vector<bool> is special-cased in C++. 0 is false, any
* non-zero value is true.
*/
static bool PutBooleanArray(std::string_view key, wpi::span<const int> value);
static bool PutBooleanArray(std::string_view key, std::span<const int> value);
/**
* Gets the current value in the table, setting it if it does not exist.
@@ -226,7 +226,7 @@ class SmartDashboard {
* @returns False if the table key exists with a different type
*/
static bool SetDefaultBooleanArray(std::string_view key,
wpi::span<const int> defaultValue);
std::span<const int> defaultValue);
/**
* Returns the boolean array the key maps to.
@@ -247,7 +247,7 @@ class SmartDashboard {
* non-zero value is true.
*/
static std::vector<int> GetBooleanArray(std::string_view key,
wpi::span<const int> defaultValue);
std::span<const int> defaultValue);
/**
* Put a number array in the table.
@@ -257,7 +257,7 @@ class SmartDashboard {
* @return False if the table key already exists with a different type
*/
static bool PutNumberArray(std::string_view key,
wpi::span<const double> value);
std::span<const double> value);
/**
* Gets the current value in the table, setting it if it does not exist.
@@ -267,7 +267,7 @@ class SmartDashboard {
* @returns False if the table key exists with a different type
*/
static bool SetDefaultNumberArray(std::string_view key,
wpi::span<const double> defaultValue);
std::span<const double> defaultValue);
/**
* Returns the number array the key maps to.
@@ -284,7 +284,7 @@ class SmartDashboard {
* use GetValue() instead.
*/
static std::vector<double> GetNumberArray(
std::string_view key, wpi::span<const double> defaultValue);
std::string_view key, std::span<const double> defaultValue);
/**
* Put a string array in the table.
@@ -294,7 +294,7 @@ class SmartDashboard {
* @return False if the table key already exists with a different type
*/
static bool PutStringArray(std::string_view key,
wpi::span<const std::string> value);
std::span<const std::string> value);
/**
* Gets the current value in the table, setting it if it does not exist.
@@ -304,7 +304,7 @@ class SmartDashboard {
* @returns False if the table key exists with a different type
*/
static bool SetDefaultStringArray(std::string_view key,
wpi::span<const std::string> defaultValue);
std::span<const std::string> defaultValue);
/**
* Returns the string array the key maps to.
@@ -321,7 +321,7 @@ class SmartDashboard {
* use GetValue() instead.
*/
static std::vector<std::string> GetStringArray(
std::string_view key, wpi::span<const std::string> defaultValue);
std::string_view key, std::span<const std::string> defaultValue);
/**
* Put a raw value (byte array) in the table.
@@ -330,7 +330,7 @@ class SmartDashboard {
* @param value The value that will be assigned.
* @return False if the table key already exists with a different type
*/
static bool PutRaw(std::string_view key, wpi::span<const uint8_t> value);
static bool PutRaw(std::string_view key, std::span<const uint8_t> value);
/**
* Gets the current value in the table, setting it if it does not exist.
@@ -340,7 +340,7 @@ class SmartDashboard {
* @returns False if the table key exists with a different type
*/
static bool SetDefaultRaw(std::string_view key,
wpi::span<const uint8_t> defaultValue);
std::span<const uint8_t> defaultValue);
/**
* Returns the raw value (byte array) the key maps to.
@@ -357,7 +357,7 @@ class SmartDashboard {
* concern, use GetValue() instead.
*/
static std::vector<uint8_t> GetRaw(std::string_view key,
wpi::span<const uint8_t> defaultValue);
std::span<const uint8_t> defaultValue);
/**
* Maps the specified key to the specified complex value (such as an array) in