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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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7
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h
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@@ -2,6 +2,8 @@
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include <numbers>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/trajectory/TrapezoidProfile.h>
@@ -13,7 +15,6 @@
#include <units/time.h>
#include <units/velocity.h>
#include <units/voltage.h>
#include <wpi/numbers>
#pragma once
@@ -77,12 +78,12 @@ constexpr int kEncoderCPR = 1024;
constexpr double kWheelDiameterMeters = 0.15;
constexpr double kDriveEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(kWheelDiameterMeters * wpi::numbers::pi) /
(kWheelDiameterMeters * std::numbers::pi) /
static_cast<double>(kEncoderCPR);
constexpr double kTurningEncoderDistancePerPulse =
// Assumes the encoders are directly mounted on the wheel shafts
(wpi::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
(std::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
constexpr double kPModuleTurningController = 1;
constexpr double kPModuleDriveController = 1;

7
wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h
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@@ -4,6 +4,8 @@
#pragma once
#include <numbers>
#include <frc/Encoder.h>
#include <frc/controller/PIDController.h>
#include <frc/controller/ProfiledPIDController.h>
@@ -11,7 +13,6 @@
#include <frc/kinematics/SwerveModuleState.h>
#include <frc/motorcontrol/Spark.h>
#include <frc/trajectory/TrapezoidProfile.h>
#include <wpi/numbers>
#include "Constants.h"
@@ -33,9 +34,9 @@ class SwerveModule {
// meters per second squared.
static constexpr auto kModuleMaxAngularVelocity =
units::radians_per_second_t{wpi::numbers::pi};
units::radians_per_second_t{std::numbers::pi};
static constexpr auto kModuleMaxAngularAcceleration =
units::radians_per_second_squared_t{wpi::numbers::pi * 2.0};
units::radians_per_second_squared_t{std::numbers::pi * 2.0};
frc::Spark m_driveMotor;
frc::Spark m_turningMotor;