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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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11
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/cpp/SwerveModule.cpp
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@@ -4,8 +4,9 @@
#include "SwerveModule.h"
#include <numbers>
#include <frc/geometry/Rotation2d.h>
#include <wpi/numbers>
SwerveModule::SwerveModule(const int driveMotorChannel,
const int turningMotorChannel,
@@ -20,19 +21,19 @@ SwerveModule::SwerveModule(const int driveMotorChannel,
// Set the distance per pulse for the drive encoder. We can simply use the
// distance traveled for one rotation of the wheel divided by the encoder
// resolution.
m_driveEncoder.SetDistancePerPulse(2 * wpi::numbers::pi *
m_driveEncoder.SetDistancePerPulse(2 * std::numbers::pi *
kWheelRadius.value() / kEncoderResolution);
// Set the distance (in this case, angle) per pulse for the turning encoder.
// This is the the angle through an entire rotation (2 * wpi::numbers::pi)
// This is the the angle through an entire rotation (2 * std::numbers::pi)
// divided by the encoder resolution.
m_turningEncoder.SetDistancePerPulse(2 * wpi::numbers::pi /
m_turningEncoder.SetDistancePerPulse(2 * std::numbers::pi /
kEncoderResolution);
// Limit the PID Controller's input range between -pi and pi and set the input
// to be continuous.
m_turningPIDController.EnableContinuousInput(
-units::radian_t{wpi::numbers::pi}, units::radian_t{wpi::numbers::pi});
-units::radian_t{std::numbers::pi}, units::radian_t{std::numbers::pi});
}
frc::SwerveModuleState SwerveModule::GetState() const {

5
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/Drivetrain.h
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@@ -4,12 +4,13 @@
#pragma once
#include <numbers>
#include <frc/AnalogGyro.h>
#include <frc/estimator/SwerveDrivePoseEstimator.h>
#include <frc/geometry/Translation2d.h>
#include <frc/kinematics/SwerveDriveKinematics.h>
#include <frc/kinematics/SwerveDriveOdometry.h>
#include <wpi/numbers>
#include "SwerveModule.h"
@@ -27,7 +28,7 @@ class Drivetrain {
static constexpr auto kMaxSpeed = 3.0_mps; // 3 meters per second
static constexpr units::radians_per_second_t kMaxAngularSpeed{
wpi::numbers::pi}; // 1/2 rotation per second
std::numbers::pi}; // 1/2 rotation per second
private:
frc::Translation2d m_frontLeftLocation{+0.381_m, +0.381_m};

7
wpilibcExamples/src/main/cpp/examples/SwerveDrivePoseEstimator/include/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>
@@ -14,7 +16,6 @@
#include <units/time.h>
#include <units/velocity.h>
#include <units/voltage.h>
#include <wpi/numbers>
class SwerveModule {
public:
@@ -29,9 +30,9 @@ class SwerveModule {
static constexpr int kEncoderResolution = 4096;
static constexpr auto kModuleMaxAngularVelocity =
wpi::numbers::pi * 1_rad_per_s; // radians per second
std::numbers::pi * 1_rad_per_s; // radians per second
static constexpr auto kModuleMaxAngularAcceleration =
wpi::numbers::pi * 2_rad_per_s / 1_s; // radians per second^2
std::numbers::pi * 2_rad_per_s / 1_s; // radians per second^2
frc::PWMSparkMax m_driveMotor;
frc::PWMSparkMax m_turningMotor;