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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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5
wpimath/src/main/native/cpp/geometry/Rotation3d.cpp
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@@ -5,8 +5,7 @@
#include "frc/geometry/Rotation3d.h"
#include <cmath>
#include <wpi/numbers>
#include <numbers>
#include "Eigen/Core"
#include "Eigen/LU"
@@ -205,7 +204,7 @@ units::radian_t Rotation3d::Y() const {
// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
double ratio = 2.0 * (w * y - z * x);
if (std::abs(ratio) >= 1.0) {
return units::radian_t{std::copysign(wpi::numbers::pi / 2.0, ratio)};
return units::radian_t{std::copysign(std::numbers::pi / 2.0, ratio)};
} else {
return units::radian_t{std::asin(ratio)};
}

2
wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp
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@@ -71,7 +71,7 @@ std::vector<double> GetElementsFromTrajectory(
return elements;
}
frc::Trajectory CreateTrajectoryFromElements(wpi::span<const double> elements) {
frc::Trajectory CreateTrajectoryFromElements(std::span<const double> elements) {
// Make sure that the elements have the correct length.
assert(elements.size() % 7 == 0);