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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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8
wpimath/src/test/native/cpp/controller/HolonomicDriveControllerTest.cpp
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@@ -2,7 +2,7 @@
// 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 <wpi/numbers>
#include <numbers>
#include "frc/MathUtil.h"
#include "frc/controller/HolonomicDriveController.h"
@@ -16,7 +16,7 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
TEST(HolonomicDriveControllerTest, ReachesReference) {
@@ -25,8 +25,8 @@ TEST(HolonomicDriveControllerTest, ReachesReference) {
frc::ProfiledPIDController<units::radian>{
1.0, 0.0, 0.0,
frc::TrapezoidProfile<units::radian>::Constraints{
units::radians_per_second_t{2.0 * wpi::numbers::pi},
units::radians_per_second_squared_t{wpi::numbers::pi}}}};
units::radians_per_second_t{2.0 * std::numbers::pi},
units::radians_per_second_squared_t{std::numbers::pi}}}};
frc::Pose2d robotPose{2.7_m, 23_m, 0_deg};

2
wpimath/src/test/native/cpp/controller/LTVDifferentialDriveControllerTest.cpp
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@@ -16,7 +16,7 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
/**

2
wpimath/src/test/native/cpp/controller/LTVUnicycleControllerTest.cpp
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@@ -12,7 +12,7 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
TEST(LTVUnicycleControllerTest, ReachesReference) {

18
wpimath/src/test/native/cpp/controller/ProfiledPIDInputOutputTest.cpp
View File

@@ -2,7 +2,7 @@
// 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 <wpi/numbers>
#include <numbers>
#include "frc/controller/ProfiledPIDController.h"
#include "gtest/gtest.h"
@@ -40,8 +40,8 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInput1) {
TEST_F(ProfiledPIDInputOutputTest, ContinuousInput2) {
controller->SetP(1);
controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
units::radian_t{wpi::numbers::pi});
controller->EnableContinuousInput(-units::radian_t{std::numbers::pi},
units::radian_t{std::numbers::pi});
static constexpr units::radian_t kSetpoint{-3.4826633343199735};
static constexpr units::radian_t kMeasurement{-3.1352207333939606};
@@ -52,13 +52,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInput2) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::numbers::pi});
units::radian_t{std::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ContinuousInput3) {
controller->SetP(1);
controller->EnableContinuousInput(-units::radian_t{wpi::numbers::pi},
units::radian_t{wpi::numbers::pi});
controller->EnableContinuousInput(-units::radian_t{std::numbers::pi},
units::radian_t{std::numbers::pi});
static constexpr units::radian_t kSetpoint{-3.5176604690006377};
static constexpr units::radian_t kMeasurement{3.1191729343822456};
@@ -69,13 +69,13 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInput3) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::numbers::pi});
units::radian_t{std::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ContinuousInput4) {
controller->SetP(1);
controller->EnableContinuousInput(0_rad,
units::radian_t{2.0 * wpi::numbers::pi});
units::radian_t{2.0 * std::numbers::pi});
static constexpr units::radian_t kSetpoint{2.78};
static constexpr units::radian_t kMeasurement{3.12};
@@ -86,7 +86,7 @@ TEST_F(ProfiledPIDInputOutputTest, ContinuousInput4) {
// Error must be less than half the input range at all times
EXPECT_LT(units::math::abs(controller->GetSetpoint().position - kMeasurement),
units::radian_t{wpi::numbers::pi});
units::radian_t{std::numbers::pi});
}
TEST_F(ProfiledPIDInputOutputTest, ProportionalGainOutput) {

2
wpimath/src/test/native/cpp/controller/RamseteControllerTest.cpp
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@@ -12,7 +12,7 @@
EXPECT_LE(units::math::abs(val1 - val2), eps)
static constexpr units::meter_t kTolerance{1 / 12.0};
static constexpr units::radian_t kAngularTolerance{2.0 * wpi::numbers::pi /
static constexpr units::radian_t kAngularTolerance{2.0 * std::numbers::pi /
180.0};
TEST(RamseteControllerTest, ReachesReference) {