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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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14
wpimath/src/test/native/cpp/kinematics/DifferentialDriveKinematicsTest.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/kinematics/ChassisSpeeds.h"
#include "frc/kinematics/DifferentialDriveKinematics.h"
@@ -56,21 +56,21 @@ TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForStraightLine) {
TEST(DifferentialDriveKinematicsTest, InverseKinematicsForRotateInPlace) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const ChassisSpeeds chassisSpeeds{
0.0_mps, 0.0_mps, units::radians_per_second_t{wpi::numbers::pi}};
0.0_mps, 0.0_mps, units::radians_per_second_t{std::numbers::pi}};
const auto wheelSpeeds = kinematics.ToWheelSpeeds(chassisSpeeds);
EXPECT_NEAR(wheelSpeeds.left.value(), -0.381 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.value(), +0.381 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(wheelSpeeds.left.value(), -0.381 * std::numbers::pi, kEpsilon);
EXPECT_NEAR(wheelSpeeds.right.value(), +0.381 * std::numbers::pi, kEpsilon);
}
TEST(DifferentialDriveKinematicsTest, ForwardKinematicsForRotateInPlace) {
const DifferentialDriveKinematics kinematics{0.381_m * 2};
const DifferentialDriveWheelSpeeds wheelSpeeds{
units::meters_per_second_t{+0.381 * wpi::numbers::pi},
units::meters_per_second_t{-0.381 * wpi::numbers::pi}};
units::meters_per_second_t{+0.381 * std::numbers::pi},
units::meters_per_second_t{-0.381 * std::numbers::pi}};
const auto chassisSpeeds = kinematics.ToChassisSpeeds(wheelSpeeds);
EXPECT_NEAR(chassisSpeeds.vx.value(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.value(), 0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), -wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), -std::numbers::pi, kEpsilon);
}

4
wpimath/src/test/native/cpp/kinematics/DifferentialDriveOdometryTest.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/kinematics/DifferentialDriveKinematics.h"
#include "frc/kinematics/DifferentialDriveOdometry.h"
@@ -16,7 +16,7 @@ TEST(DifferentialDriveOdometryTest, EncoderDistances) {
DifferentialDriveOdometry odometry{45_deg};
const auto& pose =
odometry.Update(135_deg, 0_m, units::meter_t{5 * wpi::numbers::pi});
odometry.Update(135_deg, 0_m, units::meter_t{5 * std::numbers::pi});
EXPECT_NEAR(pose.X().value(), 5.0, kEpsilon);
EXPECT_NEAR(pose.Y().value(), 5.0, kEpsilon);

6
wpimath/src/test/native/cpp/kinematics/MecanumDriveKinematicsTest.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/geometry/Translation2d.h"
#include "frc/kinematics/MecanumDriveKinematics.h"
@@ -61,7 +61,7 @@ TEST_F(MecanumDriveKinematicsTest, StrafeForwardKinematics) {
TEST_F(MecanumDriveKinematicsTest, RotationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t{2 * wpi::numbers::pi}};
units::radians_per_second_t{2 * std::numbers::pi}};
auto moduleStates = kinematics.ToWheelSpeeds(speeds);
EXPECT_NEAR(-150.79644737, moduleStates.frontLeft.value(), 0.1);
@@ -77,7 +77,7 @@ TEST_F(MecanumDriveKinematicsTest, RotationForwardKinematics) {
EXPECT_NEAR(0.0, chassisSpeeds.vx.value(), 0.1);
EXPECT_NEAR(0.0, chassisSpeeds.vy.value(), 0.1);
EXPECT_NEAR(2 * wpi::numbers::pi, chassisSpeeds.omega.value(), 0.1);
EXPECT_NEAR(2 * std::numbers::pi, chassisSpeeds.omega.value(), 0.1);
}
TEST_F(MecanumDriveKinematicsTest, MixedRotationTranslationInverseKinematics) {

12
wpimath/src/test/native/cpp/kinematics/SwerveDriveKinematicsTest.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/geometry/Translation2d.h"
#include "frc/kinematics/SwerveDriveKinematics.h"
@@ -75,7 +75,7 @@ TEST_F(SwerveDriveKinematicsTest, StraightStrafeForwardKinematics) {
TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t{2 * wpi::numbers::pi}};
units::radians_per_second_t{2 * std::numbers::pi}};
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds);
EXPECT_NEAR(fl.speed.value(), 106.63, kEpsilon);
@@ -91,7 +91,7 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceInverseKinematics) {
TEST_F(SwerveDriveKinematicsTest, ConserveWheelAngle) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t{2 * wpi::numbers::pi}};
units::radians_per_second_t{2 * std::numbers::pi}};
m_kinematics.ToSwerveModuleStates(speeds);
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(ChassisSpeeds{});
@@ -116,12 +116,12 @@ TEST_F(SwerveDriveKinematicsTest, TurnInPlaceForwardKinematics) {
EXPECT_NEAR(chassisSpeeds.vx.value(), 0.0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.value(), 0.0, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), 2 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), 2 * std::numbers::pi, kEpsilon);
}
TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationInverseKinematics) {
ChassisSpeeds speeds{0_mps, 0_mps,
units::radians_per_second_t{2 * wpi::numbers::pi}};
units::radians_per_second_t{2 * std::numbers::pi}};
auto [fl, fr, bl, br] = m_kinematics.ToSwerveModuleStates(speeds, m_fl);
EXPECT_NEAR(fl.speed.value(), 0.0, kEpsilon);
@@ -145,7 +145,7 @@ TEST_F(SwerveDriveKinematicsTest, OffCenterCORRotationForwardKinematics) {
EXPECT_NEAR(chassisSpeeds.vx.value(), 75.398, kEpsilon);
EXPECT_NEAR(chassisSpeeds.vy.value(), -75.398, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), 2 * wpi::numbers::pi, kEpsilon);
EXPECT_NEAR(chassisSpeeds.omega.value(), 2 * std::numbers::pi, kEpsilon);
}
TEST_F(SwerveDriveKinematicsTest,