The non-NT portion has been moved to wpiutil.
The NT portion has been moved to ntcore (as NTSendable).
SendableBuilder similarly split and moved.
SendableRegistry moved to wpiutil.
In C++, SendableHelper also moved to wpiutil.
This enables use of Sendable from wpimath and also enables
moving several classes from wpilib to wpimath.
Some valid warnings like throwing NullPointerException or using a for
loop instead of System.arraycopy() were fixed.
Abstract classes marked with PMD.AbstractClassWithoutAbstractMethod were
made concrete because they already had protected constructors.
Fixes#1697.
- Twine, StringRef, Format, and NativeFormatting have been removed
- Logging now uses fmtlib style formatting
- Nearly all uses of wpi::outs/errs have been replaced with fmt::print() or
std::puts()/std::fputs() (for unformatted strings).
- A wpi/fmt/raw_ostream.h header has been added to enable
fmt::print() with wpi::raw_ostream
A lot of these are breaking changes. frc::Timer was replaced with the
contents of frc2::Timer. The others were in-place argument changes or
removing deprecated non-unit overloads.
This reverts commit a79faace1b.
This change will be superseded in a non-breaking way by changing to static functions and deprecating GetInstance() entirely.
Improves consistency across all classes.
Affects Preferences, LiveWindow, and CameraServer.
Old commands Scheduler::GetInstance() was not updated as this is already
deprecated.
The wpimath APIs use std::array, which doesn't do size checking. Passing
an array with the wrong size can result in uninitialized elements
instead of a compilation error.
This is a breaking change but is worthwhile to avoid hard-to-debug errors.
* Add .clang-tidy configuration.
* A separate .clang-tidy is used for hal includes to suppress modernize-use-using
(as these are C headers).
* Add NOLINT where necessary for a clean run.
* Add clang-tidy job to lint-format workflow. This workflow is now only run on PRs.
To reduce runtime, clang-tidy is only run on files changed in the PR.
Two wpilibc changes; both are unlikely to break user code:
* BuiltInAccelerometer: Make SetRange() final
* Counter: Make SetMaxPeriod() final
After these cleanups, the only file that does not run cleanly is
cscore_raw_cv.h due to it not being standalone.
A few virtual functions are called by constructors or destructors, which is
dangerous in C++ (as an overridden virtual impl won't be called, only the
one in the current class). Fix by either marking the function final or
not calling at all (if possible).
This makes code easier to read and more consistent between C++ and Java.
Also update clang-format settings to always add a line break (even if no braces are used).
This issue only existed on the initial iteration. When timing is paused and stepped,
initialize() and execute() get called with the same timestamp the first time, which
would result in a divide by zero. All subsequent steps advance timing and only
call execute() so the time deltas are all set correctly.
Old behavior is available via StepTimingAsync.
This makes it significantly easier to use simulation timing with notifiers.
Also update tests to use simulation framework. This also speeds up the
timing-dependent tests by using simulation timing. ResourceLock is used
in the Java tests to prevent parallel execution.
While we're here, tweak HAL Notifier implementation:
- Use wait_for instead of wait_until in WaitForNotifierAlarm
- Check for triggerTime = UINT64_MAX in UpdateNotifierAlarm
Currently, these two tests take several seconds to complete and fail
intermittently in Windows CI. This is caused by relying on wall clock
time.
Sampling the trajectory with wall clock time means the simulation must
run for several seconds to reach the end of the trajectory. Also, the
controller can become unstable when Windows CI experiences process
scheduling delays of several hundred milliseconds. Feedback controllers
don't cope well with large delays on systems with fast dynamics.
This patch uses the mocking functionality of frc::Timer to advance the
clock by 5ms at every timestep instead of using the wall clock time.
This has two benefits:
1. The tests complete much faster because the simulation can step
forward faster than real time.
2. The controller is more stable because the sample period is uniform,
which should fix the occasional failures.
