The FPGA API takes microseconds directly, instead of a scaled value. Also add a new HAL level API to trigger multiple DIOs with the same pulse at once.
Added an Eigen::SparseMatrix formatter.
Also modified the Eigen::Matrix formatter to support Eigen::MatrixXd.
Eigen::MatrixXd sets both dimension template arguments to -1, so they
can't be used for iteration. rows() and cols() are now used instead.
rows() and cols() are constexpr for statically sized matrices, so
there's no performance loss there.
This is useful in some debugging scenarios. System.err is separately buffered, so when e.g. debugging test cases it doesn't interleave correctly with the C++ stdout/stderr logging. Even using flush() doesn't seem to help, I think because Gradle does its own buffering.
For RPATH on MacOS use '@loader_path' instead of '$ORIGIN' to reference the directory where the executable is located. The latter is the mechanism used on Linux.
I think this was exposed due to newer OS X ignoring $DYLD_LIBRARY_PATH for security reasons.
* Root folder variable names are now more descriptive
* clone_repo() now restores the current working directory
* Removed setup_upstream_repo() since it's now identical to clone_repo()
* Moved am_patches()'s for loop into user scripts so the filename prefix
doesn't need to be included in every patch filename
* Renamed am_patches() to git_am() since its only job now is to run "git am"
* Removed unused apply_patches() function
* Fixed typo in git_am()'s ignore_whitespace arg name
The warnings included recommendations of braces for if statement
readability, a recommendation for default initialization of an int
array, and include-what-you-use (indirectly through clang-tidy reporting
undefined symbols).
We migrated to magic statics for lazy construction like the following:
```cpp
class Singleton {
static Singleton& GetSingleton() {
static Singleton instance;
return instance;
}
};
```
Now, implicit narrowing conversions are only used with wpi::Now(). This
also fixes clang-tidy warnings about C-style casts. For example:
```
== clang-tidy /__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc ==
/__w/allwpilib/allwpilib/wpilibNewCommands/src/main/native/include/frc2/command/SwerveControllerCommand.inc:95:18: warning: C-style casts are discouraged; use static_cast/const_cast/reinterpret_cast [google-readability-casting]
auto curTime = units::second_t(m_timer.Get());
^
```
In that case at least, the cast was removed entirely since Get() already
returns a units::second_t.
fmt removed fmt::make_args_checked since it's no longer needed for
constexpr format string checks.
fmt deprecated implicit conversions from enums to integers in format
arguments, so I added explicit static casts.
This reduces commit noise when other git versions are used. The version
was removed by passing `--no-signature` to `git format-patch` which is
now documented in the readme.
