Inconsistent names were found using the following regular expressions.
* `rg "TEST(_F|_P)?\(\w+,\s+\w+Test\)"`
* `rg "TEST(_F|_P)?\(\w+,\s+Test\w+\)"`
* `rg "TEST(_F|_P)?\(\w+Tests,\s+\w+\)"`
Fixes#3495.
* Replace Matrix<> with Vector<> where vectors are explicitly intended.
I found these via `rg "Eigen::Matrix<double, \w+, 1>"`.
* Pass all Eigen matrices by const reference. I found these via `rg
"\(Eigen"` on main (the initializer list constructors make more false
positives).
* Replace MakeMatrix() and operator<< usage with initializer list
constructors. I found these via `rg MakeMatrix` and `rg "<<"`
respectively.
* Deprecate MakeMatrix()
Now that there are only 16 instances, store them all statically.
Make tests more reliable by using different ports for each connection in listener tests.
Having PCM as a singleton is a problem, as multiple things need to use it, and that gets really ugly. This changes PCM's to be a reference counted object, that can be passed around and constructed from multiple places.
In Java, this is using a map to hold a data store with a ref count, and allocating new objects any time a duplicate is requested.
In C++, this uses a trick constructor to store a PCM instance in the data store itself. This instance can then be passed to base objects using std::shared_ptr's aliasing constructor, which means constructing a solenoid from a PCM is not allocating after the 1st one.
This did require removing sendable from PCM. A compressor class was added back in to act as sendable for the PCM.
After this change is finished, the only change RobotBuilder and Team Code would require is passing a module type to solenoid constructors.
Co-authored-by: sciencewhiz <sciencewhiz@users.noreply.github.com>
* Address sanitizer uses -DCMAKE_BUILD_TYPE=Asan
* Thread sanitizer uses -DCMAKE_BUILD_TYPE=Tsan
* Undefined behavior sanitizer uses -DCMAKE_BUILD_TYPE=Ubsan
Only ubsan is enabled in CI for now because asan and tsan report
failures.
The standard Java package is missing BooleanConsumer as well as Float classes.
Update SendableBuilder to use it instead of internal BooleanConsumer
interface.
In some cases, knowing roborio 2 might be useful. This also creates a higher level enum that might be usable later for the discussion on more complex runtime types.
Internal headers are no longer allowed as of
https://gitlab.com/libeigen/eigen/-/merge_requests/631. Based on
benchmarking I conducted in that thread, there doesn't seem to be a
performance penalty for including the full headers anymore.
The move ctor is trying to cast from e.g. SendableHelper to PIDController before PIDController has been constructed, which is potentially UB. We don't actually use anything in PIDController though, so it's OK in our case.
This upgrade uncovered two issues:
ntcore wasn't forcing C++17, which caused a linker error with googletest
Matcher symbols:
```
undefined reference to `testing::Matcher<std::basic_string_view<char, std::char_traits<char> > >::Matcher(std::basic_string_view<char, std::char_traits<char> >)'
```
test_span.cpp wasn't including <algorithm> to use std::sort() and
std::is_sorted().
This is an alternative to #2344 that handles arbitrary order derivatives
of arbitrary precision. The downside is that since it's part of
LinearFilter, it can't utilize the units type system in the same way to
make Calculate()'s input type different from its output type.
The HAL Notifier thread is started when the first Notifier is created
and stopped when the last Notifier is destroyed. Currently,
HAL_SetNotifierThreadPriority() will cause a segfault if the Notifier thread
hasn't been started yet (that is, if no Notifier have been created yet).
This change makes HAL_SetNotifierThreadPriority() store the RT and
priority setting. If the thread has already been started, it will set
the priority immediately. If it hasn't, HAL_InitializeNotifier() will
set the priority when it starts the thread.
