mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
224 lines
7.5 KiB
Diff
224 lines
7.5 KiB
Diff
From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
|
|
From: Tyler Veness <calcmogul@gmail.com>
|
|
Date: Wed, 29 May 2024 16:29:55 -0700
|
|
Subject: [PATCH 01/10] Use fmtlib
|
|
|
|
---
|
|
include/sleipnir/autodiff/expression_type.hpp | 16 +++++++----
|
|
include/sleipnir/optimization/problem.hpp | 1 +
|
|
.../optimization/solver/exit_status.hpp | 16 +++++++----
|
|
include/sleipnir/util/assert.hpp | 5 ++--
|
|
include/sleipnir/util/print.hpp | 27 ++++++++++---------
|
|
5 files changed, 40 insertions(+), 25 deletions(-)
|
|
|
|
diff --git a/include/sleipnir/autodiff/expression_type.hpp b/include/sleipnir/autodiff/expression_type.hpp
|
|
index 12d0568f628d5b97c0c2f5291851d4b20921f9d3..d06d32dac6c7b6faeedefeaa107cedac8446a3ab 100644
|
|
--- a/include/sleipnir/autodiff/expression_type.hpp
|
|
+++ b/include/sleipnir/autodiff/expression_type.hpp
|
|
@@ -4,9 +4,10 @@
|
|
|
|
#include <stdint.h>
|
|
|
|
-#include <format>
|
|
#include <utility>
|
|
|
|
+#include <fmt/base.h>
|
|
+
|
|
namespace slp {
|
|
|
|
/// Expression type.
|
|
@@ -27,14 +28,16 @@ enum class ExpressionType : uint8_t {
|
|
|
|
} // namespace slp
|
|
|
|
+// @cond Suppress Doxygen
|
|
+
|
|
/// Formatter for ExpressionType.
|
|
template <>
|
|
-struct std::formatter<slp::ExpressionType> {
|
|
+struct fmt::formatter<slp::ExpressionType> {
|
|
/// Parse format string.
|
|
///
|
|
/// @param ctx Format parse context.
|
|
/// @return Format parse context iterator.
|
|
- constexpr auto parse(std::format_parse_context& ctx) {
|
|
+ constexpr auto parse(fmt::format_parse_context& ctx) {
|
|
return m_underlying.parse(ctx);
|
|
}
|
|
|
|
@@ -45,7 +48,8 @@ struct std::formatter<slp::ExpressionType> {
|
|
/// @param ctx Format context.
|
|
/// @return Format context iterator.
|
|
template <typename FmtContext>
|
|
- auto format(const slp::ExpressionType& type, FmtContext& ctx) const {
|
|
+ constexpr auto format(const slp::ExpressionType& type,
|
|
+ FmtContext& ctx) const {
|
|
using enum slp::ExpressionType;
|
|
|
|
switch (type) {
|
|
@@ -65,5 +69,7 @@ struct std::formatter<slp::ExpressionType> {
|
|
}
|
|
|
|
private:
|
|
- std::formatter<const char*> m_underlying;
|
|
+ fmt::formatter<const char*> m_underlying;
|
|
};
|
|
+
|
|
+// @endcond
|
|
diff --git a/include/sleipnir/optimization/problem.hpp b/include/sleipnir/optimization/problem.hpp
|
|
index 42e572b6c13bba6d5f7592d2b7ffbe1879b1d99b..bb0bb21bb932f77f95c7779241784c4c54d6fe93 100644
|
|
--- a/include/sleipnir/optimization/problem.hpp
|
|
+++ b/include/sleipnir/optimization/problem.hpp
|
|
@@ -15,6 +15,7 @@
|
|
|
|
#include <Eigen/Core>
|
|
#include <Eigen/SparseCore>
|
|
+#include <fmt/chrono.h>
|
|
#include <gch/small_vector.hpp>
|
|
|
|
#include "sleipnir/autodiff/expression_type.hpp"
|
|
diff --git a/include/sleipnir/optimization/solver/exit_status.hpp b/include/sleipnir/optimization/solver/exit_status.hpp
|
|
index 01dddd0d4967268cbbb2c808f7973fafc6be081d..8a7904dd5664dcd66d1332f38902df2252387a58 100644
|
|
--- a/include/sleipnir/optimization/solver/exit_status.hpp
|
|
+++ b/include/sleipnir/optimization/solver/exit_status.hpp
|
|
@@ -4,9 +4,10 @@
|
|
|
|
#include <stdint.h>
|
|
|
|
-#include <format>
|
|
#include <utility>
|
|
|
|
+#include <fmt/base.h>
|
|
+
|
|
namespace slp {
|
|
|
|
/// Solver exit status. Negative values indicate failure.
|
|
@@ -42,14 +43,16 @@ enum class ExitStatus : int8_t {
|
|
|
|
} // namespace slp
|
|
|
|
+// @cond Suppress Doxygen
|
|
+
|
|
/// Formatter for ExitStatus.
|
|
template <>
|
|
-struct std::formatter<slp::ExitStatus> {
|
|
+struct fmt::formatter<slp::ExitStatus> {
|
|
/// Parses format string.
|
|
///
|
|
/// @param ctx Format parse context.
|
|
/// @return Format parse context iterator.
|
|
- constexpr auto parse(std::format_parse_context& ctx) {
|
|
+ constexpr auto parse(fmt::format_parse_context& ctx) {
|
|
return m_underlying.parse(ctx);
|
|
}
|
|
|
|
@@ -60,7 +63,8 @@ struct std::formatter<slp::ExitStatus> {
|
|
/// @param ctx Format context.
|
|
/// @return Format context iterator.
|
|
template <typename FmtContext>
|
|
- auto format(const slp::ExitStatus& exit_status, FmtContext& ctx) const {
|
|
+ constexpr auto format(const slp::ExitStatus& exit_status,
|
|
+ FmtContext& ctx) const {
|
|
using enum slp::ExitStatus;
|
|
|
|
switch (exit_status) {
|
|
@@ -93,5 +97,7 @@ struct std::formatter<slp::ExitStatus> {
|
|
}
|
|
|
|
private:
|
|
- std::formatter<const char*> m_underlying;
|
|
+ fmt::formatter<const char*> m_underlying;
|
|
};
|
|
+
|
|
+// @endcond
|
|
diff --git a/include/sleipnir/util/assert.hpp b/include/sleipnir/util/assert.hpp
|
|
index 29dfe5416530a476417de3a4b6434d3b28d73120..783a0e71a1cb54bd1d6d17fa9d2bedd2038a8ef5 100644
|
|
--- a/include/sleipnir/util/assert.hpp
|
|
+++ b/include/sleipnir/util/assert.hpp
|
|
@@ -3,16 +3,17 @@
|
|
#pragma once
|
|
|
|
#ifdef SLEIPNIR_PYTHON
|
|
-#include <format>
|
|
#include <source_location>
|
|
#include <stdexcept>
|
|
|
|
+#include <fmt/format.h>
|
|
+
|
|
/// Throws an exception in Python.
|
|
#define slp_assert(condition) \
|
|
do { \
|
|
if (!(condition)) { \
|
|
auto location = std::source_location::current(); \
|
|
- throw std::invalid_argument(std::format( \
|
|
+ throw std::invalid_argument(fmt::format( \
|
|
"{}:{}: {}: Assertion `{}' failed.", location.file_name(), \
|
|
location.line(), location.function_name(), #condition)); \
|
|
} \
|
|
diff --git a/include/sleipnir/util/print.hpp b/include/sleipnir/util/print.hpp
|
|
index d436bf297b85cf84fad642fa43aa97063e7d6ebb..b2920580eea0297fc387b5168df78a1515a5dd60 100644
|
|
--- a/include/sleipnir/util/print.hpp
|
|
+++ b/include/sleipnir/util/print.hpp
|
|
@@ -4,47 +4,48 @@
|
|
|
|
#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
|
|
#include <cstdio>
|
|
-#include <print>
|
|
#include <system_error>
|
|
#include <utility>
|
|
+
|
|
+#include <fmt/base.h>
|
|
#endif
|
|
|
|
namespace slp {
|
|
|
|
#ifndef SLEIPNIR_DISABLE_DIAGNOSTICS
|
|
|
|
-/// Wrapper around std::print() that squelches write failure exceptions.
|
|
+/// Wrapper around fmt::print() that squelches write failure exceptions.
|
|
template <typename... T>
|
|
-void print(std::format_string<T...> fmt, T&&... args) {
|
|
+void print(fmt::format_string<T...> fmt, T&&... args) {
|
|
try {
|
|
- std::print(fmt, std::forward<T>(args)...);
|
|
+ fmt::print(fmt, std::forward<T>(args)...);
|
|
} catch (const std::system_error&) {
|
|
}
|
|
}
|
|
|
|
-/// Wrapper around std::print() that squelches write failure exceptions.
|
|
+/// Wrapper around fmt::print() that squelches write failure exceptions.
|
|
template <typename... T>
|
|
-void print(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
|
|
+void print(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
|
|
try {
|
|
- std::print(f, fmt, std::forward<T>(args)...);
|
|
+ fmt::print(f, fmt, std::forward<T>(args)...);
|
|
} catch (const std::system_error&) {
|
|
}
|
|
}
|
|
|
|
-/// Wrapper around std::println() that squelches write failure exceptions.
|
|
+/// Wrapper around fmt::println() that squelches write failure exceptions.
|
|
template <typename... T>
|
|
-void println(std::format_string<T...> fmt, T&&... args) {
|
|
+void println(fmt::format_string<T...> fmt, T&&... args) {
|
|
try {
|
|
- std::println(fmt, std::forward<T>(args)...);
|
|
+ fmt::println(fmt, std::forward<T>(args)...);
|
|
} catch (const std::system_error&) {
|
|
}
|
|
}
|
|
|
|
-/// Wrapper around std::println() that squelches write failure exceptions.
|
|
+/// Wrapper around fmt::println() that squelches write failure exceptions.
|
|
template <typename... T>
|
|
-void println(std::FILE* f, std::format_string<T...> fmt, T&&... args) {
|
|
+void println(std::FILE* f, fmt::format_string<T...> fmt, T&&... args) {
|
|
try {
|
|
- std::println(f, fmt, std::forward<T>(args)...);
|
|
+ fmt::println(f, fmt, std::forward<T>(args)...);
|
|
} catch (const std::system_error&) {
|
|
}
|
|
}
|