Merge branch 'main' into better-initial-guess-wpi-v2

SleipnirGroup · Jun 20, 2024 · 2764b1b · 2764b1b
2 parents 58ef24e + 4df4263
commit 2764b1b
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diff --git a/.github/workflows/build-rust.yml b/.github/workflows/build-rust.yml
@@ -16,42 +16,47 @@ jobs:
           - artifact-name: Rust Native - Windows x86_64 (CasADi)
             optimizer_backend: casadi
             os: windows-2022
+            cmake-env:
             cargo-build-flags:
           - artifact-name: Rust Native - macOS x86_64 (CasADi)
             optimizer_backend: casadi
-            os: macOS-13
+            os: macOS-14
+            cmake-env: CMAKE_OSX_ARCHITECTURES="x86_64"
             cargo-build-flags:
           - artifact-name: Rust Native - macOS arm64 (CasADi)
             optimizer_backend: casadi
             os: macOS-14
+            cmake-env: CMAKE_OSX_ARCHITECTURES="arm64"
             cargo-build-flags:
           - artifact-name: Rust Native - Linux x86_64 (CasADi)
             optimizer_backend: casadi
             os: ubuntu-24.04
+            cmake-env:
             cargo-build-flags:
           - artifact-name: Rust Native - Windows x86_64 (Sleipnir)
             optimizer_backend: sleipnir
             os: windows-2022
+            cmake-env:
             cargo-build-flags:
           - artifact-name: Rust Native - Windows aarch64 (Sleipnir)
             optimizer_backend: sleipnir
             os: windows-2022
+            cmake-env:
             cargo-build-flags: --target aarch64-pc-windows-msvc
-          - artifact-name: Rust Native - macOS x86_64 (Sleipnir)
-            optimizer_backend: sleipnir
-            os: macOS-13
-            cargo-build-flags:
-          - artifact-name: Rust Native - macOS arm64 (Sleipnir)
+          - artifact-name: Rust Native - macOS universal (Sleipnir)
             optimizer_backend: sleipnir
             os: macOS-14
+            cmake_env:
             cargo-build-flags:
           - artifact-name: Rust Native - Linux x86_64 (Sleipnir)
             optimizer_backend: sleipnir
             os: ubuntu-24.04
+            cmake-env:
             cargo-build-flags:
           - artifact-name: Rust Native - Linux aarch64 (Sleipnir)
             optimizer_backend: sleipnir
             os: ubuntu-24.04
+            cmake-env:
             cargo-build-flags: --target aarch64-unknown-linux-gnu
 
     name: "${{ matrix.artifact-name }}"
@@ -80,10 +85,21 @@ jobs:
         if: matrix.artifact-name == 'Rust Native - Linux aarch64 (Sleipnir)'
         run: |
           sudo apt-get update -q
-          sudo apt-get install -y g++-aarch64-linux-gnu
+          sudo apt-get install -y g++-14-aarch64-linux-gnu
+          sudo update-alternatives --install /usr/bin/aarch64-linux-gnu-gcc aarch64-linux-gnu-gcc /usr/bin/aarch64-linux-gnu-gcc-14 200
+          sudo update-alternatives --install /usr/bin/aarch64-linux-gnu-g++ aarch64-linux-gnu-g++ /usr/bin/aarch64-linux-gnu-g++-14 200
           rustup target install aarch64-unknown-linux-gnu
 
-      - run: cargo build ${{ matrix.cargo-build-flags }} --features ${{ matrix.optimizer_backend }}
+      - name: Make GCC 14 the default toolchain (Linux)
+        if: startsWith(matrix.os, 'ubuntu')
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
+
+      - run: sudo xcode-select -switch /Applications/Xcode_15.3.app
+        if: startsWith(matrix.os, 'macOS')
+
+      - run: ${{matrix.cmake-env }} cargo build ${{ matrix.cargo-build-flags }} --features ${{ matrix.optimizer_backend }}
 
       - run: cargo run --example swerve --features ${{ matrix.optimizer_backend }}
         if: matrix.artifact-name != 'Rust Native - Windows aarch64 (Sleipnir)' &&

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -15,41 +15,37 @@ jobs:
         include:
           - artifact-name: Native - Windows (CasADi)
             # FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
-            cmake-flags: "-G \"MinGW Makefiles\" -DBUILD_TESTING=OFF"
+            cmake-args: "-G \"MinGW Makefiles\" -DBUILD_TESTING=OFF"
             optimizer_backend: casadi
             os: windows-2022
           - artifact-name: Native - macOS x86_64 (CasADi)
-            cmake-flags:
+            cmake-args: -DCMAKE_OSX_ARCHITECTURES="x86_64"
             optimizer_backend: casadi
-            os: macOS-13
+            os: macOS-14
           - artifact-name: Native - macOS arm64 (CasADi)
-            cmake-flags:
+            cmake-args: -DCMAKE_OSX_ARCHITECTURES="arm64"
             optimizer_backend: casadi
             os: macOS-14
           - artifact-name: Native - Linux x86_64 (CasADi)
-            cmake-flags:
+            cmake-args:
             optimizer_backend: casadi
             os: ubuntu-24.04
           - artifact-name: Native - Windows x86_64 (Sleipnir)
             # FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
-            cmake-flags: "-DCMAKE_GENERATOR_PLATFORM=x64 -DBUILD_TESTING=OFF"
+            cmake-args: "-DCMAKE_GENERATOR_PLATFORM=x64 -DBUILD_TESTING=OFF"
             optimizer_backend: sleipnir
             os: windows-2022
           - artifact-name: Native - Windows aarch64 (Sleipnir)
             # FIXME: Tests give "Exit code 0xc0000135" for missing DLLs
-            cmake-flags: "-DCMAKE_GENERATOR_PLATFORM=ARM64 -DBUILD_TESTING=OFF"
+            cmake-args: "-DCMAKE_GENERATOR_PLATFORM=ARM64 -DBUILD_TESTING=OFF"
             optimizer_backend: sleipnir
             os: windows-2022
-          - artifact-name: Native - macOS x86_64 (Sleipnir)
-            cmake-flags:
-            optimizer_backend: sleipnir
-            os: macOS-13
-          - artifact-name: Native - macOS arm64 (Sleipnir)
-            cmake-flags:
+          - artifact-name: Native - macOS universal (Sleipnir)
+            cmake-args: -DCMAKE_OSX_ARCHITECTURES="x86_64;arm64"
             optimizer_backend: sleipnir
             os: macOS-14
           - artifact-name: Native - Linux x86_64 (Sleipnir)
-            cmake-flags:
+            cmake-args:
             optimizer_backend: sleipnir
             os: ubuntu-24.04
 
@@ -65,7 +61,16 @@ jobs:
           choco upgrade mingw --version=11.2.0 -y --no-progress --allow-downgrade
           echo C:\ProgramData\chocolatey\lib\mingw\tools\install\mingw64\bin >> $env:GITHUB_PATH
 
-      - run: cmake -B build -S . ${{ matrix.cmake-flags }} -DOPTIMIZER_BACKEND=${{ matrix.optimizer_backend }}
+      - name: Make GCC 14 the default toolchain (Linux)
+        if: startsWith(matrix.os, 'ubuntu')
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
+
+      - run: sudo xcode-select -switch /Applications/Xcode_15.3.app
+        if: startsWith(matrix.os, 'macOS')
+
+      - run: cmake -B build -S . -DBUILD_EXAMPLES=ON ${{ matrix.cmake-args }} -DOPTIMIZER_BACKEND=${{ matrix.optimizer_backend }}
       - run: cmake --build build --config RelWithDebInfo --parallel $(nproc)
       - run: ctest --test-dir build -C RelWithDebInfo --output-on-failure
       - run: cmake --install build --config RelWithDebInfo --prefix pkg

diff --git a/.github/workflows/lint-format.yml b/.github/workflows/lint-format.yml
@@ -67,13 +67,13 @@ jobs:
         with:
           python-version: 3.12
 
-      - name: Install LLVM 17
+      - name: Install LLVM 18
         run: |
           wget https://apt.llvm.org/llvm.sh
           chmod +x llvm.sh
-          sudo ./llvm.sh 17 all
-          sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-17 200
-          sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-17 200
+          sudo ./llvm.sh 18 all
+          sudo update-alternatives --install /usr/bin/clang clang /usr/bin/clang-18 200
+          sudo update-alternatives --install /usr/bin/clang++ clang++ /usr/bin/clang++-18 200
           echo "CC=clang" >> $GITHUB_ENV
           echo "CXX=clang++" >> $GITHUB_ENV
           echo "CXXFLAGS=-stdlib=libc++" >> $GITHUB_ENV
@@ -87,13 +87,21 @@ jobs:
         run: wpiformat -list-changed-files
 
       - name: Run clang-tidy
-        run: wpiformat -no-format -tidy-all -compile-commands=build -tidy-extra-args std=c++20 -vv
+        run: wpiformat -no-format -tidy-all -compile-commands=build -tidy-extra-args std=c++23 -vv
 
   format-rust:
     name: "Format Rust"
     runs-on: ubuntu-24.04
     steps:
       - uses: actions/checkout@v4
+
+      - name: Make GCC 14 the default toolchain
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
+
       - run: cargo fmt --check
+
       - run: cargo clippy --features casadi -- -D warnings
+
       - run: cargo clippy --features sleipnir -- -D warnings
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
@@ -0,0 +1,48 @@
+name: Sanitizers
+
+on: [pull_request, push]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build:
+    timeout-minutes: 10
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - sanitizer-name: asan
+            cmake-args: "-DCMAKE_BUILD_TYPE=Asan"
+            optimizer_backend: sleipnir
+          - sanitizer-name: tsan
+            cmake-args: "-DCMAKE_BUILD_TYPE=Tsan"
+            optimizer_backend: sleipnir
+          - sanitizer-name: ubsan
+            cmake-args: "-DCMAKE_BUILD_TYPE=Ubsan"
+            optimizer_backend: sleipnir
+          - sanitizer-name: asan
+            cmake-args: "-DCMAKE_BUILD_TYPE=Asan"
+            optimizer_backend: casadi
+          - sanitizer-name: tsan
+            cmake-args: "-DCMAKE_BUILD_TYPE=Tsan"
+            optimizer_backend: casadi
+          - sanitizer-name: ubsan
+            cmake-args: "-DCMAKE_BUILD_TYPE=Ubsan"
+            optimizer_backend: casadi
+
+    name: "${{ matrix.sanitizer-name }} with ${{ matrix.optimizer_backend }}"
+    runs-on: ubuntu-24.04
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Make GCC 14 the default toolchain (Linux)
+        run: |
+          sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 200
+          sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 200
+
+      - run: cmake -B build -S . -DBUILD_EXAMPLES=ON ${{ matrix.cmake-args }} -DOPTIMIZER_BACKEND=${{ matrix.optimizer_backend }}
+      - run: cmake --build build --config RelWithDebInfo --parallel $(nproc)
+      - run: ctest --test-dir build -C RelWithDebInfo --output-on-failure
diff --git a/.styleguide b/.styleguide
@@ -1,7 +1,6 @@
 cppHeaderFileInclude {
   \.h$
   \.hpp$
-  \.inc$
   expected$
 }
 
@@ -12,6 +11,7 @@ cppSrcFileInclude {
 modifiableFileExclude {
   \.patch$
   expected$
+  \.patch$
 }
 
 includeOtherLibs {