--std=c++17 (#2330)

* switch to c++17

* more 17

* 1z

* use std::clamp

* Fix types in clamp

* bump submodules

* bump laika

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 339d1967cb1e8ca73aeb1f0066a23b0933706ae5

SConstruct

@@ -138,6 +138,7 @@ env = Environment(
     "-Werror",
     "-Wno-unknown-warning-option",
     "-Wno-deprecated-register",
+    "-Wno-register",
     "-Wno-inconsistent-missing-override",
     "-Wno-c99-designator",
     "-Wno-reorder-init-list",
@@ -177,7 +178,7 @@ env = Environment(
   RPATH=rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
-  CXXFLAGS=["-std=c++14"] + cxxflags,
+  CXXFLAGS=["-std=c++1z"] + cxxflags,
   LIBPATH=libpath + [
     "#cereal",
     "#selfdrive/common",

common/common_pyx_setup.py

@@ -4,7 +4,7 @@ from Cython.Build import cythonize
 from common.cython_hacks import BuildExtWithoutPlatformSuffix
 
 sourcefiles = ['clock.pyx']
-extra_compile_args = ["-std=c++14"]
+extra_compile_args = ["-std=c++1z"]
 
 setup(name='common',
       cmdclass={'build_ext': BuildExtWithoutPlatformSuffix},

common/ffi_wrapper.py

@@ -44,7 +44,7 @@ def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
   ffibuilder = FFI()
   ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
   ffibuilder.cdef(c_header)
-  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++11"
+  os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
   os.environ['CFLAGS'] = cflags
   ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
 

common/transformations/setup.py

@@ -12,7 +12,7 @@ setup(
       "transformations",
       sources=["transformations.pyx"],
       language="c++",
-      extra_compile_args=["-std=c++14", "-Wno-cpp"],
+      extra_compile_args=["-std=c++1z", "-Wno-cpp"],
       include_dirs=[numpy.get_include()],
     ),
     nthreads=4,

installer/Makefile

@@ -11,7 +11,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC -O2 $(WARN_FLAGS)
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
 

installer/updater/Makefile

@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
 
 CURL_FLAGS = -I$(PHONELIBS)/curl/include
 CURL_LIBS = $(PHONELIBS)/curl/lib/libcurl.a \

selfdrive/boardd/boardd_setup.py

@@ -16,7 +16,7 @@ setup(name='Boardd API Implementation',
           ],
           sources=['boardd_api_impl.pyx'],
           language="c++",
-          extra_compile_args=["-std=c++11", "-Wno-nullability-completeness"],
+          extra_compile_args=["-std=c++1z", "-Wno-nullability-completeness"],
         )
       )
 )

selfdrive/camerad/cameras/camera_qcom.cc

@@ -8,6 +8,7 @@
 #include <poll.h>
 #include <sys/ioctl.h>
 #include <atomic>
+#include <algorithm>
 
 #include <linux/media.h>
 
@@ -376,7 +377,7 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
   unsigned int integ_lines = s->cur_integ_lines;
 
   if (exposure_frac >= 0) {
-    exposure_frac = clamp(exposure_frac, 2.0 / frame_length, 1.0);
+    exposure_frac = std::clamp(exposure_frac, 2.0f / frame_length, 1.0f);
     integ_lines = frame_length * exposure_frac;
 
     // See page 79 of the datasheet, this is the max allowed (-1 for phase adjust)
@@ -385,7 +386,7 @@ static void set_exposure(CameraState *s, float exposure_frac, float gain_frac) {
 
   if (gain_frac >= 0) {
     // ISO200 is minimum gain
-    gain_frac = clamp(gain_frac, 1.0/64, 1.0);
+    gain_frac = std::clamp(gain_frac, 1.0f/64, 1.0f);
 
     // linearize gain response
     // TODO: will be wrong for front camera
@@ -1718,7 +1719,7 @@ void actuator_move(CameraState *s, uint16_t target) {
   }
 
   int dest_step_pos = s->cur_step_pos + step;
-  dest_step_pos = clamp(dest_step_pos, 0, 255);
+  dest_step_pos = std::clamp(dest_step_pos, 0, 255);
 
   struct msm_actuator_cfg_data actuator_cfg_data = {0};
   actuator_cfg_data.cfgtype = CFG_MOVE_FOCUS;
@@ -1804,8 +1805,8 @@ static void do_autofocus(CameraState *s) {
   }
 
   // stay off the walls
-  lens_true_pos = clamp(lens_true_pos, dac_down, dac_up);
-  int target = clamp(lens_true_pos - sag, dac_down, dac_up);
+  lens_true_pos = std::clamp(lens_true_pos, float(dac_down), float(dac_up));
+  int target = std::clamp(lens_true_pos - sag, float(dac_down), float(dac_up));
   s->lens_true_pos = lens_true_pos;
 
   /*char debug[4096];

selfdrive/common/util.h

@@ -21,12 +21,6 @@ typedef void (*sighandler_t)(int sig);
 
 #endif
 
-#define clamp(a,b,c) \
- ({ __typeof__ (a) _a = (a); \
-     __typeof__ (b) _b = (b); \
-     __typeof__ (c) _c = (c); \
-   _a < _b ? _b : (_a > _c ? _c : _a); })
-
 #define ARRAYSIZE(x) (sizeof(x)/sizeof(x[0]))
 
 #undef ALIGN

selfdrive/loggerd/tests/Makefile

@@ -11,7 +11,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Wno-deprecated-declarations
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
 
 FFMPEG_LIBS = -lavformat \
               -lavcodec \

selfdrive/modeld/visiontest.mk

@@ -20,7 +20,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -g -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
-CXXFLAGS = -std=c++14 -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC $(OPT_FLAGS) $(WARN_FLAGS)
 
 EIGEN_FLAGS = -I$(PHONELIBS)/eigen
 

selfdrive/ui/spinner/Makefile

@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC -O2 $(WARN_FLAGS)
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg
 

selfdrive/ui/test/Makefile

@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -g -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -g -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -g -fPIC -O2 $(WARN_FLAGS)
 
 ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
 ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \

selfdrive/ui/text/Makefile

@@ -10,7 +10,7 @@ WARN_FLAGS = -Werror=implicit-function-declaration \
              -Werror=format-extra-args
 
 CFLAGS = -std=gnu11 -fPIC -O2 $(WARN_FLAGS)
-CXXFLAGS = -std=c++11 -fPIC -O2 $(WARN_FLAGS)
+CXXFLAGS = -std=c++1z -fPIC -O2 $(WARN_FLAGS)
 
 NANOVG_FLAGS = -I$(PHONELIBS)/nanovg