Nest all namespaces
The compiler supports this now. We can type less going forward.
No functional changes.
Signed-off-by: Stephan Pleines <pleines.stephan@gmail.com>
Change-Id: I29d6fa4f9aacc0e381f1a7637294db0392466995
diff --git a/y2022/actors/auto_splines.cc b/y2022/actors/auto_splines.cc
index e674dc4..b0915d5 100644
--- a/y2022/actors/auto_splines.cc
+++ b/y2022/actors/auto_splines.cc
@@ -2,8 +2,7 @@
#include "frc971/control_loops/control_loops_generated.h"
-namespace y2022 {
-namespace actors {
+namespace y2022::actors {
void MaybeFlipSpline(
aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder,
@@ -100,5 +99,4 @@
alliance);
}
-} // namespace actors
-} // namespace y2022
+} // namespace y2022::actors
diff --git a/y2022/actors/autonomous_actor.cc b/y2022/actors/autonomous_actor.cc
index 19e9edf..41f7e04 100644
--- a/y2022/actors/autonomous_actor.cc
+++ b/y2022/actors/autonomous_actor.cc
@@ -18,8 +18,7 @@
DEFINE_bool(rapid_react_two, false,
"If true, run the two ball rapid react autonomous mode");
-namespace y2022 {
-namespace actors {
+namespace y2022::actors {
namespace {
constexpr double kExtendIntakeGoal = -0.10;
constexpr double kRetractIntakeGoal = 1.47;
@@ -491,5 +490,4 @@
}
}
-} // namespace actors
-} // namespace y2022
+} // namespace y2022::actors
diff --git a/y2022/constants.cc b/y2022/constants.cc
index 04ca14c..7ad6213 100644
--- a/y2022/constants.cc
+++ b/y2022/constants.cc
@@ -19,8 +19,7 @@
#include "y2022/control_loops/superstructure/intake/integral_intake_plant.h"
#include "y2022/control_loops/superstructure/turret/integral_turret_plant.h"
-namespace y2022 {
-namespace constants {
+namespace y2022::constants {
const int Values::kZeroingSampleSize;
@@ -412,5 +411,4 @@
Values MakeValues() { return MakeValues(aos::network::GetTeamNumber()); }
-} // namespace constants
-} // namespace y2022
+} // namespace y2022::constants
diff --git a/y2022/control_loops/drivetrain/drivetrain_base.cc b/y2022/control_loops/drivetrain/drivetrain_base.cc
index c58353e..551a5d5 100644
--- a/y2022/control_loops/drivetrain/drivetrain_base.cc
+++ b/y2022/control_loops/drivetrain/drivetrain_base.cc
@@ -14,9 +14,7 @@
namespace chrono = ::std::chrono;
-namespace y2022 {
-namespace control_loops {
-namespace drivetrain {
+namespace y2022::control_loops::drivetrain {
using ::frc971::constants::ShifterHallEffect;
@@ -66,6 +64,4 @@
return kDrivetrainConfig;
};
-} // namespace drivetrain
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::drivetrain
diff --git a/y2022/control_loops/superstructure/catapult/catapult.cc b/y2022/control_loops/superstructure/catapult/catapult.cc
index b0ec6fd..493bb46 100644
--- a/y2022/control_loops/superstructure/catapult/catapult.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult.cc
@@ -10,10 +10,7 @@
#include "osqp.h"
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace catapult {
+namespace y2022::control_loops::superstructure::catapult {
namespace chrono = std::chrono;
namespace {
@@ -453,7 +450,4 @@
return catapult_.MakeStatus(fbb);
}
-} // namespace catapult
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::superstructure::catapult
diff --git a/y2022/control_loops/superstructure/catapult/catapult_main.cc b/y2022/control_loops/superstructure/catapult/catapult_main.cc
index 53d357a..e3f897c 100644
--- a/y2022/control_loops/superstructure/catapult/catapult_main.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult_main.cc
@@ -4,10 +4,7 @@
#include "y2022/control_loops/superstructure/catapult/catapult.h"
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace catapult {
+namespace y2022::control_loops::superstructure::catapult {
namespace chrono = std::chrono;
void OSQPSolve() {
@@ -114,10 +111,7 @@
return 0;
}
-} // namespace catapult
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::superstructure::catapult
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2022/control_loops/superstructure/catapult/catapult_test.cc b/y2022/control_loops/superstructure/catapult/catapult_test.cc
index 7361bcd..b2cd180 100644
--- a/y2022/control_loops/superstructure/catapult/catapult_test.cc
+++ b/y2022/control_loops/superstructure/catapult/catapult_test.cc
@@ -5,11 +5,7 @@
#include "y2022/control_loops/superstructure/catapult/catapult_plant.h"
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace catapult {
-namespace testing {
+namespace y2022::control_loops::superstructure::catapult::testing {
// Tests that computing P and q with 2 different horizons comes out the same.
TEST(MPCTest, HorizonTest) {
@@ -56,8 +52,4 @@
EXPECT_NEAR(X_final.y(), X.y(), 1e-2);
}
-} // namespace testing
-} // namespace catapult
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::superstructure::catapult::testing
diff --git a/y2022/control_loops/superstructure/collision_avoidance.cc b/y2022/control_loops/superstructure/collision_avoidance.cc
index 0c13295..33e4d6e 100644
--- a/y2022/control_loops/superstructure/collision_avoidance.cc
+++ b/y2022/control_loops/superstructure/collision_avoidance.cc
@@ -5,9 +5,7 @@
#include "absl/functional/bind_front.h"
#include "glog/logging.h"
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
+namespace y2022::control_loops::superstructure {
CollisionAvoidance::CollisionAvoidance() {
clear_min_intake_front_goal();
@@ -213,6 +211,4 @@
}
}
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::superstructure
diff --git a/y2022/control_loops/superstructure/superstructure.cc b/y2022/control_loops/superstructure/superstructure.cc
index 5abe995..fc6aeee 100644
--- a/y2022/control_loops/superstructure/superstructure.cc
+++ b/y2022/control_loops/superstructure/superstructure.cc
@@ -9,9 +9,7 @@
DEFINE_bool(ignore_distance, false,
"If true, ignore distance when shooting and obay joystick_reader");
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
+namespace y2022::control_loops::superstructure {
using frc971::control_loops::AbsoluteEncoderProfiledJointStatus;
using frc971::control_loops::PotAndAbsoluteEncoderProfiledJointStatus;
@@ -653,6 +651,4 @@
: 0.0);
}
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::superstructure
diff --git a/y2022/control_loops/superstructure/superstructure_lib_test.cc b/y2022/control_loops/superstructure/superstructure_lib_test.cc
index c85d5d0..cbe3c97 100644
--- a/y2022/control_loops/superstructure/superstructure_lib_test.cc
+++ b/y2022/control_loops/superstructure/superstructure_lib_test.cc
@@ -19,10 +19,7 @@
DEFINE_string(output_folder, "",
"If set, logs all channels to the provided logfile.");
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace testing {
+namespace y2022::control_loops::superstructure::testing {
namespace chrono = std::chrono;
using ::aos::monotonic_clock;
@@ -1300,7 +1297,4 @@
superstructure_status_fetcher_->turret()->position(), 5e-4);
}
-} // namespace testing
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::superstructure::testing
diff --git a/y2022/control_loops/superstructure/turret/aiming.cc b/y2022/control_loops/superstructure/turret/aiming.cc
index c570856..18ebafa 100644
--- a/y2022/control_loops/superstructure/turret/aiming.cc
+++ b/y2022/control_loops/superstructure/turret/aiming.cc
@@ -2,10 +2,7 @@
#include "y2022/control_loops/drivetrain/drivetrain_base.h"
-namespace y2022 {
-namespace control_loops {
-namespace superstructure {
-namespace turret {
+namespace y2022::control_loops::superstructure::turret {
using frc971::control_loops::Pose;
using frc971::control_loops::aiming::RobotState;
@@ -80,7 +77,4 @@
return builder.Finish();
}
-} // namespace turret
-} // namespace superstructure
-} // namespace control_loops
-} // namespace y2022
+} // namespace y2022::control_loops::superstructure::turret
diff --git a/y2022/joystick_reader.cc b/y2022/joystick_reader.cc
index 910e16d..9993e8f 100644
--- a/y2022/joystick_reader.cc
+++ b/y2022/joystick_reader.cc
@@ -31,9 +31,7 @@
using frc971::input::driver_station::JoystickAxis;
using frc971::input::driver_station::POVLocation;
-namespace y2022 {
-namespace input {
-namespace joysticks {
+namespace y2022::input::joysticks {
namespace superstructure = y2022::control_loops::superstructure;
@@ -376,9 +374,7 @@
bool last_back_intake_has_ball_ = false;
};
-} // namespace joysticks
-} // namespace input
-} // namespace y2022
+} // namespace y2022::input::joysticks
int main(int argc, char **argv) {
::aos::InitGoogle(&argc, &argv);
diff --git a/y2022/vision/ball_color.cc b/y2022/vision/ball_color.cc
index b1ebd85..930142f 100644
--- a/y2022/vision/ball_color.cc
+++ b/y2022/vision/ball_color.cc
@@ -13,8 +13,7 @@
#include "frc971/input/joystick_state_generated.h"
#include "frc971/vision/vision_generated.h"
-namespace y2022 {
-namespace vision {
+namespace y2022::vision {
namespace {
cv::Rect ArrayToRect(const std::array<int, 4> &values) {
@@ -144,5 +143,4 @@
return sum / num_pixels_selected;
}
-} // namespace vision
-} // namespace y2022
+} // namespace y2022::vision
diff --git a/y2022/vision/ball_color_main.cc b/y2022/vision/ball_color_main.cc
index 03e3033..5f05b34 100644
--- a/y2022/vision/ball_color_main.cc
+++ b/y2022/vision/ball_color_main.cc
@@ -9,8 +9,7 @@
// --override_hostname pi-7971-1 --ignore_timestamps true
DEFINE_string(config, "aos_config.json", "Path to the config file to use.");
-namespace y2022 {
-namespace vision {
+namespace y2022::vision {
namespace {
using namespace frc971::vision;
@@ -28,8 +27,7 @@
}
} // namespace
-} // namespace vision
-} // namespace y2022
+} // namespace y2022::vision
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
diff --git a/y2022/vision/blob_detector.cc b/y2022/vision/blob_detector.cc
index 2c6ff44..70ff1b2 100644
--- a/y2022/vision/blob_detector.cc
+++ b/y2022/vision/blob_detector.cc
@@ -25,8 +25,7 @@
"Required difference between green pixels vs. blue when using "
"--use_outdoors");
-namespace y2022 {
-namespace vision {
+namespace y2022::vision {
cv::Mat BlobDetector::ThresholdImage(cv::Mat bgr_image) {
cv::Mat binarized_image(cv::Size(bgr_image.cols, bgr_image.rows), CV_8UC1);
@@ -266,5 +265,4 @@
<< " ms";
}
-} // namespace vision
-} // namespace y2022
+} // namespace y2022::vision
diff --git a/y2022/vision/calibrate_extrinsics.cc b/y2022/vision/calibrate_extrinsics.cc
index d8b57dc..0a950ab 100644
--- a/y2022/vision/calibrate_extrinsics.cc
+++ b/y2022/vision/calibrate_extrinsics.cc
@@ -25,8 +25,7 @@
DEFINE_string(base_intrinsics, "",
"Intrinsics to use for extrinsics calibration.");
-namespace frc971 {
-namespace vision {
+namespace frc971::vision {
namespace chrono = std::chrono;
using aos::distributed_clock;
using aos::monotonic_clock;
@@ -263,8 +262,7 @@
}
} // namespace vision
-} // namespace vision
-} // namespace frc971
+} // namespace frc971::vision
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
diff --git a/y2022/vision/camera_reader.cc b/y2022/vision/camera_reader.cc
index 012a2db..a077d09 100644
--- a/y2022/vision/camera_reader.cc
+++ b/y2022/vision/camera_reader.cc
@@ -17,8 +17,7 @@
DEFINE_string(image_png, "", "A set of PNG images");
-namespace y2022 {
-namespace vision {
+namespace y2022::vision {
using namespace frc971::vision;
@@ -235,5 +234,4 @@
}
}
-} // namespace vision
-} // namespace y2022
+} // namespace y2022::vision
diff --git a/y2022/vision/camera_reader_main.cc b/y2022/vision/camera_reader_main.cc
index 5f19d64..278f14b 100644
--- a/y2022/vision/camera_reader_main.cc
+++ b/y2022/vision/camera_reader_main.cc
@@ -14,8 +14,7 @@
"Exposure time when using --use_outdoors, in 100us increments; 0 "
"implies auto exposure");
-namespace y2022 {
-namespace vision {
+namespace y2022::vision {
namespace {
using namespace frc971::vision;
@@ -59,8 +58,7 @@
}
} // namespace
-} // namespace vision
-} // namespace y2022
+} // namespace y2022::vision
int main(int argc, char **argv) {
aos::InitGoogle(&argc, &argv);
diff --git a/y2022/vision/viewer.cc b/y2022/vision/viewer.cc
index 58db722..b0bcdac 100644
--- a/y2022/vision/viewer.cc
+++ b/y2022/vision/viewer.cc
@@ -36,8 +36,7 @@
"If true, display the target estimation graphically");
DEFINE_bool(sort_by_time, true, "If true, sort the images by time");
-namespace y2022 {
-namespace vision {
+namespace y2022::vision {
namespace {
using namespace frc971::vision;
@@ -273,8 +272,7 @@
}
}
} // namespace
-} // namespace vision
-} // namespace y2022
+} // namespace y2022::vision
// Quick and lightweight viewer for images
int main(int argc, char **argv) {
diff --git a/y2022/vision/viewer_replay.cc b/y2022/vision/viewer_replay.cc
index 7e8c800..15427e4 100644
--- a/y2022/vision/viewer_replay.cc
+++ b/y2022/vision/viewer_replay.cc
@@ -26,8 +26,7 @@
DEFINE_string(logger_pi_log, "/tmp/logger_pi/", "Path to logger pi log");
DEFINE_string(roborio_log, "/tmp/roborio/", "Path to roborio log");
-namespace y2022 {
-namespace vision {
+namespace y2022::vision {
namespace {
using aos::monotonic_clock;
@@ -257,8 +256,7 @@
}
} // namespace
-} // namespace vision
-} // namespace y2022
+} // namespace y2022::vision
// Quick and lightweight viewer for image logs
int main(int argc, char **argv) {
diff --git a/y2022/wpilib_interface.cc b/y2022/wpilib_interface.cc
index 55cf510..dd2224c 100644
--- a/y2022/wpilib_interface.cc
+++ b/y2022/wpilib_interface.cc
@@ -65,8 +65,7 @@
DEFINE_bool(can_catapult, false, "If true, use CAN to control the catapult.");
-namespace y2022 {
-namespace wpilib {
+namespace y2022::wpilib {
namespace {
constexpr double kMaxBringupPower = 12.0;
@@ -828,7 +827,6 @@
}
};
-} // namespace wpilib
-} // namespace y2022
+} // namespace y2022::wpilib
AOS_ROBOT_CLASS(::y2022::wpilib::WPILibRobot);