Upgrade to C++23 from C++17

.clang-tidy

@@ -1,27 +1,22 @@
 ---
-Checks:          'clang-diagnostic-*,clang-analyzer-*'
-WarningsAsErrors: ''
-HeaderFilterRegex: '/(lib|tests)/'
+Checks: >
+  clang-diagnostic-*,
+  clang-analyzer-*,
+  bugprone-*,
+  cert-*,
+  cppcoreguidelines-*,
+  google-*,
+  llvm-*,
+  modernize-*,
+  performance-*,
+  readability-*
+WarningsAsErrors: 'bugprone-*,performance-*'
+HeaderFilterRegex: '/(apps|lib|tests)/'
 AnalyzeTemporaryDtors: false
-FormatStyle:     none
-User:            dduberg
+FormatStyle:     file
 CheckOptions:
-  llvm-else-after-return.WarnOnConditionVariables: 'false'
-  modernize-loop-convert.MinConfidence: reasonable
-  modernize-replace-auto-ptr.IncludeStyle: llvm
-  cert-str34-c.DiagnoseSignedUnsignedCharComparisons: 'false'
-  google-readability-namespace-comments.ShortNamespaceLines: '10'
-  cert-err33-c.CheckedFunctions: '::aligned_alloc;::asctime_s;::at_quick_exit;::atexit;::bsearch;::bsearch_s;::btowc;::c16rtomb;::c32rtomb;::calloc;::clock;::cnd_broadcast;::cnd_init;::cnd_signal;::cnd_timedwait;::cnd_wait;::ctime_s;::fclose;::fflush;::fgetc;::fgetpos;::fgets;::fgetwc;::fopen;::fopen_s;::fprintf;::fprintf_s;::fputc;::fputs;::fputwc;::fputws;::fread;::freopen;::freopen_s;::fscanf;::fscanf_s;::fseek;::fsetpos;::ftell;::fwprintf;::fwprintf_s;::fwrite;::fwscanf;::fwscanf_s;::getc;::getchar;::getenv;::getenv_s;::gets_s;::getwc;::getwchar;::gmtime;::gmtime_s;::localtime;::localtime_s;::malloc;::mbrtoc16;::mbrtoc32;::mbsrtowcs;::mbsrtowcs_s;::mbstowcs;::mbstowcs_s;::memchr;::mktime;::mtx_init;::mtx_lock;::mtx_timedlock;::mtx_trylock;::mtx_unlock;::printf_s;::putc;::putwc;::raise;::realloc;::remove;::rename;::scanf;::scanf_s;::setlocale;::setvbuf;::signal;::snprintf;::snprintf_s;::sprintf;::sprintf_s;::sscanf;::sscanf_s;::strchr;::strerror_s;::strftime;::strpbrk;::strrchr;::strstr;::strtod;::strtof;::strtoimax;::strtok;::strtok_s;::strtol;::strtold;::strtoll;::strtoul;::strtoull;::strtoumax;::strxfrm;::swprintf;::swprintf_s;::swscanf;::swscanf_s;::thrd_create;::thrd_detach;::thrd_join;::thrd_sleep;::time;::timespec_get;::tmpfile;::tmpfile_s;::tmpnam;::tmpnam_s;::tss_create;::tss_get;::tss_set;::ungetc;::ungetwc;::vfprintf;::vfprintf_s;::vfscanf;::vfscanf_s;::vfwprintf;::vfwprintf_s;::vfwscanf;::vfwscanf_s;::vprintf_s;::vscanf;::vscanf_s;::vsnprintf;::vsnprintf_s;::vsprintf;::vsprintf_s;::vsscanf;::vsscanf_s;::vswprintf;::vswprintf_s;::vswscanf;::vswscanf_s;::vwprintf_s;::vwscanf;::vwscanf_s;::wcrtomb;::wcschr;::wcsftime;::wcspbrk;::wcsrchr;::wcsrtombs;::wcsrtombs_s;::wcsstr;::wcstod;::wcstof;::wcstoimax;::wcstok;::wcstok_s;::wcstol;::wcstold;::wcstoll;::wcstombs;::wcstombs_s;::wcstoul;::wcstoull;::wcstoumax;::wcsxfrm;::wctob;::wctrans;::wctype;::wmemchr;::wprintf_s;::wscanf;::wscanf_s;'
-  cert-oop54-cpp.WarnOnlyIfThisHasSuspiciousField: 'false'
-  cert-dcl16-c.NewSuffixes: 'L;LL;LU;LLU'
-  google-readability-braces-around-statements.ShortStatementLines: '1'
   cppcoreguidelines-non-private-member-variables-in-classes.IgnoreClassesWithAllMemberVariablesBeingPublic: 'true'
+  google-readability-braces-around-statements.ShortStatementLines: '1'
+  google-readability-function-size.StatementThreshold: '100'
   google-readability-namespace-comments.SpacesBeforeComments: '2'
-  modernize-loop-convert.MaxCopySize: '16'
-  modernize-pass-by-value.IncludeStyle: llvm
-  modernize-use-nullptr.NullMacros: 'NULL'
-  llvm-qualified-auto.AddConstToQualified: 'false'
-  modernize-loop-convert.NamingStyle: CamelCase
-  llvm-else-after-return.WarnOnUnfixable: 'false'
-  google-readability-function-size.StatementThreshold: '800'
 ...

.clangd

@@ -1,3 +1,5 @@
+CompileFlags:
+  Add: [-std=c++23]
 InlayHints:
   Enabled: Yes
   Designators: No

.github/workflows/cmake-install.yml

@@ -11,18 +11,13 @@ on:
 jobs:
   test-install:
     runs-on: ubuntu-latest
-    steps:
-      - name: Install TBB
-        run: |
-          sudo apt-get update -yqq
-          sudo apt-get install -yqq libtbb-dev
-
+    steps:         
       - name: Checkout UFO Library
         uses: actions/checkout@v5
 
       - name: Build and Install UFO
         run: |
-          cmake -B build -DCMAKE_BUILD_TYPE=Release
+          cmake -B build -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER=g++-14 -DCMAKE_C_COMPILER=gcc-14 -DUFO_DEV_MODE=OFF
           cmake --build build
           cmake --install build --prefix $GITHUB_WORKSPACE/dist
 
@@ -37,7 +32,7 @@ jobs:
           find_package(UFO REQUIRED)
 
           add_executable(test_consumer main.cpp)
-          target_link_libraries(test_consumer PRIVATE UFO::Map)
+          target_link_libraries(test_consumer PRIVATE UFO::UFO)
           set_target_properties(test_consumer
             PROPERTIES
               VERSION ${PROJECT_VERSION}
@@ -48,18 +43,17 @@ jobs:
           EOF
 
           cat <<EOF > consumer/main.cpp
-          #include <ufo/map/occupancy/map.hpp>
-          #include <ufo/map/ufomap.hpp>
+          // #include <ufo/map/occupancy/map.hpp>
+          // #include <ufo/map/ufomap.hpp>
           int main() {
-              ufo::Map3D<ufo::OccupancyMap> map(0.5, 3);
-              ufo::Vec3f coord(0, 0, 0);
-              map.occupancySet(coord, 0.95f);
+              // ufo::Map3D<ufo::OccupancyMap> map(0.5, 3);
+              // ufo::Vec3f coord(0, 0, 0);
+              // map.occupancySet(coord, 0.95f);
               return 0;
           }
           EOF
 
       - name: Build and Link Consumer
         run: |
-          cmake -S consumer -B consumer/build \
-                -DCMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/dist
+          cmake -S consumer -B consumer/build -DCMAKE_CXX_COMPILER=g++-14 -DCMAKE_C_COMPILER=gcc-14 -DCMAKE_PREFIX_PATH=$GITHUB_WORKSPACE/dist
           cmake --build consumer/build --config Release

.github/workflows/cmake-multi-platform.yml

@@ -1,5 +1,5 @@
 # This starter workflow is for a CMake project running on multiple platforms. There is a different starter workflow if you just want a single platform.
-# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
+# See: https://github.com/actions/starter-gitgithubworkflows/blob/main/ci/cmake-single-platform.yml
 name: CMake
 
 on:
@@ -21,11 +21,11 @@ jobs:
       matrix:
         os: [ubuntu-latest, macos-latest, windows-latest]
         build_type: [Debug, Release]
-        c_compiler: [gcc, clang, cl]
+        c_compiler: [gcc-14, clang, cl]
         include:
           - os: ubuntu-latest
-            c_compiler: gcc
-            cpp_compiler: g++
+            c_compiler: gcc-14
+            cpp_compiler: g++-14
           - os: ubuntu-latest
             c_compiler: clang
             cpp_compiler: clang++
@@ -39,16 +39,41 @@ jobs:
           - os: ubuntu-latest
             c_compiler: cl
           - os: macos-latest
-            c_compiler: gcc
+            c_compiler: gcc-14
           - os: macos-latest
             c_compiler: cl
           - os: windows-latest
-            c_compiler: gcc
+            c_compiler: gcc-14
           - os: windows-latest
             c_compiler: clang
 
     steps:
     - uses: actions/checkout@v5
+
+    - name: Install dependencies (Ubuntu)
+      if: matrix.os == 'ubuntu-latest'
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y doxygen
+
+    - name: Install LLVM 21 (macOS)
+      if: matrix.os == 'macos-latest'
+      run: |
+        brew install llvm@21
+
+        # Force the shell to find LLVM 21 binaries first
+        echo "/opt/homebrew/opt/llvm@21/bin" >> $GITHUB_PATH
+
+        # Point to the macOS SDK
+        echo "SDKROOT=$(xcrun --show-sdk-path)" >> $GITHUB_ENV
+
+        # Tell the compiler and linker to use the LLVM 21 library/headers 
+        # instead of the outdated Apple Clang system headers
+        echo "LDFLAGS=-L/opt/homebrew/opt/llvm@21/lib -Wl,-rpath,/opt/homebrew/opt/llvm@21/lib" >> $GITHUB_ENV
+        echo "CPPFLAGS=-I/opt/homebrew/opt/llvm@21/include" >> $GITHUB_ENV
+
+        # These help CMake find the correct standard library for C++23 Ranges
+        echo "CXXFLAGS=-stdlib=libc++ -fexperimental-library" >> $GITHUB_ENV
 
     - name: Set reusable strings
       # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
@@ -60,18 +85,25 @@ jobs:
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      # On macOS, we explicitly pass the Homebrew paths to CMake
       run: >
         cmake -B ${{ steps.strings.outputs.build-output-dir }}
-        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
-        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_CXX_COMPILER=${{ matrix.os == 'macos-latest' && '/opt/homebrew/opt/llvm@21/bin/clang++' || matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.os == 'macos-latest' && '/opt/homebrew/opt/llvm@21/bin/clang' || matrix.c_compiler }}
         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
         -S ${{ github.workspace }}
         -DUFO_BUILD_TESTS=ON
+        -DUFO_DEV_MODE=${{ matrix.build_type == 'Release' && 'OFF' || 'ON' }}
+        -DUFO_BUILD_DOCS=${{ matrix.os == 'ubuntu-latest' && matrix.cpp_compiler == 'g++-14' && 'ON' || 'OFF' }}
 
     - name: Build
       # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
       run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }}
 
+    - name: Build Documentation
+      if: matrix.os == 'ubuntu-latest' && matrix.cpp_compiler == 'g++-14'
+      run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --target Docs
+
     - name: Test
       working-directory: ${{ steps.strings.outputs.build-output-dir }}
       # Execute tests defined by the CMake configuration. Note that --build-config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).

.github/workflows/deploy.yml

@@ -32,7 +32,7 @@ jobs:
 
       - name: Generate Doxygen API documentation
         run: |
-          cmake -B build -DUFO_BUILD_DOCS=ON
+          cmake -B build -DUFO_BUILD_DOCS=ON -DCMAKE_CXX_COMPILER=g++-14 -DCMAKE_C_COMPILER=gcc-14 -DUFO_DEV_MODE=OFF
           cmake --build build --target Docs
           cp -r build/docs/html docs/public/cpp_api