[wpiutil] Use C++23 stacktrace library on Windows

This lets us remove the unmaintained StackWalker library and its hacky
upstream_utils script.

A Discord user also reported that StackWalker gives blank stacktraces:
https://discord.com/channels/176186766946992128/368993897495527424/1261940029287301150

They reported an earlier version of this PR giving the following
stacktrace instead:
```
D:\allwpilib\developerRobot\src\main\native\cpp\Robot.cpp(18): developerRobotCpp!Robot::RobotInit+0xB6
D:\allwpilib\wpilibc\src\main\native\cpp\TimedRobot.cpp(22): wpilibcd!frc::TimedRobot::StartCompetition+0x4F
D:\allwpilib\wpilibc\src\main\native\include\frc\RobotBase.h(36): developerRobotCpp!frc::impl::RunRobot<Robot>+0xC8
D:\allwpilib\wpilibc\src\main\native\include\frc\RobotBase.h(106): developerRobotCpp!frc::StartRobot<Robot>+0x17E
D:\allwpilib\developerRobot\src\main\native\cpp\Robot.cpp(60): developerRobotCpp!main+0xB
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(79): developerRobotCpp!invoke_main+0x39
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(288): developerRobotCpp!__scrt_common_main_seh+0x132
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_common.inl(331): developerRobotCpp!__scrt_common_main+0xE
D:\a\_work\1\s\src\vctools\crt\vcstartup\src\startup\exe_main.cpp(17): developerRobotCpp!mainCRTStartup+0xE
KERNEL32!BaseThreadInitThunk+0x1D
ntdll!RtlUserThreadStart+0x28
```

.github/workflows/upstream-utils.yml

@@ -120,12 +120,6 @@ jobs:
           ./mpack.py clone
           ./mpack.py copy-src
           ./mpack.py format-patch
-      - name: Run stack_walker.py
-        run: |
-          cd upstream_utils
-          ./stack_walker.py clone
-          ./stack_walker.py copy-src
-          ./stack_walker.py format-patch
       - name: Run memory.py
         run: |
           cd upstream_utils

ThirdPartyNotices.txt

@@ -33,7 +33,6 @@ jQuery                wpinet/src/main/native/resources/jquery-*
 popper.js             wpinet/src/main/native/resources/popper-*
 units                 wpimath/src/main/native/include/units/
 Eigen                 wpimath/src/main/native/thirdparty/eigen/include/
-StackWalker           wpiutil/src/main/native/windows/StackWalker.*
 Team 254 Library      wpimath/src/main/java/edu/wpi/first/math/spline/SplineParameterizer.java
                       wpimath/src/main/java/edu/wpi/first/math/trajectory/TrajectoryParameterizer.java
                       wpimath/src/main/native/include/frc/spline/SplineParameterizer.h
@@ -1026,35 +1025,6 @@ Exhibit B - "Incompatible With Secondary Licenses" Notice
   defined by the Mozilla Public License, v. 2.0.
 
 
-===================
-StackWalker License
-===================
-Copyright (c) 2005-2013, Jochen Kalmbach
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification,
-are permitted provided that the following conditions are met:
-
-Redistributions of source code must retain the above copyright notice,
-this list of conditions and the following disclaimer.
-Redistributions in binary form must reproduce the above copyright notice,
-this list of conditions and the following disclaimer in the documentation
-and/or other materials provided with the distribution.
-Neither the name of Jochen Kalmbach nor the names of its contributors may be
-used to endorse or promote products derived from this software without
-specific prior written permission.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
-THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-
-
 ================
 Team 254 Library
 ================

apriltag/CMakeLists.txt

@@ -120,7 +120,11 @@ add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${apriltag
 set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET apriltag PROPERTY FOLDER "libraries")
-target_compile_features(apriltag PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_features(apriltag PUBLIC cxx_std_23)
+else()
+    target_compile_features(apriltag PUBLIC cxx_std_20)
+endif()
 wpilib_target_warnings(apriltag)
 
 target_link_libraries(apriltag wpimath)

fieldImages/CMakeLists.txt

@@ -46,9 +46,11 @@ add_library(fieldImages ${field_images_resources_src} src/main/native/cpp/fields
 set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
-target_compile_features(fieldImages PUBLIC cxx_std_20)
 if(MSVC)
     target_compile_options(fieldImages PUBLIC /bigobj)
+    target_compile_features(fieldImages PUBLIC cxx_std_23)
+else()
+    target_compile_features(fieldImages PUBLIC cxx_std_20)
 endif()
 wpilib_target_warnings(fieldImages)
 

ntcore/CMakeLists.txt

@@ -25,7 +25,11 @@ target_include_directories(
         $<INSTALL_INTERFACE:${include_dest}/ntcore>
 )
 wpilib_target_warnings(ntcore)
-target_compile_features(ntcore PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_features(ntcore PUBLIC cxx_std_23)
+else()
+    target_compile_features(ntcore PUBLIC cxx_std_20)
+endif()
 target_link_libraries(ntcore PUBLIC wpinet wpiutil)
 
 set_property(TARGET ntcore PROPERTY FOLDER "libraries")

romiVendordep/CMakeLists.txt

@@ -52,7 +52,11 @@ add_library(romiVendordep ${romiVendordep_native_src})
 set_target_properties(romiVendordep PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET romiVendordep PROPERTY FOLDER "libraries")
 
-target_compile_features(romiVendordep PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_features(romiVendordep PUBLIC cxx_std_23)
+else()
+    target_compile_features(romiVendordep PUBLIC cxx_std_20)
+endif()
 wpilib_target_warnings(romiVendordep)
 target_link_libraries(romiVendordep wpilibc)
 

shared/config.gradle

@@ -39,6 +39,13 @@ nativeUtils.platformConfigs.each {
   }
 }
 
+// Use C++23 on Windows
+nativeUtils.platformConfigs.each {
+  if (it.name.contains('windows')) {
+    it.cppCompiler.args.add("/std:c++23preview")
+  }
+}
+
 nativeUtils.platformConfigs.linuxathena.linker.args.add("-Wl,--fatal-warnings")
 
 if (project.hasProperty('ntcoreffibuild')) {

wpilibNewCommands/CMakeLists.txt

@@ -60,7 +60,11 @@ add_library(wpilibNewCommands ${wpilibNewCommands_native_src})
 set_target_properties(wpilibNewCommands PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET wpilibNewCommands PROPERTY FOLDER "libraries")
 
-target_compile_features(wpilibNewCommands PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_features(wpilibNewCommands PUBLIC cxx_std_23)
+else()
+    target_compile_features(wpilibNewCommands PUBLIC cxx_std_20)
+endif()
 wpilib_target_warnings(wpilibNewCommands)
 target_link_libraries(wpilibNewCommands wpilibc)
 

wpimath/CMakeLists.txt

@@ -153,8 +153,8 @@ set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET wpimath PROPERTY FOLDER "libraries")
 target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
 
-target_compile_features(wpimath PUBLIC cxx_std_20)
 if(MSVC)
+    target_compile_features(wpimath PUBLIC cxx_std_23)
     target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
 endif()
 wpilib_target_warnings(wpimath)

wpinet/CMakeLists.txt

@@ -126,7 +126,11 @@ set_target_properties(wpinet PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET wpinet PROPERTY FOLDER "libraries")
 
-target_compile_features(wpinet PUBLIC cxx_std_20)
+if(MSVC)
+    target_compile_features(wpinet PUBLIC cxx_std_23)
+else()
+    target_compile_features(wpinet PUBLIC cxx_std_20)
+endif()
 wpilib_target_warnings(wpinet)
 target_link_libraries(wpinet PUBLIC wpiutil)
 

wpiutil/CMakeLists.txt

@@ -141,13 +141,15 @@ set_target_properties(wpiutil PROPERTIES DEBUG_POSTFIX "d")
 
 set_property(TARGET wpiutil PROPERTY FOLDER "libraries")
 
-target_compile_features(wpiutil PUBLIC cxx_std_20)
 if(MSVC)
     target_compile_options(
         wpiutil
         PUBLIC /permissive- /Zc:preprocessor /Zc:__cplusplus /Zc:throwingNew /MP /bigobj /utf-8
     )
     target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
+    target_compile_features(wpiutil PUBLIC cxx_std_23)
+else()
+    target_compile_features(wpiutil PUBLIC cxx_std_20)
 endif()
 wpilib_target_warnings(wpiutil)
 if(WITH_PROTOBUF)

wpiutil/src/main/native/cpp/RuntimeCheck.cpp

@@ -7,6 +7,7 @@
 #ifdef _WIN32
 #include <cstdio>
 #include <memory>
+#pragma comment(lib, "version.lib")  // for VerQueryValueW
 
 #include "Windows.h"
 extern "C" int32_t WPI_IsRuntimeValid(uint32_t* foundMajor,

wpiutil/src/main/native/unix/StackTrace.cpp → wpiutil/src/main/native/cpp/StackTrace.cpp

@@ -4,7 +4,11 @@
 
 #include "wpi/StackTrace.h"
 
+#ifdef __cpp_lib_stacktrace
+#include <stacktrace>
+#elif !defined(_WIN32)
 #include <execinfo.h>
+#endif
 
 #include <string>
 
@@ -16,33 +20,41 @@
 namespace wpi {
 
 std::string GetStackTraceDefault(int offset) {
-#ifndef __ANDROID__
+  wpi::SmallString<1024> buf;
+  wpi::raw_svector_ostream trace(buf);
+
+#ifdef __cpp_lib_stacktrace
+  auto stackTrace = std::stacktrace::current();
+
+  for (size_t i = offset; i < stackTrace.size(); ++i) {
+    // Only print recursive functions once in a row
+    if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
+      trace << "\tat " << std::to_string(stackTrace[i]) << '\n';
+    }
+  }
+#elif !defined(_WIN32) && !defined(__ANDROID__)
   void* stackTrace[128];
   int stackSize = backtrace(stackTrace, 128);
   char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
-  wpi::SmallString<1024> buf;
-  wpi::raw_svector_ostream trace(buf);
 
-  for (int i = offset; i < stackSize; i++) {
-    // Only print recursive functions once in a row.
+  for (int i = offset; i < stackSize; ++i) {
+    // Only print recursive functions once in a row
     if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
-      // extract just function name from "pathToExe(functionName+offset)"
+      // Extract just function name from "pathToExe(functionName+offset)"
       std::string_view sym = split(mangledSymbols[i], '(').second;
       std::string_view offset;
       std::tie(sym, offset) = split(sym, '+');
       std::string_view addr;
       std::tie(offset, addr) = split(offset, ')');
-      trace << "\tat " << Demangle(sym) << " + " << offset << addr << "\n";
+
+      trace << "\tat " << Demangle(sym) << " + " << offset << addr << '\n';
     }
   }
 
   std::free(mangledSymbols);
+#endif
 
   return std::string{trace.str()};
-#else
-  // backtrace_symbols not supported on android
-  return "";
-#endif
 }
 
 }  // namespace wpi