[wpiutil] Use C++23 stacktrace library on Windows (#6839)

This lets us remove the unmaintained StackWalker library and its hacky upstream_utils script. @Gold856 reported that StackWalker gives blank stacktraces: https://discord.com/channels/176186766946992128/368993897495527424/1261940029287301150. They also 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 ```
2026-06-19 00:41:43 +00:00 · 2026-04-26 00:15:39 -07:00
parent 880cfd60c4
commit af7d68e993
32 changed files with 79 additions and 112 deletions
--- a/apriltag/CMakeLists.txt
+++ b/apriltag/CMakeLists.txt
@@ -120,7 +120,7 @@ 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)
+target_compile_features(apriltag PUBLIC cxx_std_23)
 wpilib_target_warnings(apriltag)

 target_link_libraries(apriltag wpimath)
--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
@@ -6,7 +6,7 @@ file(GLOB benchmarkCpp_src src/main/native/cpp/*.cpp src/main/native/thirdparty/

 add_executable(benchmarkCpp ${benchmarkCpp_src})

-target_compile_features(benchmarkCpp PUBLIC cxx_std_20)
+target_compile_features(benchmarkCpp PUBLIC cxx_std_23)

 wpilib_target_warnings(benchmarkCpp)

--- a/commandsv2/CMakeLists.txt
+++ b/commandsv2/CMakeLists.txt
@@ -62,7 +62,7 @@ add_library(commandsv2 ${commandsv2_native_src})
 set_target_properties(commandsv2 PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET commandsv2 PROPERTY FOLDER "libraries")

-target_compile_features(commandsv2 PUBLIC cxx_std_20)
+target_compile_features(commandsv2 PUBLIC cxx_std_23)
 wpilib_target_warnings(commandsv2)
 target_link_libraries(commandsv2 wpilibc)

--- a/commandsv2/src/main/native/cpp/frc2/command/Command.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/Command.cpp
@@ -9,6 +9,7 @@

 #include "wpi/commands2/CommandPtr.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/util/Demangle.hpp"
 #include "wpi/util/StackTrace.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"
--- a/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/CommandPtr.cpp
@@ -21,6 +21,7 @@
 #include "wpi/commands2/WaitUntilCommand.hpp"
 #include "wpi/commands2/WrapperCommand.hpp"
 #include "wpi/system/Errors.hpp"
+#include "wpi/util/StackTrace.hpp"

 using namespace wpi::cmd;

--- a/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp
+++ b/commandsv2/src/main/native/cpp/frc2/command/SubsystemBase.cpp
@@ -8,6 +8,7 @@

 #include "wpi/commands2/Command.hpp"
 #include "wpi/commands2/CommandScheduler.hpp"
+#include "wpi/util/Demangle.hpp"
 #include "wpi/util/sendable/SendableBuilder.hpp"
 #include "wpi/util/sendable/SendableRegistry.hpp"

--- a/commandsv2/src/main/native/include/wpi/commands2/Command.hpp
+++ b/commandsv2/src/main/native/include/wpi/commands2/Command.hpp
@@ -5,16 +5,13 @@
 #pragma once

 #include <functional>
-#include <memory>
 #include <optional>
 #include <string>

 #include "wpi/commands2/Requirements.hpp"
 #include "wpi/commands2/Subsystem.hpp"
 #include "wpi/units/time.hpp"
-#include "wpi/util/Demangle.hpp"
 #include "wpi/util/SmallSet.hpp"
-#include "wpi/util/StackTrace.hpp"
 #include "wpi/util/sendable/Sendable.hpp"

 namespace wpi::cmd {
--- a/datalog/CMakeLists.txt
+++ b/datalog/CMakeLists.txt
@@ -10,7 +10,7 @@ list(REMOVE_ITEM datalog_native_src ${datalog_jni_src})
 add_library(datalog ${datalog_native_src})
 set_target_properties(datalog PROPERTIES DEBUG_POSTFIX "d")

-target_compile_features(datalog PUBLIC cxx_std_20)
+target_compile_features(datalog PUBLIC cxx_std_23)
 wpilib_target_warnings(datalog)

 target_include_directories(
--- a/fields/CMakeLists.txt
+++ b/fields/CMakeLists.txt
@@ -52,7 +52,7 @@ add_library(fields ${field_images_resources_src} src/main/native/cpp/fields.cpp)
 set_target_properties(fields PROPERTIES DEBUG_POSTFIX "d")

 set_property(TARGET fields PROPERTY FOLDER "libraries")
-target_compile_features(fields PUBLIC cxx_std_20)
+target_compile_features(fields PUBLIC cxx_std_23)
 if(MSVC)
    target_compile_options(fields PUBLIC /bigobj)
 endif()
--- a/gradle/libs.versions.toml
+++ b/gradle/libs.versions.toml
@@ -27,7 +27,7 @@ mockito-core = { module = "org.mockito:mockito-core", version = "4.1.0" }
 # Note that these are also Gradle plugins and cannot be used with the plugin specification
 # due to their presence on the classpath without version information.
 wpilib-gradle-vscode = { module = "org.wpilib:gradle-cpp-vscode", version = "2027.0.0" }
-wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.5.1" }
+wpilib-native-utils = { module = "org.wpilib:native-utils", version = "2027.6.1" }

 [bundles]
 ejml = ["ejml-simple"]
@@ -46,6 +46,6 @@ wpilib-gradle-jni = { id = "org.wpilib.GradleJni", version = "2027.0.0" }
 # Note: these plugins can't be used. Their JARs are on the classpath for buildSrc,
 # which doesn't retain version information.
 # wpilib-gradle-vscode = { id = "org.wpilib.GradleVsCode", version = "2027.0.0" }
-# wpilib-native-utils = { id = "org.wpilib.NativeUtils", version = "2027.5.1" }
+# wpilib-native-utils = { id = "org.wpilib.NativeUtils", version = "2027.6.1" }
 wpilib-repositories = { id = "org.wpilib.WPILibRepositoriesPlugin", version = "2027.0.0" }
 wpilib-versioning = { id = "org.wpilib.WPILibVersioningPlugin", version = "2027.0.1" }
--- a/ntcore/CMakeLists.txt
+++ b/ntcore/CMakeLists.txt
@@ -25,7 +25,7 @@ target_include_directories(
        $<INSTALL_INTERFACE:${include_dest}/ntcore>
 )
 wpilib_target_warnings(ntcore)
-target_compile_features(ntcore PUBLIC cxx_std_20)
+target_compile_features(ntcore PUBLIC cxx_std_23)
 target_link_libraries(ntcore PUBLIC wpinet wpiutil datalog)

 set_property(TARGET ntcore PROPERTY FOLDER "libraries")
--- a/ntcore/src/dev/native/cpp/main.cpp
+++ b/ntcore/src/dev/native/cpp/main.cpp
@@ -4,6 +4,7 @@

 #include <algorithm>
 #include <array>
+#include <atomic>
 #include <chrono>
 #include <cmath>
 #include <cstdlib>
--- a/romiVendordep/CMakeLists.txt
+++ b/romiVendordep/CMakeLists.txt
@@ -52,7 +52,7 @@ 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)
+target_compile_features(romiVendordep PUBLIC cxx_std_23)
 wpilib_target_warnings(romiVendordep)
 target_link_libraries(romiVendordep wpilibc)

--- a/shared/bazel/compiler_flags/linux_flags.rc
+++ b/shared/bazel/compiler_flags/linux_flags.rc
@@ -7,7 +7,7 @@
 common:linux --repo_env=BAZEL_COPTS="-Wall:-Wextra:-Werror:-gz=zlib"

 # C++ only
-common:linux --repo_env=BAZEL_CXXOPTS="-std=c++20:-Wformat=2:-pedantic:-Wno-psabi:-Wno-unused-parameter:-fPIC:-pthread:-Wno-deprecated-enum-enum-conversion"
+common:linux --repo_env=BAZEL_CXXOPTS="-std=c++23:-Wformat=2:-pedantic:-Wno-psabi:-Wno-unused-parameter:-fPIC:-pthread:-Wno-deprecated-enum-enum-conversion"

 # C Only
 common:linux --repo_env=BAZEL_CONLYOPTS="-Wformat=2:-pedantic:-Wno-psabi:-Wno-unused-parameter:-fPIC:-pthread"
--- a/shared/bazel/compiler_flags/osx_flags.rc
+++ b/shared/bazel/compiler_flags/osx_flags.rc
@@ -2,7 +2,7 @@ common:macos --repo_env=BAZEL_COPTS="-Wall:-Wextra:-Werror:-Wno-shorten-64-to-32
 common:macos --host_per_file_copt=external/.*@-Wno-deprecated-non-prototype,-Wno-unused-function,-Wno-sign-compare

 # C++ only
-common:macos --repo_env=BAZEL_CXXOPTS="-std=c++20:-pedantic:-fPIC:-Wno-unused-parameter:-Wno-error=deprecated-enum-enum-conversion:-Wno-missing-field-initializers:-Wno-unused-private-field:-Wno-unused-const-variable:-Wno-error=c11-extensions:-pthread:-Wno-deprecated-anon-enum-enum-conversion"
+common:macos --repo_env=BAZEL_CXXOPTS="-std=c++23:-pedantic:-fPIC:-Wno-unused-parameter:-Wno-error=deprecated-enum-enum-conversion:-Wno-missing-field-initializers:-Wno-unused-private-field:-Wno-unused-const-variable:-Wno-error=c11-extensions:-pthread:-Wno-deprecated-anon-enum-enum-conversion"

 # C only
 common:macos --repo_env=BAZEL_CONLYOPTS="-pedantic:-fPIC:-Wno-unused-parameter:-Wno-missing-field-initializers:-Wno-unused-private-field:-Wno-fixed-enum-extension"
--- a/shared/bazel/compiler_flags/windows_flags.rc
+++ b/shared/bazel/compiler_flags/windows_flags.rc
@@ -5,7 +5,7 @@
 common:windows --repo_env="BAZEL_COPTS=/W3:/WX"

 # C++ options
-common:windows --repo_env="BAZEL_CXXOPTS=/EHsc:/FS:/Zc%:inline:/wd4244:/wd4267:/wd4146:/wd4996:/Zc%:throwingNew:/D_CRT_SECURE_NO_WARNINGS:/std%:c++20:/permissive-:/utf-8:/bigobj:/Zc%:__cplusplus:/Zc%:preprocessor:/wd5105"
+common:windows --repo_env="BAZEL_CXXOPTS=/EHsc:/FS:/Zc%:inline:/wd4244:/wd4267:/wd4146:/wd4996:/Zc%:throwingNew:/D_CRT_SECURE_NO_WARNINGS:/std%:c++23preview:/permissive-:/utf-8:/bigobj:/Zc%:__cplusplus:/Zc%:preprocessor:/wd5105"

 # Remove "/D_WIN32_WINNT=0x0601"
 common:windows --repo_env="BAZEL_WIN32_WINNT="
--- a/shared/bazel/rules/objectivec_rules.bzl
+++ b/shared/bazel/rules/objectivec_rules.bzl
@@ -23,7 +23,7 @@ def wpilib_objc_library(
    """
    copts = copts or []
    if is_cpp:
-        copts.append("-std=c++20")
+        copts.append("-std=c++23")
    if include_arc:
        copts += ["-fobjc-weak", "-fobjc-arc"]

--- a/shared/bazel/rules/robotpy/semiwrap_helpers.bzl
+++ b/shared/bazel/rules/robotpy/semiwrap_helpers.bzl
@@ -164,7 +164,7 @@ def header_to_dat(
    cmd += " " + include_root
    cmd += _location_helper(RESOLVE_CASTERS_DIR + casters_pickle)
    cmd += " $(OUTS)"
-    cmd += " bogus c++20 ccache c++ -- -std=c++20"  # TODO(pj) Does it matter what these values are?
+    cmd += " bogus c++23 ccache c++ -- -std=c++23"  # TODO(pj) Does it matter what these values are?

    native.genrule(
        name = name + "." + class_name,
--- a/thirdparty/catch2/CMakeLists.txt
+++ b/thirdparty/catch2/CMakeLists.txt
@@ -8,7 +8,7 @@ add_library(catch2 ${catch2_src})
 set_target_properties(catch2 PROPERTIES DEBUG_POSTFIX "d")

 set_property(TARGET catch2 PROPERTY FOLDER "libraries")
-target_compile_features(catch2 PUBLIC cxx_std_20)
+target_compile_features(catch2 PUBLIC cxx_std_23)

 target_include_directories(
    catch2
--- a/thirdparty/googletest/CMakeLists.txt
+++ b/thirdparty/googletest/CMakeLists.txt
@@ -12,7 +12,7 @@ add_library(googletest ${googletest_src})
 set_target_properties(googletest PROPERTIES DEBUG_POSTFIX "d")

 set_property(TARGET googletest PROPERTY FOLDER "libraries")
-target_compile_features(googletest PUBLIC cxx_std_20)
+target_compile_features(googletest PUBLIC cxx_std_23)

 include_directories(
  "${CMAKE_CURRENT_SOURCE_DIR}/include"
--- a/thirdparty/imgui_suite/CMakeLists.txt
+++ b/thirdparty/imgui_suite/CMakeLists.txt
@@ -51,7 +51,7 @@ target_include_directories(
    PRIVATE "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>"
 )

-target_compile_features(imgui PUBLIC cxx_std_20)
+target_compile_features(imgui PUBLIC cxx_std_23)

 if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 20.0)
  target_compile_options(imgui PUBLIC -Wno-nontrivial-memcall)
--- a/tools/wpical/build.gradle
+++ b/tools/wpical/build.gradle
@@ -82,42 +82,46 @@ nativeUtils.platformConfigs.each {
        it.cCompiler.args.add("/wd4047")
        it.cCompiler.args.add("/wd4098")
        it.cCompiler.args.add("/wd4267")
+
        it.cppCompiler.args.add("/wd4068")
        it.cppCompiler.args.add("/wd4101")
        it.cppCompiler.args.add("/wd4200")
        it.cppCompiler.args.add("/wd4576")
        it.cppCompiler.args.add("/wd4715")
    } else if (it.name.contains('osx')) {
-        it.cCompiler.args.add("-Wno-format-nonliteral")
        it.cCompiler.args.remove("-pedantic")
-        it.cCompiler.args.add("-Wno-unused-variable")
-        it.cCompiler.args.add("-Wno-unused-function")
+        it.cCompiler.args.add("-Wno-format-nonliteral")
        it.cCompiler.args.add("-Wno-sign-compare")
-        it.cppCompiler.args.add("-Wno-missing-field-initializers")
+        it.cCompiler.args.add("-Wno-unused-function")
+        it.cCompiler.args.add("-Wno-unused-variable")
+
        it.cppCompiler.args.remove("-pedantic")
-        it.cppCompiler.args.add("-Wno-unused-variable")
-        it.cppCompiler.args.add("-Wno-unused-function")
-        it.cppCompiler.args.add("-Wno-sign-compare")
        it.cppCompiler.args.remove("-permissive")
        it.cppCompiler.args.add("-fpermissive")
+        it.cppCompiler.args.add("-Wno-missing-field-initializers")
+        it.cppCompiler.args.add("-Wno-deprecated-declarations")
        it.cppCompiler.args.add("-Wno-missing-braces")
        it.cppCompiler.args.add("-Wno-null-conversion")
-        it.cppCompiler.args.add("-Wno-unused-but-set-variable")
-    } else {
-        it.cCompiler.args.add("-Wno-format-nonliteral")
-        it.cCompiler.args.remove("-pedantic")
-        it.cCompiler.args.add("-Wno-unused-variable")
-        it.cCompiler.args.add("-Wno-unused-function")
-        it.cCompiler.args.add("-Wno-sign-compare")
-        it.cppCompiler.args.add("-Wno-missing-field-initializers")
-        it.cppCompiler.args.remove("-pedantic")
-        it.cppCompiler.args.add("-Wno-unused-variable")
-        it.cppCompiler.args.add("-Wno-unused-function")
        it.cppCompiler.args.add("-Wno-sign-compare")
-        it.cppCompiler.args.add("-Wno-deprecated-declarations")
-        it.cppCompiler.args.add("-Wno-deprecated-enum-enum-conversion")
+        it.cppCompiler.args.add("-Wno-unused-but-set-variable")
+        it.cppCompiler.args.add("-Wno-unused-function")
+        it.cppCompiler.args.add("-Wno-unused-variable")
+    } else {
+        it.cCompiler.args.remove("-pedantic")
+        it.cCompiler.args.add("-Wno-format-nonliteral")
+        it.cCompiler.args.add("-Wno-sign-compare")
+        it.cCompiler.args.add("-Wno-unused-function")
+        it.cCompiler.args.add("-Wno-unused-variable")
+
+        it.cppCompiler.args.remove("-pedantic")
        it.cppCompiler.args.remove("-permissive")
        it.cppCompiler.args.add("-fpermissive")
+        it.cppCompiler.args.add("-Wno-deprecated-declarations")
+        it.cppCompiler.args.add("-Wno-deprecated-enum-enum-conversion")
+        it.cppCompiler.args.add("-Wno-missing-field-initializers")
+        it.cppCompiler.args.add("-Wno-sign-compare")
+        it.cppCompiler.args.add("-Wno-unused-function")
+        it.cppCompiler.args.add("-Wno-unused-variable")
    }
 }
 def testResources = "\"$rootDir/tools/wpical/src/main/native/assets\"".replace("\\", "/")
--- a/wpimath/CMakeLists.txt
+++ b/wpimath/CMakeLists.txt
@@ -162,7 +162,7 @@ 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)
+target_compile_features(wpimath PUBLIC cxx_std_23)
 if(MSVC)
    target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
 endif()
--- a/wpinet/CMakeLists.txt
+++ b/wpinet/CMakeLists.txt
@@ -124,7 +124,7 @@ set_target_properties(wpinet PROPERTIES DEBUG_POSTFIX "d")

 set_property(TARGET wpinet PROPERTY FOLDER "libraries")

-target_compile_features(wpinet PUBLIC cxx_std_20)
+target_compile_features(wpinet PUBLIC cxx_std_23)
 wpilib_target_warnings(wpinet)
 target_link_libraries(wpinet PUBLIC wpiutil)

--- a/wpiutil/CMakeLists.txt
+++ b/wpiutil/CMakeLists.txt
@@ -134,8 +134,6 @@ file(
 )
 list(REMOVE_ITEM wpiutil_native_src ${wpiutil_jni_src})
 file(GLOB_RECURSE wpiutil_unix_src src/main/native/unix/*.cpp)
-file(GLOB_RECURSE wpiutil_linux_src src/main/native/linux/*.cpp)
-file(GLOB_RECURSE wpiutil_macos_src src/main/native/macOS/*.cpp)
 file(GLOB_RECURSE wpiutil_windows_src src/main/native/windows/*.cpp)

 file(GLOB fmtlib_native_src src/main/native/thirdparty/fmtlib/src/*.cpp)
@@ -145,7 +143,7 @@ set_target_properties(wpiutil PROPERTIES DEBUG_POSTFIX "d")

 set_property(TARGET wpiutil PROPERTY FOLDER "libraries")

-target_compile_features(wpiutil PUBLIC cxx_std_20)
+target_compile_features(wpiutil PUBLIC cxx_std_23)
 if(MSVC)
    target_compile_options(
        wpiutil
@@ -187,11 +185,6 @@ if(MSVC)
    target_sources(wpiutil PRIVATE ${wpiutil_windows_src})
 else()
    target_sources(wpiutil PRIVATE ${wpiutil_unix_src})
-    if(APPLE)
-        target_sources(wpiutil PRIVATE ${wpiutil_macos_src})
-    else()
-        target_sources(wpiutil PRIVATE ${wpiutil_linux_src})
-    endif()
 endif()

 install(
--- a/wpiutil/build.gradle
+++ b/wpiutil/build.gradle
@@ -134,32 +134,6 @@ ext {
                    }
                }
            }
-        } else if (it.targetPlatform.operatingSystem.isMacOsX()) {
-            it.sources {
-                wpiutilmacOSCpp(CppSourceSet) {
-                    source {
-                        srcDirs 'src/main/native/macOS'
-                        include '**/*.cpp'
-                    }
-                    exportedHeaders {
-                        srcDirs 'src/main/native/include', 'src/main/native/cpp', 'src/main/native/thirdparty/llvm/include', 'src/main/native/thirdparty/fmtlib/include', 'src/main/native/thirdparty/sigslot/include', 'src/main/native/thirdparty/json/include', 'src/main/native/thirdparty/mpack/include', 'src/main/native/thirdparty/nanopb/include'
-                        include '**/*.h'
-                    }
-                }
-            }
-        } else {
-            it.sources {
-                wpiutilLinuxCpp(CppSourceSet) {
-                    source {
-                        srcDirs 'src/main/native/linux'
-                        include '**/*.cpp'
-                    }
-                    exportedHeaders {
-                        srcDirs 'src/main/native/include', 'src/main/native/cpp', 'src/main/native/thirdparty/llvm/include', 'src/main/native/thirdparty/fmtlib/include', 'src/main/native/thirdparty/sigslot/include', 'src/main/native/thirdparty/json/include', 'src/main/native/thirdparty/mpack/include', 'src/main/native/thirdparty/nanopb/include'
-                        include '**/*.h'
-                    }
-                }
-            }
        }
    }
 }
--- a/wpiutil/src/main/native/unix/StackTrace.cpp
+++ b/wpiutil/src/main/native/unix/StackTrace.cpp
@@ -4,7 +4,9 @@

 #include "wpi/util/StackTrace.hpp"

-#ifndef __EMSCRIPTEN__
+#ifdef __cpp_lib_stacktrace
+#include <stacktrace>
+#elif !defined(_WIN32) && !defined(__EMSCRIPTEN__)
 #include <execinfo.h>
 #endif

@@ -18,23 +20,36 @@
 namespace wpi::util {

 std::string GetStackTraceDefault(int offset) {
-#if !defined(__ANDROID__) && !defined(__EMSCRIPTEN__)
-  void* stackTrace[128];
-  int stackSize = backtrace(stackTrace, 128);
-  char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
  wpi::util::SmallString<1024> buf;
  wpi::util::raw_svector_ostream trace(buf);

-  for (int i = offset; i < stackSize; i++) {
-    // Only print recursive functions once in a row.
+#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]) {
-      // extract just function name from "pathToExe(functionName+offset)"
+      trace << "\tat " << std::to_string(stackTrace[i]) << '\n';
+    }
+  }
+
+  return std::string{trace.str()};
+#elif !defined(_WIN32) && !defined(__ANDROID__) && !defined(__EMSCRIPTEN__)
+  void* stackTrace[128];
+  int stackSize = backtrace(stackTrace, 128);
+  char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
+
+  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)"
      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';
    }
  }

--- a/wpiutil/src/main/native/windows/StackTrace.cpp
+++ b/wpiutil/src/main/native/windows/StackTrace.cpp
@@ -1,20 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "wpi/util/StackTrace.hpp"
-
-#include <string>
-
-#if defined(_MSC_VER)
-
-namespace wpi::util {
-
-std::string GetStackTraceDefault(int offset) {
-  // FIXME: Use C++23 std::stacktrace
-  return "";
-}
-
-}  // namespace wpi::util
-
-#endif  // defined(_MSC_VER)
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_array_type_caster.h
@@ -83,7 +83,7 @@ public:
    size_t index = 0;
    for (auto &&value : src) {
      auto value_ = reinterpret_steal<object>(
-          value_conv::cast(forward_like<T>(value), policy, parent));
+          value_conv::cast(detail::forward_like<T>(value), policy, parent));
      if (!value_)
        return handle();
      PyTuple_SET_ITEM(l.ptr(), (ssize_t)index++,
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_smallvectorimpl_type_caster.h
@@ -58,7 +58,7 @@ public:
        list l(src.size());
        size_t index = 0;
        for (auto &&value : src) {
-            auto value_ = reinterpret_steal<object>(value_conv::cast(forward_like<T>(value), policy, parent));
+            auto value_ = reinterpret_steal<object>(value_conv::cast(detail::forward_like<T>(value), policy, parent));
            if (!value_)
                return handle();
            PyList_SET_ITEM(l.ptr(), (ssize_t) index++, value_.release().ptr()); // steals a reference
--- a/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
+++ b/wpiutil/src/main/python/wpiutil/src/type_casters/wpi_span_type_caster.h
@@ -64,7 +64,7 @@ public:
    size_t index = 0;
    for (auto &&value : src) {
      auto value_ = reinterpret_steal<object>(
-          value_conv::cast(forward_like<T>(value), policy, parent));
+          value_conv::cast(detail::forward_like<T>(value), policy, parent));
      if (!value_)
        return handle();
      PyTuple_SET_ITEM(l.ptr(), (ssize_t)index++,
@@ -107,7 +107,7 @@ public:
    size_t index = 0;
    for (auto &&value : src) {
      auto value_ = reinterpret_steal<object>(
-          value_conv::cast(forward_like<T>(value), policy, parent));
+          value_conv::cast(detail::forward_like<T>(value), policy, parent));
      if (!value_)
        return handle();
      PyList_SET_ITEM(l.ptr(), (ssize_t)index++,
--- a/xrpVendordep/CMakeLists.txt
+++ b/xrpVendordep/CMakeLists.txt
@@ -52,7 +52,7 @@ add_library(xrpVendordep ${xrpVendordep_native_src})
 set_target_properties(xrpVendordep PROPERTIES DEBUG_POSTFIX "d")
 set_property(TARGET xrpVendordep PROPERTY FOLDER "libraries")

-target_compile_features(xrpVendordep PUBLIC cxx_std_20)
+target_compile_features(xrpVendordep PUBLIC cxx_std_23)
 wpilib_target_warnings(xrpVendordep)
 target_link_libraries(xrpVendordep wpilibc)