Upgrade to C++20 (#4239)

* Use explicit this capture required by C++20
* Use C++20 span
* Replace wpi::numbers with std::numbers
* Fix C++20 clang-tidy warning false positive in fmt
* Remove ciso646 include since C++20 removed that header
* Fix global-buffer-overflow asan warnings in ntcore tests
* Add DIOSetProxy constructor to HAL

* Upgrade MSVC compiler to 2022
* Bump native-utils to 2023.2.7 (changes to std=c++20)

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>

wpilibc/src/main/native/cpp/drive/DifferentialDrive.cpp

@@ -189,11 +189,11 @@ std::string DifferentialDrive::GetDescription() const {
 void DifferentialDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("DifferentialDrive");
   builder.SetActuator(true);
-  builder.SetSafeState([=] { StopMotor(); });
+  builder.SetSafeState([=, this] { StopMotor(); });
   builder.AddDoubleProperty(
-      "Left Motor Speed", [=] { return m_leftMotor->Get(); },
-      [=](double value) { m_leftMotor->Set(value); });
+      "Left Motor Speed", [=, this] { return m_leftMotor->Get(); },
+      [=, this](double value) { m_leftMotor->Set(value); });
   builder.AddDoubleProperty(
-      "Right Motor Speed", [=] { return m_rightMotor->Get(); },
-      [=](double value) { m_rightMotor->Set(value); });
+      "Right Motor Speed", [=, this] { return m_rightMotor->Get(); },
+      [=, this](double value) { m_rightMotor->Set(value); });
 }

wpilibc/src/main/native/cpp/drive/KilloughDrive.cpp

@@ -6,9 +6,9 @@
 
 #include <algorithm>
 #include <cmath>
+#include <numbers>
 
 #include <hal/FRCUsageReporting.h>
-#include <wpi/numbers>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
@@ -30,12 +30,12 @@ KilloughDrive::KilloughDrive(MotorController& leftMotor,
     : m_leftMotor(&leftMotor),
       m_rightMotor(&rightMotor),
       m_backMotor(&backMotor) {
-  m_leftVec = {std::cos(leftMotorAngle * (wpi::numbers::pi / 180.0)),
-               std::sin(leftMotorAngle * (wpi::numbers::pi / 180.0))};
-  m_rightVec = {std::cos(rightMotorAngle * (wpi::numbers::pi / 180.0)),
-                std::sin(rightMotorAngle * (wpi::numbers::pi / 180.0))};
-  m_backVec = {std::cos(backMotorAngle * (wpi::numbers::pi / 180.0)),
-               std::sin(backMotorAngle * (wpi::numbers::pi / 180.0))};
+  m_leftVec = {std::cos(leftMotorAngle * (std::numbers::pi / 180.0)),
+               std::sin(leftMotorAngle * (std::numbers::pi / 180.0))};
+  m_rightVec = {std::cos(rightMotorAngle * (std::numbers::pi / 180.0)),
+                std::sin(rightMotorAngle * (std::numbers::pi / 180.0))};
+  m_backVec = {std::cos(backMotorAngle * (std::numbers::pi / 180.0)),
+               std::sin(backMotorAngle * (std::numbers::pi / 180.0))};
   wpi::SendableRegistry::AddChild(this, m_leftMotor);
   wpi::SendableRegistry::AddChild(this, m_rightMotor);
   wpi::SendableRegistry::AddChild(this, m_backMotor);
@@ -73,8 +73,8 @@ void KilloughDrive::DrivePolar(double magnitude, double angle,
     reported = true;
   }
 
-  DriveCartesian(magnitude * std::sin(angle * (wpi::numbers::pi / 180.0)),
-                 magnitude * std::cos(angle * (wpi::numbers::pi / 180.0)),
+  DriveCartesian(magnitude * std::sin(angle * (std::numbers::pi / 180.0)),
+                 magnitude * std::cos(angle * (std::numbers::pi / 180.0)),
                  zRotation, 0.0);
 }
 
@@ -113,14 +113,14 @@ std::string KilloughDrive::GetDescription() const {
 void KilloughDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("KilloughDrive");
   builder.SetActuator(true);
-  builder.SetSafeState([=] { StopMotor(); });
+  builder.SetSafeState([=, this] { StopMotor(); });
   builder.AddDoubleProperty(
-      "Left Motor Speed", [=] { return m_leftMotor->Get(); },
-      [=](double value) { m_leftMotor->Set(value); });
+      "Left Motor Speed", [=, this] { return m_leftMotor->Get(); },
+      [=, this](double value) { m_leftMotor->Set(value); });
   builder.AddDoubleProperty(
-      "Right Motor Speed", [=] { return m_rightMotor->Get(); },
-      [=](double value) { m_rightMotor->Set(value); });
+      "Right Motor Speed", [=, this] { return m_rightMotor->Get(); },
+      [=, this](double value) { m_rightMotor->Set(value); });
   builder.AddDoubleProperty(
-      "Back Motor Speed", [=] { return m_backMotor->Get(); },
-      [=](double value) { m_backMotor->Set(value); });
+      "Back Motor Speed", [=, this] { return m_backMotor->Get(); },
+      [=, this](double value) { m_backMotor->Set(value); });
 }

wpilibc/src/main/native/cpp/drive/MecanumDrive.cpp

@@ -6,9 +6,9 @@
 
 #include <algorithm>
 #include <cmath>
+#include <numbers>
 
 #include <hal/FRCUsageReporting.h>
-#include <wpi/numbers>
 #include <wpi/sendable/SendableBuilder.h>
 #include <wpi/sendable/SendableRegistry.h>
 
@@ -65,8 +65,8 @@ void MecanumDrive::DrivePolar(double magnitude, double angle,
     reported = true;
   }
 
-  DriveCartesian(magnitude * std::cos(angle * (wpi::numbers::pi / 180.0)),
-                 magnitude * std::sin(angle * (wpi::numbers::pi / 180.0)),
+  DriveCartesian(magnitude * std::cos(angle * (std::numbers::pi / 180.0)),
+                 magnitude * std::sin(angle * (std::numbers::pi / 180.0)),
                  zRotation, 0.0);
 }
 
@@ -108,17 +108,17 @@ std::string MecanumDrive::GetDescription() const {
 void MecanumDrive::InitSendable(wpi::SendableBuilder& builder) {
   builder.SetSmartDashboardType("MecanumDrive");
   builder.SetActuator(true);
-  builder.SetSafeState([=] { StopMotor(); });
+  builder.SetSafeState([=, this] { StopMotor(); });
   builder.AddDoubleProperty(
-      "Front Left Motor Speed", [=] { return m_frontLeftMotor->Get(); },
-      [=](double value) { m_frontLeftMotor->Set(value); });
+      "Front Left Motor Speed", [=, this] { return m_frontLeftMotor->Get(); },
+      [=, this](double value) { m_frontLeftMotor->Set(value); });
   builder.AddDoubleProperty(
-      "Front Right Motor Speed", [=] { return m_frontRightMotor->Get(); },
-      [=](double value) { m_frontRightMotor->Set(value); });
+      "Front Right Motor Speed", [=, this] { return m_frontRightMotor->Get(); },
+      [=, this](double value) { m_frontRightMotor->Set(value); });
   builder.AddDoubleProperty(
-      "Rear Left Motor Speed", [=] { return m_rearLeftMotor->Get(); },
-      [=](double value) { m_rearLeftMotor->Set(value); });
+      "Rear Left Motor Speed", [=, this] { return m_rearLeftMotor->Get(); },
+      [=, this](double value) { m_rearLeftMotor->Set(value); });
   builder.AddDoubleProperty(
-      "Rear Right Motor Speed", [=] { return m_rearRightMotor->Get(); },
-      [=](double value) { m_rearRightMotor->Set(value); });
+      "Rear Right Motor Speed", [=, this] { return m_rearRightMotor->Get(); },
+      [=, this](double value) { m_rearRightMotor->Set(value); });
 }

wpilibc/src/main/native/cpp/drive/RobotDriveBase.cpp

@@ -30,7 +30,7 @@ void RobotDriveBase::FeedWatchdog() {
   Feed();
 }
 
-void RobotDriveBase::Desaturate(wpi::span<double> wheelSpeeds) {
+void RobotDriveBase::Desaturate(std::span<double> wheelSpeeds) {
   double maxMagnitude = std::abs(wheelSpeeds[0]);
   for (size_t i = 1; i < wheelSpeeds.size(); i++) {
     double temp = std::abs(wheelSpeeds[i]);

wpilibc/src/main/native/cpp/drive/Vector2d.cpp

@@ -5,8 +5,7 @@
 #include "frc/drive/Vector2d.h"
 
 #include <cmath>
-
-#include <wpi/numbers>
+#include <numbers>
 
 using namespace frc;
 
@@ -16,8 +15,8 @@ Vector2d::Vector2d(double x, double y) {
 }
 
 void Vector2d::Rotate(double angle) {
-  double cosA = std::cos(angle * (wpi::numbers::pi / 180.0));
-  double sinA = std::sin(angle * (wpi::numbers::pi / 180.0));
+  double cosA = std::cos(angle * (std::numbers::pi / 180.0));
+  double sinA = std::sin(angle * (std::numbers::pi / 180.0));
   double out[2];
   out[0] = x * cosA - y * sinA;
   out[1] = x * sinA + y * cosA;