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>

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/RobotContainer.cpp

@@ -66,8 +66,8 @@ frc2::Command* RobotContainer::GetAutonomousCommand() {
       AutoConstants::kPThetaController, 0, 0,
       AutoConstants::kThetaControllerConstraints};
 
-  thetaController.EnableContinuousInput(units::radian_t{-wpi::numbers::pi},
-                                        units::radian_t{wpi::numbers::pi});
+  thetaController.EnableContinuousInput(units::radian_t{-std::numbers::pi},
+                                        units::radian_t{std::numbers::pi});
 
   frc2::SwerveControllerCommand<4> swerveControllerCommand(
       exampleTrajectory, [this]() { return m_drive.GetPose(); },

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/cpp/subsystems/SwerveModule.cpp

@@ -4,8 +4,9 @@
 
 #include "subsystems/SwerveModule.h"
 
+#include <numbers>
+
 #include <frc/geometry/Rotation2d.h>
-#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -27,7 +28,7 @@ SwerveModule::SwerveModule(int driveMotorChannel, int turningMotorChannel,
       ModuleConstants::kDriveEncoderDistancePerPulse);
 
   // Set the distance (in this case, angle) per pulse for the turning encoder.
-  // This is the the angle through an entire rotation (2 * wpi::numbers::pi)
+  // This is the the angle through an entire rotation (2 * std::numbers::pi)
   // divided by the encoder resolution.
   m_turningEncoder.SetDistancePerPulse(
       ModuleConstants::kTurningEncoderDistancePerPulse);
@@ -35,7 +36,7 @@ SwerveModule::SwerveModule(int driveMotorChannel, int turningMotorChannel,
   // Limit the PID Controller's input range between -pi and pi and set the input
   // to be continuous.
   m_turningPIDController.EnableContinuousInput(
-      units::radian_t{-wpi::numbers::pi}, units::radian_t{wpi::numbers::pi});
+      units::radian_t{-std::numbers::pi}, units::radian_t{std::numbers::pi});
 }
 
 frc::SwerveModuleState SwerveModule::GetState() {

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/Constants.h

@@ -2,6 +2,8 @@
 // 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 <numbers>
+
 #include <frc/geometry/Translation2d.h>
 #include <frc/kinematics/SwerveDriveKinematics.h>
 #include <frc/trajectory/TrapezoidProfile.h>
@@ -13,7 +15,6 @@
 #include <units/time.h>
 #include <units/velocity.h>
 #include <units/voltage.h>
-#include <wpi/numbers>
 
 #pragma once
 
@@ -77,12 +78,12 @@ constexpr int kEncoderCPR = 1024;
 constexpr double kWheelDiameterMeters = 0.15;
 constexpr double kDriveEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (kWheelDiameterMeters * wpi::numbers::pi) /
+    (kWheelDiameterMeters * std::numbers::pi) /
     static_cast<double>(kEncoderCPR);
 
 constexpr double kTurningEncoderDistancePerPulse =
     // Assumes the encoders are directly mounted on the wheel shafts
-    (wpi::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
+    (std::numbers::pi * 2) / static_cast<double>(kEncoderCPR);
 
 constexpr double kPModuleTurningController = 1;
 constexpr double kPModuleDriveController = 1;

wpilibcExamples/src/main/cpp/examples/SwerveControllerCommand/include/subsystems/SwerveModule.h

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <frc/Encoder.h>
 #include <frc/controller/PIDController.h>
 #include <frc/controller/ProfiledPIDController.h>
@@ -11,7 +13,6 @@
 #include <frc/kinematics/SwerveModuleState.h>
 #include <frc/motorcontrol/Spark.h>
 #include <frc/trajectory/TrapezoidProfile.h>
-#include <wpi/numbers>
 
 #include "Constants.h"
 
@@ -33,9 +34,9 @@ class SwerveModule {
   // meters per second squared.
 
   static constexpr auto kModuleMaxAngularVelocity =
-      units::radians_per_second_t{wpi::numbers::pi};
+      units::radians_per_second_t{std::numbers::pi};
   static constexpr auto kModuleMaxAngularAcceleration =
-      units::radians_per_second_squared_t{wpi::numbers::pi * 2.0};
+      units::radians_per_second_squared_t{std::numbers::pi * 2.0};
 
   frc::Spark m_driveMotor;
   frc::Spark m_turningMotor;