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>

wpimath/src/main/native/cpp/geometry/Rotation3d.cpp

@@ -5,8 +5,7 @@
 #include "frc/geometry/Rotation3d.h"
 
 #include <cmath>
-
-#include <wpi/numbers>
+#include <numbers>
 
 #include "Eigen/Core"
 #include "Eigen/LU"
@@ -205,7 +204,7 @@ units::radian_t Rotation3d::Y() const {
   // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles#Quaternion_to_Euler_angles_conversion
   double ratio = 2.0 * (w * y - z * x);
   if (std::abs(ratio) >= 1.0) {
-    return units::radian_t{std::copysign(wpi::numbers::pi / 2.0, ratio)};
+    return units::radian_t{std::copysign(std::numbers::pi / 2.0, ratio)};
   } else {
     return units::radian_t{std::asin(ratio)};
   }

wpimath/src/main/native/cpp/jni/WPIMathJNI.cpp

@@ -71,7 +71,7 @@ std::vector<double> GetElementsFromTrajectory(
   return elements;
 }
 
-frc::Trajectory CreateTrajectoryFromElements(wpi::span<const double> elements) {
+frc::Trajectory CreateTrajectoryFromElements(std::span<const double> elements) {
   // Make sure that the elements have the correct length.
   assert(elements.size() % 7 == 0);
 

wpimath/src/main/native/include/frc/MathUtil.h

@@ -4,8 +4,9 @@
 
 #pragma once
 
+#include <numbers>
+
 #include <wpi/SymbolExports.h>
-#include <wpi/numbers>
 
 #include "units/angle.h"
 #include "units/base.h"
@@ -112,8 +113,8 @@ constexpr T InputModulus(T input, T minimumInput, T maximumInput) {
 WPILIB_DLLEXPORT
 constexpr units::radian_t AngleModulus(units::radian_t angle) {
   return InputModulus<units::radian_t>(angle,
-                                       units::radian_t{-wpi::numbers::pi},
-                                       units::radian_t{wpi::numbers::pi});
+                                       units::radian_t{-std::numbers::pi},
+                                       units::radian_t{std::numbers::pi});
 }
 
 }  // namespace frc

wpimath/src/main/native/include/frc/estimator/AngleStatistics.h

@@ -4,7 +4,7 @@
 
 #pragma once
 
-#include <wpi/numbers>
+#include <numbers>
 
 #include "frc/EigenCore.h"
 #include "frc/MathUtil.h"
@@ -58,7 +58,7 @@ Vectord<States> AngleAdd(const Vectord<States>& a, const Vectord<States>& b,
                          int angleStateIdx) {
   Vectord<States> ret = a + b;
   ret[angleStateIdx] =
-      InputModulus(ret[angleStateIdx], -wpi::numbers::pi, wpi::numbers::pi);
+      InputModulus(ret[angleStateIdx], -std::numbers::pi, std::numbers::pi);
   return ret;
 }
 

wpimath/src/main/native/include/frc/filter/LinearFilter.h

@@ -7,12 +7,12 @@
 #include <algorithm>
 #include <cmath>
 #include <initializer_list>
+#include <span>
 #include <stdexcept>
 #include <vector>
 
 #include <wpi/array.h>
 #include <wpi/circular_buffer.h>
-#include <wpi/span.h>
 
 #include "Eigen/QR"
 #include "frc/EigenCore.h"
@@ -80,7 +80,7 @@ class LinearFilter {
    * @param ffGains The "feedforward" or FIR gains.
    * @param fbGains The "feedback" or IIR gains.
    */
-  LinearFilter(wpi::span<const double> ffGains, wpi::span<const double> fbGains)
+  LinearFilter(std::span<const double> ffGains, std::span<const double> fbGains)
       : m_inputs(ffGains.size()),
         m_outputs(fbGains.size()),
         m_inputGains(ffGains.begin(), ffGains.end()),

wpimath/src/main/native/include/frc/geometry/Rotation2d.h

@@ -53,7 +53,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * pi.
    *
    * For example, <code>Rotation2d{30_deg} + Rotation2d{60_deg}</code> equals
-   * <code>Rotation2d{units::radian_t{wpi::numbers::pi/2.0}}</code>
+   * <code>Rotation2d{units::radian_t{std::numbers::pi/2.0}}</code>
    *
    * @param other The rotation to add.
    *
@@ -66,7 +66,7 @@ class WPILIB_DLLEXPORT Rotation2d {
    * rotation.
    *
    * For example, <code>Rotation2d{10_deg} - Rotation2d{100_deg}</code> equals
-   * <code>Rotation2d{units::radian_t{-wpi::numbers::pi/2.0}}</code>
+   * <code>Rotation2d{units::radian_t{-std::numbers::pi/2.0}}</code>
    *
    * @param other The rotation to subtract.
    *