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[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 ```
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+67
-1970
lines changed

17 files changed

+67
-1970
lines changed

‎.github/workflows/upstream-utils.yml

-5
Original file line numberDiff line numberDiff line change
@@ -105,11 +105,6 @@ jobs:
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cd upstream_utils
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./mpack.py clone
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./mpack.py copy-src
108-
- name: Run stack_walker.py
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run: |
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cd upstream_utils
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./stack_walker.py clone
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./stack_walker.py copy-src
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- name: Run memory.py
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run: |
115110
cd upstream_utils

‎apriltag/CMakeLists.txt

+5-1
Original file line numberDiff line numberDiff line change
@@ -120,7 +120,11 @@ add_library(apriltag ${apriltag_native_src} ${apriltag_resources_src} ${apriltag
120120
set_target_properties(apriltag PROPERTIES DEBUG_POSTFIX "d")
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122122
set_property(TARGET apriltag PROPERTY FOLDER "libraries")
123-
target_compile_features(apriltag PUBLIC cxx_std_20)
123+
if(MSVC)
124+
target_compile_features(apriltag PUBLIC cxx_std_23)
125+
else()
126+
target_compile_features(apriltag PUBLIC cxx_std_20)
127+
endif()
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wpilib_target_warnings(apriltag)
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target_link_libraries(apriltag wpimath)

‎fieldImages/CMakeLists.txt

+3-1
Original file line numberDiff line numberDiff line change
@@ -46,9 +46,11 @@ add_library(fieldImages src/main/native/cpp/fields.cpp ${field_images_resources_
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set_target_properties(fieldImages PROPERTIES DEBUG_POSTFIX "d")
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set_property(TARGET fieldImages PROPERTY FOLDER "libraries")
49-
target_compile_features(fieldImages PUBLIC cxx_std_20)
5049
if(MSVC)
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target_compile_options(fieldImages PUBLIC /bigobj)
51+
target_compile_features(fieldImages PUBLIC cxx_std_23)
52+
else()
53+
target_compile_features(fieldImages PUBLIC cxx_std_20)
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endif()
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wpilib_target_warnings(fieldImages)
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‎ntcore/CMakeLists.txt

+5-1
Original file line numberDiff line numberDiff line change
@@ -25,7 +25,11 @@ target_include_directories(
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$<INSTALL_INTERFACE:${include_dest}/ntcore>
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)
2727
wpilib_target_warnings(ntcore)
28-
target_compile_features(ntcore PUBLIC cxx_std_20)
28+
if(MSVC)
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target_compile_features(ntcore PUBLIC cxx_std_23)
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else()
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target_compile_features(ntcore PUBLIC cxx_std_20)
32+
endif()
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target_link_libraries(ntcore PUBLIC wpinet wpiutil)
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set_property(TARGET ntcore PROPERTY FOLDER "libraries")

‎romiVendordep/CMakeLists.txt

+5-1
Original file line numberDiff line numberDiff line change
@@ -52,7 +52,11 @@ add_library(romiVendordep ${romiVendordep_native_src})
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set_target_properties(romiVendordep PROPERTIES DEBUG_POSTFIX "d")
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set_property(TARGET romiVendordep PROPERTY FOLDER "libraries")
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55-
target_compile_features(romiVendordep PUBLIC cxx_std_20)
55+
if(MSVC)
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target_compile_features(romiVendordep PUBLIC cxx_std_23)
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else()
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target_compile_features(romiVendordep PUBLIC cxx_std_20)
59+
endif()
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wpilib_target_warnings(romiVendordep)
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target_link_libraries(romiVendordep wpilibc)
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‎shared/config.gradle

+7
Original file line numberDiff line numberDiff line change
@@ -44,6 +44,13 @@ nativeUtils.platformConfigs.named(nativeUtils.wpi.platforms.windowsx64).configur
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it.cppCompiler.args.add("/D_DISABLE_CONSTEXPR_MUTEX_CONSTRUCTOR")
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}
4646

47+
// Use C++23 on Windows
48+
nativeUtils.platformConfigs.each {
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if (it.name.contains('windows')) {
50+
it.cppCompiler.args.add("/std:c++latest")
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}
52+
}
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4754
nativeUtils.platformConfigs.linuxathena.linker.args.add("-Wl,--fatal-warnings")
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model {

‎upstream_utils/stack_walker.py

-65
This file was deleted.

‎upstream_utils/stack_walker_patches/0001-Add-advapi-pragma.patch

-21
This file was deleted.

‎wpilibNewCommands/CMakeLists.txt

+5-1
Original file line numberDiff line numberDiff line change
@@ -60,7 +60,11 @@ add_library(wpilibNewCommands ${wpilibNewCommands_native_src})
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set_target_properties(wpilibNewCommands PROPERTIES DEBUG_POSTFIX "d")
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set_property(TARGET wpilibNewCommands PROPERTY FOLDER "libraries")
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63-
target_compile_features(wpilibNewCommands PUBLIC cxx_std_20)
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if(MSVC)
64+
target_compile_features(wpilibNewCommands PUBLIC cxx_std_23)
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else()
66+
target_compile_features(wpilibNewCommands PUBLIC cxx_std_20)
67+
endif()
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wpilib_target_warnings(wpilibNewCommands)
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target_link_libraries(wpilibNewCommands wpilibc)
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‎wpimath/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -153,8 +153,8 @@ set_target_properties(wpimath PROPERTIES DEBUG_POSTFIX "d")
153153
set_property(TARGET wpimath PROPERTY FOLDER "libraries")
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target_compile_definitions(wpimath PRIVATE WPILIB_EXPORTS SLEIPNIR_EXPORTS)
155155

156-
target_compile_features(wpimath PUBLIC cxx_std_20)
157156
if(MSVC)
157+
target_compile_features(wpimath PUBLIC cxx_std_23)
158158
target_compile_options(wpimath PUBLIC /utf-8 /bigobj)
159159
endif()
160160
wpilib_target_warnings(wpimath)

‎wpinet/CMakeLists.txt

+5-1
Original file line numberDiff line numberDiff line change
@@ -126,7 +126,11 @@ set_target_properties(wpinet PROPERTIES DEBUG_POSTFIX "d")
126126

127127
set_property(TARGET wpinet PROPERTY FOLDER "libraries")
128128

129-
target_compile_features(wpinet PUBLIC cxx_std_20)
129+
if(MSVC)
130+
target_compile_features(wpinet PUBLIC cxx_std_23)
131+
else()
132+
target_compile_features(wpinet PUBLIC cxx_std_20)
133+
endif()
130134
wpilib_target_warnings(wpinet)
131135
target_link_libraries(wpinet PUBLIC wpiutil)
132136

‎wpiutil/CMakeLists.txt

+3-1
Original file line numberDiff line numberDiff line change
@@ -140,13 +140,15 @@ set_target_properties(wpiutil PROPERTIES DEBUG_POSTFIX "d")
140140

141141
set_property(TARGET wpiutil PROPERTY FOLDER "libraries")
142142

143-
target_compile_features(wpiutil PUBLIC cxx_std_20)
144143
if(MSVC)
145144
target_compile_options(
146145
wpiutil
147146
PUBLIC /permissive- /Zc:preprocessor /Zc:__cplusplus /Zc:throwingNew /MP /bigobj /utf-8
148147
)
149148
target_compile_definitions(wpiutil PRIVATE -D_CRT_SECURE_NO_WARNINGS)
149+
target_compile_features(wpiutil PUBLIC cxx_std_23)
150+
else()
151+
target_compile_features(wpiutil PUBLIC cxx_std_20)
150152
endif()
151153
wpilib_target_warnings(wpiutil)
152154
if(WITH_PROTOBUF)

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

+23-6
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,11 @@
44

55
#include "wpi/StackTrace.h"
66

7+
#ifdef __cpp_lib_stacktrace
8+
#include <stacktrace>
9+
#elif !defined(_WIN32)
710
#include <execinfo.h>
11+
#endif
812

913
#include <string>
1014

@@ -16,26 +20,39 @@
1620
namespace wpi {
1721

1822
std::string GetStackTraceDefault(int offset) {
23+
wpi::SmallString<1024> buf;
24+
wpi::raw_svector_ostream trace(buf);
25+
26+
#ifdef __cpp_lib_stacktrace
27+
auto stackTrace = std::stacktrace::current();
28+
29+
for (size_t i = offset; i < stackTrace.size(); ++i) {
30+
// Only print recursive functions once in a row
31+
if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
32+
trace << "\tat " << std::to_string(stackTrace[i]) << '\n';
33+
}
34+
}
35+
#elif !defined(_WIN32)
1936
void* stackTrace[128];
2037
int stackSize = backtrace(stackTrace, 128);
2138
char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
22-
wpi::SmallString<1024> buf;
23-
wpi::raw_svector_ostream trace(buf);
2439

25-
for (int i = offset; i < stackSize; i++) {
26-
// Only print recursive functions once in a row.
40+
for (int i = offset; i < stackSize; ++i) {
41+
// Only print recursive functions once in a row
2742
if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
28-
// extract just function name from "pathToExe(functionName+offset)"
43+
// Extract just function name from "pathToExe(functionName+offset)"
2944
std::string_view sym = split(mangledSymbols[i], '(').second;
3045
std::string_view offset;
3146
std::tie(sym, offset) = split(sym, '+');
3247
std::string_view addr;
3348
std::tie(offset, addr) = split(offset, ')');
34-
trace << "\tat " << Demangle(sym) << " + " << offset << addr << "\n";
49+
50+
trace << "\tat " << Demangle(sym) << " + " << offset << addr << '\n';
3551
}
3652
}
3753

3854
std::free(mangledSymbols);
55+
#endif
3956

4057
return std::string{trace.str()};
4158
}

‎wpiutil/src/main/native/windows/StackTrace.cpp

-42
This file was deleted.

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