diff --git a/wpilibc/sim/src/Utility.cpp b/wpilibc/sim/src/Utility.cpp
new file mode 100644
index 0000000..97c02de
--- /dev/null
+++ b/wpilibc/sim/src/Utility.cpp
@@ -0,0 +1,216 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Utility.h"
+
+#ifndef _WIN32
+#include <cxxabi.h>
+#include <execinfo.h>
+#endif
+
+#include <cstdio>
+#include <cstdlib>
+#include <iostream>
+#include <sstream>
+
+#include "Timer.h"
+#include "llvm/SmallString.h"
+#include "simulation/simTime.h"
+
+using namespace frc;
+
+static bool stackTraceEnabled = false;
+static bool suspendOnAssertEnabled = false;
+
+/**
+ * Enable Stack trace after asserts.
+ */
+void wpi_stackTraceOnAssertEnable(bool enabled) { stackTraceEnabled = enabled; }
+
+/**
+ * Enable suspend on asssert.
+ *
+ * If enabled, the user task will be suspended whenever an assert fails. This
+ * will allow the user to attach to the task with the debugger and examine
+ * variables around the failure.
+ */
+void wpi_suspendOnAssertEnabled(bool enabled) {
+  suspendOnAssertEnabled = enabled;
+}
+
+static void wpi_handleTracing() {
+  // if (stackTraceEnabled)
+  // {
+  //   std::printf("\n-----------<Stack Trace>----------------\n");
+  //   printCurrentStackTrace();
+  // }
+  std::printf("\n");
+}
+
+/**
+ * Assert implementation.
+ * This allows breakpoints to be set on an assert.
+ * The users don't call this, but instead use the wpi_assert macros in
+ * Utility.h.
+ */
+bool wpi_assert_impl(bool conditionValue, llvm::StringRef conditionText,
+                     llvm::StringRef message, llvm::StringRef fileName,
+                     int lineNumber, llvm::StringRef funcName) {
+  if (!conditionValue) {
+    std::stringstream errorStream;
+
+    errorStream << "Assertion \"" << conditionText << "\" ";
+    errorStream << "on line " << lineNumber << " ";
+
+    llvm::SmallString<128> fileTemp;
+    errorStream << "of " << basename(fileName.c_str(fileTemp)) << " ";
+
+    if (message[0] != '\0') {
+      errorStream << "failed: " << message << std::endl;
+    } else {
+      errorStream << "failed." << std::endl;
+    }
+
+    // Print to console and send to remote dashboard
+    std::cout << "\n\n>>>>" << errorStream.str();
+    wpi_handleTracing();
+  }
+
+  return conditionValue;
+}
+
+/**
+ * Common error routines for wpi_assertEqual_impl and wpi_assertNotEqual_impl
+ * This should not be called directly; it should only be used by
+ * wpi_assertEqual_impl and wpi_assertNotEqual_impl.
+ */
+void wpi_assertEqual_common_impl(int valueA, int valueB,
+                                 llvm::StringRef equalityType,
+                                 llvm::StringRef message,
+                                 llvm::StringRef fileName, int lineNumber,
+                                 llvm::StringRef funcName) {
+  // Error string buffer
+  std::stringstream error;
+
+  // If an error message was specified, include it
+  // Build error string
+  if (message.size() > 0) {
+    error << "Assertion failed: \"" << message << "\", \"" << valueA << "\" "
+          << equalityType << " \"" << valueB << "\" in " << funcName << "() in "
+          << fileName << " at line " << lineNumber << "\n";
+  } else {
+    error << "Assertion failed: \"" << valueA << "\" " << equalityType << " \""
+          << valueB << "\" in " << funcName << "() in " << fileName
+          << " at line " << lineNumber << "\n";
+  }
+
+  // Print to console and send to remote dashboard
+  std::cout << "\n\n>>>>" << error.str();
+
+  wpi_handleTracing();
+}
+
+/**
+ * Assert equal implementation.
+ * This determines whether the two given integers are equal. If not,
+ * the value of each is printed along with an optional message string.
+ * The users don't call this, but instead use the wpi_assertEqual macros in
+ * Utility.h.
+ */
+bool wpi_assertEqual_impl(int valueA, int valueB, llvm::StringRef message,
+                          llvm::StringRef fileName, int lineNumber,
+                          llvm::StringRef funcName) {
+  if (!(valueA == valueB)) {
+    wpi_assertEqual_common_impl(valueA, valueB, "!=", message, fileName,
+                                lineNumber, funcName);
+  }
+  return valueA == valueB;
+}
+
+/**
+ * Assert not equal implementation.
+ * This determines whether the two given integers are equal. If so,
+ * the value of each is printed along with an optional message string.
+ * The users don't call this, but instead use the wpi_assertNotEqual macros in
+ * Utility.h.
+ */
+bool wpi_assertNotEqual_impl(int valueA, int valueB, llvm::StringRef message,
+                             llvm::StringRef fileName, int lineNumber,
+                             llvm::StringRef funcName) {
+  if (!(valueA != valueB)) {
+    wpi_assertEqual_common_impl(valueA, valueB, "==", message, fileName,
+                                lineNumber, funcName);
+  }
+  return valueA != valueB;
+}
+
+namespace frc {
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA
+ * reset).
+ */
+uint64_t GetFPGATime() { return wpilib::internal::simTime * 1e6; }
+
+// TODO: implement symbol demangling and backtrace on windows
+#if not defined(_WIN32)
+
+/**
+ * Demangle a C++ symbol, used for printing stack traces.
+ */
+static std::string demangle(char const* mangledSymbol) {
+  char buffer[256];
+  size_t length;
+  int32_t status;
+
+  if (std::sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer)) {
+    char* symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
+
+    if (status == 0) {
+      return symbol;
+    } else {
+      // If the symbol couldn't be demangled, it's probably a C function,
+      // so just return it as-is.
+      return buffer;
+    }
+  }
+
+  // If everything else failed, just return the mangled symbol
+  return mangledSymbol;
+}
+
+/**
+ * Get a stack trace, ignoring the first "offset" symbols.
+ */
+std::string GetStackTrace(int offset) {
+  void* stackTrace[128];
+  int stackSize = backtrace(stackTrace, 128);
+  char** mangledSymbols = backtrace_symbols(stackTrace, stackSize);
+  std::stringstream trace;
+
+  for (int i = offset; i < stackSize; i++) {
+    // Only print recursive functions once in a row.
+    if (i == 0 || stackTrace[i] != stackTrace[i - 1]) {
+      trace << "\tat " << demangle(mangledSymbols[i]) << std::endl;
+    }
+  }
+
+  std::free(mangledSymbols);
+
+  return trace.str();
+}
+
+#else
+static std::string demangle(char const* mangledSymbol) {
+  return "no demangling on windows";
+}
+std::string GetStackTrace(int offset) { return "no stack trace on windows"; }
+#endif
+
+}  // namespace frc