Add Cmake wrappers and unzip desktop ntcore builds

the task allcsim will build everything
requires ntcore desktop to be built
also fixed Driverstation to match non-sim C++ API

Conflicts:
	wpilibc/simulation/CMakeLists.txt

Change-Id: Id38141a5b48ed7fe064c7e6c8d2f618481b7e298

CMakeLists.txt

@@ -56,4 +56,3 @@ include_directories("build")
 add_subdirectory(simulation/gz_msgs)
 add_subdirectory(wpilibc/simulation)
 add_subdirectory(simulation/frc_gazebo_plugins)
-add_subdirectory(ntcore)

README.md

@@ -22,6 +22,25 @@ To build a specific subproject, such as wpilibc, you must access the subproject
 ./gradlew :wpilibc:build
 ```
 
+If you also want simulation to be build, add -PmakeSim. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of gazebo should work, even on windows if you build from source. Correct means cmake needs to be able to find gazebo-config.cmake, which you get for free with ubuntu installs.
+
+```bash
+./gradlew build -PmakeSim
+```
+
+Note that java sim libraries build either way, because they don't depend on gazebo, only on JavaGazebo. C++ simulation tasks (including plugins, gz_msgs, and wpilibcSim) all depend on gazebo_transport. In order for this to build you must have installed gazebo. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
+If you prefer to use Cmake directly, the you can still do so.
+The common cmake tasks are wpilibcSim, frc_gazebo_plugins, and gz_msgs
+
+```bash
+mkdir build
+cd build
+cmake ..
+make
+```
+
+
+
 The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change to the HAL and then run `:wpilibc:build`, the HAL will be rebuilt, then wpilibc.
 
 There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.

cppSettings.gradle

@@ -19,11 +19,20 @@ niLibraryTree.each { lib ->
     }
 }
 
-def ntDependency =
+def armNtDependency =
     project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:arm@zip")
-def config = project.configurations.detachedConfiguration(ntDependency)
-config.setTransitive(false)
-def netTables = config.files[0].canonicalFile
+def armConfig = project.configurations.detachedConfiguration(armNtDependency)
+armConfig.setTransitive(false)
+def armNetTables = armConfig.files[0].canonicalFile
+
+def desktopNetTables
+if (project.hasProperty('makeSim')){
+    def desktopNtDependency =
+        project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:desktop@zip")
+    def desktopConfig = project.configurations.detachedConfiguration(desktopNtDependency)
+    desktopConfig.setTransitive(false)
+    desktopNetTables = desktopConfig.files[0].canonicalFile
+}
 
 def netTablesUnzipLocation = "$buildDir/networktables"
 
@@ -31,7 +40,10 @@ def netTablesUnzipLocation = "$buildDir/networktables"
 task unzipNetworkTables(type: Copy) {
     description = 'Unzips the networktables maven dependency so that the include files and libraries can be used'
     group = 'WPILib'
-    from zipTree(netTables)
+    if (project.hasProperty('makeSim')){
+        from zipTree(desktopNetTables)
+    }
+    from zipTree(armNetTables)
     into netTablesUnzipLocation
 }
 
@@ -47,9 +59,12 @@ subprojects {
         ext.defineNetworkTablesProperties = {
             ext.netTables = netTablesUnzipLocation
             ext.netTablesInclude = "$netTablesUnzipLocation/include"
-            ext.netLibLocation = "$netTablesUnzipLocation/Linux/arm"
-            ext.netSharedLib = "$netLibLocation/libntcore.so"
-            ext.netStaticLib = "$netLibLocation/libntcore.a"
+            ext.netLibArmLocation = "$netTablesUnzipLocation/Linux/arm"
+            if (project.hasProperty('makeSim')){
+              ext.netLibDesktopLocation = "$netTablesUnzipLocation/Linux/amd64"
+            }
+            ext.netSharedLib = "$netLibArmLocation/libntcore.so"
+            ext.netStaticLib = "$netLibArmLocation/libntcore.a"
 
             task addNetworkTablesLibraryLinks() {
                 description = 'Adds the linker flags for the networktables libraries retreived from maven'

simulation/frc_gazebo_plugins/CMakeLists.txt

@@ -33,3 +33,6 @@ foreach(PLUGIN ${PLUGINS})
   install(TARGETS ${PLUGIN} DESTINATION $ENV{HOME}/wpilib/simulation/plugins)
 
 endforeach()
+
+# create a dummy target the depends on all the plugins
+add_custom_target(${PROJECT_NAME} DEPENDS ${PLUGINS})

wpilibc/simulation.gradle

@@ -1,23 +1,54 @@
-publishing {
-    publications {
-        wpilibcSim(MavenPublication) {
-            artifact wpilibcSimZip
-            groupId 'edu.wpi.first.wpilibc.simulation'
-            artifactId 'WPILibCSim'
-            version '0.1.0'
-        }
-    }
-}
+import org.apache.tools.ant.taskdefs.condition.Os
 
-task wpilibcSimZip(type: Zip) {
-    description 'Creates the include zip file for wpilibc'
-    group 'WPILib'
-    baseName 'WPILibCSim'
-    destinationDir = project.buildDir
-    into 'sim/include'
-    from "${simulation}/include"
-    from "${shared}/include"
-    from '../build/simulation/gz_msgs/generated'
-    from netTablesInclude
-    from '../hal/include'
+if (project.hasProperty('makeSim')){
+  //cmake wrapper tasks
+  task setupCmake(type: Exec) {
+    workingDir '..'
+    commandLine 'mkdir', '-p', 'build'
+  }
+
+  task cmake(type: Exec, dependsOn: setupCmake) {
+    workingDir '../build'
+    if (Os.isFamily(Os.FAMILY_WINDOWS)) {
+      commandLine '../configure.bat', "-DNTCORE_INCLUDE_DIR=$netTablesInclude","-DNTCORE_LIBDIR=$netLibDesktopLocation"
+    }
+    else {
+      commandLine 'cmake', '..', "-DNTCORE_INCLUDE_DIR=$netTablesInclude","-DNTCORE_LIBDIR=$netLibDesktopLocation"
+    }
+  }
+
+  task frc_gazebo_plugins(type: Exec, dependsOn: cmake) {
+    workingDir '../build'
+    if (Os.isFamily(Os.FAMILY_WINDOWS)) {
+      comanndLine 'nmake', 'frc_gazebo_plugins'
+    }
+    else {
+      commandLine 'make', 'frc_gazebo_plugins'
+    }
+  }
+
+  task gz_msgs(type: Exec, dependsOn: cmake) {
+      workingDir '../build'
+      if (Os.isFamily(Os.FAMILY_WINDOWS)) {
+          commandLine 'nmake', 'gz_msgs'
+      }
+      else {
+          commandLine 'make', 'gz_msgs'
+      }
+  }
+
+  task wpilibcSim(type: Exec, dependsOn: ['cmake', ':unzipNetworkTables']) {
+    workingDir '../build'
+    if (Os.isFamily(Os.FAMILY_WINDOWS)) {
+      commandLine 'nmake', 'wpilibcSim'
+    }
+    else {
+      commandLine 'make', 'wpilibcSim'
+    }
+  }
+
+  task allcsim(dependsOn: [wpilibcSim, gz_msgs, frc_gazebo_plugins]){
+  }
+
+  build.dependsOn allcsim
 }

wpilibc/simulation/CMakeLists.txt

@@ -1,60 +1,26 @@
 cmake_minimum_required(VERSION 2.8)
-project(WPILibSim)
-
-if (WIN32)
-  #temporary until we build dlls
-  add_definitions(-DBUILDING_STATIC_LIBS)
-
-  # XXX: should be set via CMake variables in configure.bat
-  set(PTHREAD_INCLUDE_DIR "C:/Users/peter/gz-ws/pthread-w32/include")
-  set(PTHREAD_LIBRARY "C:/Users/peter/gz-ws/pthread-w32/libs/x64/pthreadVC2.lib")
-endif()
+cmake_policy(SET CMP0015 NEW)
+project(wpilibcSim)
 
 get_filename_component(HAL_API_INCLUDES ../../hal/include REALPATH)
-get_filename_component(NWT_API_INCLUDES ../../networktables/cpp/include REALPATH)
-
-
-# also on windows use sprintf_s instead of snprintf
-# TODO: find a more permenenant solution
-if (WIN32)
-  add_definitions(-Dsnprintf=sprintf_s)
-endif()
-
-file(GLOB_RECURSE COM_SRC_FILES ../wpilibC++/src/*.cpp)
 
+file(GLOB_RECURSE COM_SRC_FILES ../shared/src/*.cpp
+  src/*.cpp)
 
 set (INCLUDE_FOLDERS include
-  ../wpilibC++/include
-  ../../networktables/ntcore/include
+  ../shared/include
   ../../hal/include
+  ${NTCORE_INCLUDE_DIR}
   ${GZ_MSGS_INCLUDE_DIR}
   ${Boost_INCLUDE_DIR}
   ${GAZEBO_INCLUDE_DIRS})
 
-if (WIN32)
-  #these paths will be fixed when a more permenant windows development solution is found
-  set(INCLUDE_FOLDERS ${INCLUDE_FOLDERS}
-    C:/Users/peter/gz-ws/protobuf-2.6.0-win64-vc12/src
-    C:/Users/peter/gz-ws/sdformat/src/win/tinyxml
-    C:/Users/peter/gz-ws/FreeImage-vc12-x64-release-debug/Source
-    C:/Users/peter/gz-ws/tbb43_20141023oss/include
-    ${PTHREAD_INCLUDE_DIR})
-endif()
+message("inc=${INCLUDE_FOLDERS}")
 
 include_directories(${INCLUDE_FOLDERS})
 
-link_directories(${GAZEBO_LIBRARY_DIRS})
+link_directories(${NTCORE_LIBDIR})
 
-if (WIN32)
-  add_library(WPILibSim ${SRC_FILES} ${COM_SRC_FILES})
-else()
-  add_library(WPILibSim SHARED ${SRC_FILES} ${COM_SRC_FILES})
-endif()
+add_library(${PROJECT_NAME} SHARED ${SRC_FILES} ${COM_SRC_FILES})
 
-target_link_libraries(WPILibSim gz_msgs ntcore ${PTHREAD_LIBRARY} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}  -fPIC) # NetworkTables
-
-if (WIN32)
-  set_target_properties(${project}  PROPERTIES LINK_FLAGS "/DEBUG")
-endif()
-
-#copy to eclipse plugin
+target_link_libraries(${PROJECT_NAME} gz_msgs ntcore)

wpilibc/simulation/src/DriverStation.cpp

@@ -43,7 +43,7 @@ DriverStation::DriverStation() {
   }
   // Register that semaphore with the network communications task.
   // It will signal when new packet data is available.
-  HALSetNewDataSem(m_packetDataAvailableCond.native_handle());
+  HALSetNewDataSem(&m_packetDataAvailableCond);
 
   AddToSingletonList();