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merged from frcsim branch

Browse Source 
verified to work on real robots
adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows
 - Java and C++ simulation robot programs run on windows
 - simulation eclipse plugin delivers models and gazebo plugins
 - Java Gazebo now respects GAZEBO_IP variables and can work across networks
 - hal and network tables win32 hacked to work on windows
 - smart dashboard broken on windows due to network tables hacks
 - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake
 - removed constexpr for cross platform compatibility
 - msgs generated using .protos as a part of build process
 - some spare and unused cmake/pom files deleted
 - simulation ubuntu debians removed entirely
 - refactored CMake project flags and macros
 - updated to match non-sim C++ API
 - fixed and updated documentation
 - servo added to simulation

Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
This commit is contained in:
peter mitrano
2015-04-26 19:19:57 -04:00
parent 4e46692191
commit 29d029fa61
211 changed files with 2143 additions and 6491 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
.gitignore vendored
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@@ -179,8 +179,11 @@ __pycache__
# PDT-specific
.buildpath
# sbteclipse plugin
# sbteclipse plugin
.target
# TeXlipse plugin
.texlipse
#catkin stuff
package.xml

63
Building.md
View File

@@ -1,30 +1,47 @@
Building everything requires Maven
mvn package -DembeddedJDKHome=/home/patrick/Downloads/arm-jdk1.7.0_45/
TODO... Explain maven....
TODO.. how to import into eclipse correctly...
Building everything requires Maven, and the arm jdk
Building C++ only
------------------
To build eclipse plugins (also build wpilibc/j)
========================
./gradlew eclipsePlugins //this is what is most often used
C++ requires cmake if not run from maven, and is much faster.
Make a new directory and then run:
```
mkdir build && cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../arm-toolchain.cmake -G "MSYS Makefiles"
make # multicore add -j(num of cpu cores + 1), so -j3 on dual core for faster compile
make install DESTDIR=/some/dir/you/want/to/put/all/headers/and/libs #optional
``
other possible targets are "build" or "frcuserprogram"
Note that you will receive a warning about libstdc++, but the build should complete successfully
Alternatively, if you like IDEs, you can import it directly into QtDeveloper, or a number of other IDEs such as Code::Blocks or Eclipse. See CMake documentation for details.
Eclipse demo:
```
cd ..
mkdir build && cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../allwpilib/arm-toolchain.cmake .. -G "Eclipse CDT4 - Unix Makefiles"
```
and then import that directory into eclipse. Eclipse will detect a CDT project and standard tools will work.
To build on CMake Projects (gz_msgs, frc_gazebo_plugins, WPILIbC++Sim
=========================
//STARTING FROM ALLWPILIB DIRECTORY
$> mkdir build
$> cd build
// on linux
$> cmake .. && make -j4
// on windows
$> ..\configure.bat
$> jom
## You can build subprojects of CMake stuff
To find all of them, you can navigate to "build" and type "make <tab> <tab>"
Examples:
make WPILibC++Sim
make dc_motor
make gz_msgs
make clean
## Note: For the latest version of FRCSim that uses the NI Driverstation, there is a circular dependency between CMake and Gradle projects.
wpilibc++sim depends on hal which is gradle, but eclipse plugins depends on wpilibc++sim which is cmake
so if you want everything to work nicely, run:
./gradlew :hal:build
mkdir build; cd build //if you haven't already done so
cmake .. && make -j4
./gradlew eclipsePlugins //or whatever else
Other gradle options
========================
./gradlew tasks //list some available tasks
TODO: Explain maven....
TODO: how to import into eclipse correctly...
GCC versions
------------

73
CMakeLists.txt
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@@ -1,20 +1,59 @@
cmake_minimum_required(VERSION 2.8)
project(All-WPILib)
set(CMAKE_BUILD_TYPE Debug)
# TODO: When the compiler allows us to actually call deprecated functions from
# within deprecated functions, remove -Wno-error=deprecated-declarations
# (this will cause calling deprecated functions to be treated as a warning
# rather than an error).
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-parameter -Wno-error=deprecated-declarations -fPIC")
project(AllC++Sim)
file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
list(REMOVE_ITEM NI_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi_2015.so)
SET(WPI_LD_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi_2015.so)
get_filename_component(WPILIB_INCLUDES wpilibc/wpilibC++/include REALPATH)
get_filename_component(HAL_API_INCLUDES hal/include REALPATH)
get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH)
file(GLOB_RECURSE COM_SRC_FILES wpilibc/wpilibC++/src/*.cpp)
include(CheckCXXCompilerFlag)
include (FindPkgConfig)
include(GNUInstallDirs)
add_subdirectory(hal)
add_subdirectory(networktables/cpp)
add_subdirectory(wpilibc)
#copied from GazeboUtils.cmake
macro (APPEND_TO_CACHED_STRING _string _cacheDesc)
FOREACH (newItem ${ARGN})
SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
ENDFOREACH (newItem ${ARGN})
endmacro (APPEND_TO_CACHED_STRING)
#check for depenedencies
find_package(gazebo REQUIRED)
find_package(Boost COMPONENTS system filesystem REQUIRED)
find_package(Protobuf REQUIRED)
if (NOT PROTOBUF_FOUND)
MESSAGE ("Missing: Google Protobuf (libprotobuf-dev)")
endif()
if (NOT PROTOBUF_PROTOC_EXECUTABLE)
MESSAGE ( "Missing: Google Protobuf Compiler (protobuf-compiler)")
endif()
if (NOT PROTOBUF_PROTOC_LIBRARY)
MESSAGE ("Missing: Google Protobuf Compiler Library (libprotoc-dev)")
endif()
#on windows we produce .dlls with no prefix
if(WIN32)
#allows us to define constexpr and noexcept in macros
#since msvc 2013 doesn't support them
add_definitions(-D_ALLOW_KEYWORD_MACROS)
# defines things like M_PI
add_definitions(-D_USE_MATH_DEFINES)
# get rid of min max macros on windows
add_definitions(-DNOMINMAX)
# aww yea
add_definitions(-DWIN32_LEAN_AND_MEAN)
SET(CMAKE_FIND_LIBRARY_PREFIXES "")
SET(CMAKE_FIND_LIBRARY_SUFFIXES ".lib" ".dll")
endif()
if (MSVC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFRC_SIMULATOR /MDd /Zi")
else ()
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++1y -DFRC_SIMULATOR -Wno-unused-parameter -pthread -fPIC -fpermissive")
endif()
include_directories("build")
add_subdirectory(simulation/gz_msgs)
add_subdirectory(wpilibc/wpilibC++Sim)
add_subdirectory(simulation/frc_gazebo_plugins)

2
cmake/.gitignore vendored
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@@ -1,2 +0,0 @@
*~
target/

151
cmake/pom.xml
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@@ -1,151 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
<modelVersion>4.0.0</modelVersion>
<groupId>edu.wpi.first.wpilib.cmake</groupId>
<artifactId>cpp-root</artifactId>
<version>1.0.0</version>
<packaging>pom</packaging>
<profiles>
<profile>
<id>unix-properties</id>
<properties>
<cmakeGenerator>Unix Makefiles</cmakeGenerator>
</properties>
<activation>
<os>
<family>unix</family>
</os>
</activation>
</profile>
<profile>
<id>MAC-properties</id>
<properties>
<cmakeGenerator>Unix Makefiles</cmakeGenerator>
</properties>
<activation>
<os>
<family>mac</family>
</os>
</activation>
</profile>
<profile>
<id>windows-properties</id>
<properties>
<cmakeGenerator>MSYS Makefiles</cmakeGenerator>
</properties>
<activation>
<os>
<family>windows</family>
</os>
</activation>
</profile>
</profiles>
<build>
<plugins>
<plugin>
<groupId>com.googlecode.cmake-maven-project</groupId>
<artifactId>cmake-maven-plugin</artifactId>
<version>2.8.11-b4</version>
<executions>
<execution>
<id>cmake</id>
<phase>generate-resources</phase>
<goals>
<goal>generate</goal>
</goals>
<configuration>
<options>
<option>-DCMAKE_TOOLCHAIN_FILE=../../../arm-toolchain.cmake</option>
<option>-DCMAKE_INSTALL_PREFIX=target-root</option>
</options>
</configuration>
</execution>
<execution>
<id>cmake2</id>
<phase>generate-resources</phase>
<goals>
<goal>compile</goal>
</goals>
<configuration>
<target>install</target>
</configuration>
</execution>
</executions>
<configuration>
<sourcePath>..</sourcePath>
<targetPath>${project.build.directory}/cmake</targetPath>
<projectDirectory>${project.build.directory}/cmake</projectDirectory>
<generator>${cmakeGenerator}</generator>
<buildType>release</buildType>
</configuration>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-antrun-plugin</artifactId>
<version>1.7</version>
<executions>
<!-- Set time stamp and version properties. -->
<execution>
<id>set-version-info</id>
<goals>
<goal>run</goal>
</goals>
<phase>process-sources</phase>
<configuration>
<target>
<tstamp>
<format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
</tstamp>
<tstamp>
<format property="version-info" pattern="yyyy.MMdd.HHmmss"/>
</tstamp>
<property name="version" value="${version-info}.${build-number}"/>
</target>
<exportAntProperties>true</exportAntProperties>
</configuration>
</execution>
<!-- Unzip the include files for cpp.zip. -->
<execution>
<id>unzip-cpp-includes</id>
<phase>compile</phase>
<goals>
<goal>run</goal>
</goals>
<configuration>
<target>
<echo file="${project.build.directory}/cmake/target-root/so.properties">cpp-sos=${version-info}</echo>
<zip destfile="${project.build.directory}/${project.build.finalName}.zip" basedir="${project.build.directory}/cmake/target-root" />
</target>
</configuration>
</execution>
</executions>
</plugin>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>build-helper-maven-plugin</artifactId>
<version>1.2</version>
<executions>
<execution>
<id>zip-cpp-includes</id>
<phase>compile</phase>
<goals>
<goal>attach-artifact</goal>
</goals>
<configuration>
<artifacts>
<artifact>
<file>${project.build.directory}/${project.build.finalName}.zip</file>
<type>zip</type>
</artifact>
<artifact>
<file>${project.build.directory}/cmake/target-root/lib/libHALAthena.a</file>
<type>a</type>
</artifact>
</artifacts>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>
</project>

46
configure.bat Normal file
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@@ -0,0 +1,46 @@
:: This file is a helper for allC++Sim
::
:: Usage: cd /build && ../configure
::
:: WARNING -- this is only temporary, and only meant for debug, and only works on my computer
@set WS=C:\Users\peter\gz-ws
@set BOOST_PATH=%WS%\boost_1_56_0
@set BOOST_LIBRARY_DIR=%BOOST_PATH%\lib64-msvc-12.0
@set PROTOBUF_PATH=%WS%\protobuf-2.6.0-win64-vc12
@set OGRE_PATH=%WS%\ogre_src_v1-8-1-vc12-x64-release-debug\build\install\Debug
@set OGRE_INCLUDE_DIR=%OGRE_PATH%\include;%OGRE_PATH%\include\OGRE;%OGRE_PATH%\include\OGRE\RTShaderSystem;%OGRE_PATH%\include\OGRE\Terrain;%OGRE_PATH%\include\OGRE\Paging
@set OGRE_LIBRARY_DIR=%OGRE_PATH%\lib\Debug
set OGRE_LIB_SUFFIX=_d.lib
@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreOverlay%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
@set OGRE_LIBS=%OGRE_LIBRARY_DIR%\OgreMain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreRTShaderSystem%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgreTerrain%OGRE_LIB_SUFFIX%;%OGRE_LIBRARY_DIR%\OgrePaging%OGRE_LIB_SUFFIX%
@set FREEIMAGE_PATH=%WS%\FreeImage-vc12-x64-release-debug
@set FREEIMAGE_INCLUDE_DIR=%FREEIMAGE_PATH%\Source
@set TBB_PATH=%WS%\tbb43_20141023oss
@set TBB_INCLUDEDIR=%TBB_PATH%\include
@set DLFCN_WIN32_PATH=%WS%\dlfcn-win32-vc12-x64-release-debug\build\install\Debug
@set DLFCN_WIN32_INCLUDE_DIR=%DLFCN_WIN32_PATH%\include
@set TINY_XML_INCLUDE_DIR=%WS%\sdformat\src\win\tinyxml
@set GAZEBO_PATH=%WS%\gazebo\build\install\Debug\lib\cmake\gazebo
@set SDFORMAT_PATH=%WS%\sdformat\build\install\Debug\lib\cmake\sdformat
@set IGNITION-MATH_PATH=%WS%\ign-math\build\install\Debug\lib\cmake\ignition-math2
@set INCLUDE=%TINY_XML_INCLUDE_DIR%;%FREEIMAGE_INCLUDE_DIR%;%TBB_INCLUDEDIR%;%DLFCN_WIN32_INCLUDE_DIR%;%INCLUDE%
@set LIB=%LIB%
cmake -G "NMake Makefiles"^
-DCMAKE_INSTALL_PREFIX=build^
-DCMAKE_PREFIX_PATH="%GAZEBO_PATH%;%SDFORMAT_PATH%;%IGNITION-MATH_PATH%"^
-DOGRE_FOUND=1^
-DOGRE_INCLUDE_DIRS="%OGRE_INCLUDE_DIR%"^
-DOGRE_LIBRARIES="%OGRE_LIBS%"^
-DPROTOBUF_SRC_ROOT_FOLDER="%PROTOBUF_PATH%"^
-DBOOST_ROOT="%BOOST_PATH%"^
-DBOOST_LIBRARYDIR="%BOOST_LIBRARY_DIR%"^
..

74
eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/installer/AbstractInstaller.java
View File

@@ -1,6 +1,8 @@
package edu.wpi.first.wpilib.plugins.core.installer;
import java.io.File;
import java.io.FileInputStream;
import java.io.FileNotFoundException;
import java.io.FileOutputStream;
import java.io.IOException;
import java.io.InputStream;
@@ -45,7 +47,38 @@ public abstract class AbstractInstaller {
*/
protected abstract InputStream getInstallResourceStream();
public void installIfNecessary() {
/**
*
* @param sourcePath the file location of the zip file EX "/resources/simuation.zip"
* @param destinationPath the file location to unzip into EX "/home/peter/wpilib/simulation/plugins"
*/
public void installIfNecessary(String sourcePath, String destinationPath){
//we're installing from this directory
InputStream sourceStream;
try {
sourceStream = new FileInputStream(sourcePath);
File destFile = new File(destinationPath);
installIfNecessary(sourceStream, destFile);
} catch (FileNotFoundException e) {
WPILibCore.logInfo("source zip file was not found: "+sourcePath);
}
}
/**
* This function will delete an old wpilib subfolder if necessary and then copy
* the resource stream to the intended directory.
*
* @throws InstallException if bad things happen ...
*/
public void installIfNecessary(){
installIfNecessary(getInstallResourceStream(), installLocation);
}
/**
* I'm thinking maybe instead of final things,
* create a UnzipJob class to extend Job and have these as parameters to the constructor*
*/
public void installIfNecessary(final InputStream sourceStream,final File destination) {
final Job installJob = new Job("Install " + getFeatureName()) {
@Override
@@ -56,14 +89,14 @@ public abstract class AbstractInstaller {
if (!isInstalled()) {
WPILibCore.logInfo("Install necessary for " + getFeatureName());
try {
install();
install(sourceStream,destination);
} catch (InstallException e) {
WPILibCore.logError("Error installing "+getFeatureName(), e);
return new Status(IStatus.ERROR, WPILibCore.PLUGIN_ID,
getErrorMessage(e));
}
}
updateInstalledVersion(version);
WPILibCore.logInfo("Installed" + getFeatureName());
@@ -98,6 +131,7 @@ public abstract class AbstractInstaller {
}
/**
*
* This function has been updated to guarantee that the wpilib folder date
* is older than the jar file being run, which ensures up to date tools.
*
@@ -108,38 +142,41 @@ public abstract class AbstractInstaller {
}
/**
* This function will delete an old wpilib subfolder if necessary and then copy
* the resource stream to the intended directory.
*
* @throws InstallException if bad things happen ...
* @TODO this function is very long and complicated. If all it does is unzip, it shouldn't be so hard.
*
* @param sourceStream input stream of zip file
* @param destination desired location for output of unzipping
* @throws InstallException
*/
protected void install() throws InstallException {
if(installLocation.exists()) {
if(!removeFileHandler(installLocation, true)) {
protected void install(InputStream sourceStream, File destination) throws InstallException {
if(destination.exists()) {
if(!removeFileHandler(destination, true)) {
MessageDialog.openError(null, "Error",
String.format("Could not update the old wpilib folder.%n"
+ "Please close any WPILib tools and restart Eclipse."));
}
//removeFileHandler(installLocation, false);
}
installLocation.mkdirs();
destination.mkdirs();
final String osName = System.getProperty("os.name");
try {
if (osName.startsWith("Mac OS X") || osName.startsWith("Linux")) { // Unix-like OSes must preserve the executable bit; call unzip
// Unix-like OSes must preserve the executable bit; call unzip
if (osName.startsWith("Mac OS X") || osName.startsWith("Linux")) {
final File tmpFile = File.createTempFile(getFeatureName()+"-", ".zip");
try {
// Copy to temporary file
try (final InputStream zip = getInstallResourceStream();
try (final InputStream zip = sourceStream;
final FileOutputStream fout = new FileOutputStream(tmpFile)) {
copyStreams(zip, fout);
}
// Call 'unzip'
final String[] cmd = {"unzip" , "-o", tmpFile.getAbsolutePath(), "-d", installLocation.getAbsolutePath()};
WPILibCore.logInfo("unzip "+tmpFile.getAbsolutePath()+" -d "+installLocation.getAbsolutePath());
final Process unzipProcess = DebugPlugin.exec(cmd, installLocation);
final String[] cmd = {"unzip", "-q", "-o", tmpFile.getAbsolutePath(), "-d", destination.getAbsolutePath()};
WPILibCore.logInfo("unzip "+tmpFile.getAbsolutePath()+" -d "+destination.getAbsolutePath());
final Process unzipProcess = DebugPlugin.exec(cmd, destination);
try (final InputStream is = unzipProcess.getInputStream()) {
copyStreams(is, System.out); // Copy output to console
}
@@ -153,11 +190,11 @@ public abstract class AbstractInstaller {
tmpFile.delete();
}
} else {
ZipInputStream zip = new ZipInputStream(getInstallResourceStream());
ZipInputStream zip = new ZipInputStream(sourceStream);
ZipEntry entry = zip.getNextEntry();
while (entry != null) {
WPILibCore.logInfo("\tZipEntry " + entry + ": " + entry.getSize());
File f = new File(installLocation, entry.getName());
File f = new File(destination, entry.getName());
if (entry.isDirectory()) {
f.mkdirs();
} else {
@@ -176,6 +213,7 @@ public abstract class AbstractInstaller {
}
}
private static void copyStreams(InputStream source, OutputStream destination) throws IOException {
byte[] buffer = new byte[1024];
int len;

13
eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/launching/SimulationNotification.java
View File

@@ -3,6 +3,7 @@ package edu.wpi.first.wpilib.plugins.core.launching;
import java.awt.Desktop;
import java.io.File;
import java.io.IOException;
import java.lang.System;
import java.net.URI;
import java.net.URISyntaxException;
@@ -15,7 +16,7 @@ import edu.wpi.first.wpilib.plugins.core.WPILibCore;
public class SimulationNotification {
private static final String URL = "https://wpilib.screenstepslive.com/s/4485/m/23353";
private static final String SIMULATION_UNSUPPORTED_MSG =
"Simulation is unsupported on your current setup.\n" +
"Simulation may not be support on your operating system.\n" +
"For more information see: " + URL;
public static void showUnsupported() {
@@ -32,12 +33,8 @@ public class SimulationNotification {
}
public static boolean supportsSimulation() {
String[] cmd = {"frcsim", "--version"};
try {
DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
return true;
} catch (CoreException e) {
return false;
}
String os = System.getProperty("os.name");
//for now this is good enough, but we still need better handling if they have this OS but have not installed FRCSim
return (os.equals("Windows 8") || os.equals("Windows 7") || os.equals("Linux") || os.equals("Windows 8.1"));
}
}

1
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml
View File

@@ -25,6 +25,7 @@
</resource>
</resources>
<plugins>
<!--copy the ant resources from src/main/resrouces/cpp-zip to target/resources/cpp-zip to cpp-zip -->
<plugin>
<artifactId>maven-resources-plugin</artifactId>
<version>2.6</version>

174
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
View File

@@ -3,7 +3,13 @@
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751" moduleId="org.eclipse.cdt.core.settings" name="Debug">
<externalSettings/>
<externalSettings>
<externalSetting>
<entry flags="VALUE_WORKSPACE_PATH" kind="includePath" name="/GearsBotCPPWin"/>
<entry flags="VALUE_WORKSPACE_PATH" kind="libraryPath" name="/GearsBotCPPWin/Debug"/>
<entry flags="RESOLVED" kind="libraryFile" name="GearsBotCPPWin" srcPrefixMapping="" srcRootPath=""/>
</externalSetting>
</externalSettings>
<extensions>
<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
@@ -12,7 +18,7 @@
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="FRCUserProgram" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751" name="Debug" parent="cdt.managedbuild.config.gnu.cross.exe.debug">
<configuration artifactName="FRCUserProgram" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="Debug" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751" name="Debug" parent="cdt.managedbuild.config.gnu.cross.exe.debug">
<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751." name="/" resourcePath="">
<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.debug.379433867" name="Cross GCC" nonInternalBuilderId="cdt.managedbuild.builder.gnu.cross" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.debug">
<option id="cdt.managedbuild.option.gnu.cross.prefix.541714056" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" value="arm-frc-linux-gnueabi-" valueType="string"/>
@@ -58,10 +64,11 @@
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325" moduleId="org.eclipse.cdt.core.settings" name="Simulate">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325" moduleId="org.eclipse.cdt.core.settings" name="Linux Simulate">
<externalSettings/>
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.c.compiler.mingw.exe.debug.785693711;cdt.managedbuild.tool.gnu.c.compiler.input.778242069">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.exe.debug.1647706237;cdt.managedbuild.tool.gnu.cpp.compiler.input.1338339147">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1505235107;cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/$project"/>
</configuration>
<configuration configurationName="Simulate">
<resource resourceType="PROJECT" workspacePath="/$project"/>
</configuration>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.c.compiler.1261239456;cdt.managedbuild.tool.gnu.c.compiler.input.1793678673">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.c.dll.debug.1658947706;org.eclipse.cdt.msvc.cl.inputType.c.2076377067">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
</scannerConfigBuildInfo>
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.c.compiler.mingw.base.510224028;cdt.managedbuild.tool.gnu.c.compiler.input.323654435">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
</cproject>

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/build.properties
View File

@@ -5,11 +5,7 @@ build.dir=build
out.exe=Debug/${out}
# Simulation
simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
sim.exe=Simulate/${out}
wpilib.sim=${wpilib}/sim
sim.tools=${wpilib.sim}/tools
sim.lib=${wpilib.sim}/lib
simulation.world.file=$world
# Use the current C++ library by default
cpp-version=current

6
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.properties
View File

@@ -14,3 +14,9 @@ roboRIOAllowedImages=23
wpilib.ant.dir=${wpilib}/ant
jsch.jar=${wpilib.ant.dir}/jsch-0.1.50.jar
classloadertask.jar=${wpilib.ant.dir}/ant-classloadertask.jar
#simulation stuff
sim.exe=Simulate/${out}
wpilib.sim=${wpilib}/sim
sim.tools=${wpilib.sim}/tools
sim.lib=${wpilib.sim}/lib

16
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml
View File

@@ -104,17 +104,15 @@
<target name="simulate">
<parallel>
<sequential>
<echo>[simulate] Running Gazebo.</echo>
<exec executable="frcsim">
<arg value="${simulation.world.file}"/>
</exec>
<!-- windows uses a batch file to run frcsim, linux uses a shell script -->
<condition property="frcsim.executable" value="frcsim.bat" else="frcsim">
<os family="windows" />
</condition>
<!-- TODO: launch gazebo once? -->
<echo>[simulate] You may now run Gazebo</echo>
</sequential>
<sequential>
<sleep seconds="5"/>
<echo>[simulate] Running DriverStation.</echo>
<java jar="${sim.tools}/SimDS.jar" fork="true">
<jvmarg value="-Djava.library.path=${sim.lib}" />
</java>
<echo>[simulate] You can now run your DriverStation!</echo>
</sequential>
<sequential>
<sleep seconds="5"/>

19
eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml
View File

@@ -174,17 +174,15 @@
<target name="simulate" depends="jar-for-simulation">
<parallel>
<sequential>
<echo>[simulate] Running Gazebo.</echo>
<exec executable="frcsim">
<arg value="${simulation.world.file}"/>
</exec>
<condition property="frcsim.executable" value="frcsim.bat" else="frcsim">
<os family="windows" />
</condition>
<!-- TODO: launch gazebo once? -->
<echo>[simulate] You may now run Gazebo</echo>
</sequential>
<sequential>
<sleep seconds="5"/>
<echo>[simulate] Running DriverStation.</echo>
<java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
</java>
<echo>[debug-simulate] You may now run your DriverStation.</echo>
</sequential>
<sequential>
<sleep seconds="5"/>
@@ -206,10 +204,7 @@
</sequential>
<sequential>
<sleep seconds="5"/>
<echo>[debug-simulate] Running DriverStation.</echo>
<java jar="${wpilib.sim.tools}/SimDS.jar" fork="true">
<jvmarg value="-Djava.library.path=${wpilib.sim.lib}" />
</java>
<echo>[debug-simulate] you may now run your DriverStation.</echo>
</sequential>
<sequential>
<sleep seconds="5"/>

1
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation.feature/build.properties Normal file
View File

@@ -0,0 +1 @@
bin.includes = feature.xml

1
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation.feature/edu.wpi.first.wpilib.plugins.simulation.feature/build.properties Normal file
View File

@@ -0,0 +1 @@
bin.includes = feature.xml

26
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation.feature/edu.wpi.first.wpilib.plugins.simulation.feature/feature.xml Normal file
View File

@@ -0,0 +1,26 @@
<?xml version="1.0" encoding="UTF-8"?>
<feature
id="edu.wpi.first.wpilib.plugins.simulation.feature"
label="Feature"
version="1.0.0.qualifier">
<description url="http://www.example.com/description">
[Enter Feature Description here.]
</description>
<copyright url="http://www.example.com/copyright">
[Enter Copyright Description here.]
</copyright>
<license url="http://www.example.com/license">
[Enter License Description here.]
</license>
<plugin
id="edu.wpi.first.wpilib.plugins.simulation"
download-size="0"
install-size="0"
version="0.0.0"
unpack="false"/>
</feature>

59
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation.feature/feature.xml Normal file
View File

@@ -0,0 +1,59 @@
<?xml version="1.0" encoding="UTF-8"?>
<feature
id="edu.wpi.first.wpilib.plugins.simulation.feature"
label="Robot Simulation Development"
version="0.1.0.qualifier"
provider-name="Worcester Polytechnic Institute">
<description>
FRC Robot Simulation Program Development Environment.
</description>
<copyright>
* Copyright (c) 2015 FIRST and WPI
* All rights reserved.
</copyright>
<license>
* Copyright (c) 2015 FIRST and WPI
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* Redistributions of source code must retain the above
* copyright notice, this list of conditions and the following
* disclaimer. Redistributions in binary form must reproduce the
* above copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution. Neither the name of the FIRST nor the
* names of its contributors may be used to endorse or promote
* products derived from this software without specific prior
* written permission.
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS&apos;&apos;
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
* TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT
* AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO
* EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE
* GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
</license>
<includes
id="edu.wpi.first.wpilib.plugins.core.feature"
version="0.0.0"/>
<plugin
id="edu.wpi.first.wpilib.plugins.simulation"
download-size="0"
install-size="0"
version="0.0.0"
unpack="false"/>
</feature>

16
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation.feature/pom.xml Normal file
View File

@@ -0,0 +1,16 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd"
xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<artifactId>edu.wpi.first.wpilib.plugins.simulation.feature</artifactId>
<packaging>eclipse-feature</packaging>
<parent>
<groupId>edu.wpi.first.wpilib.plugins</groupId>
<artifactId>edu.wpi.first.wpilib.plugins</artifactId>
<version>0.1.0.qualifier</version>
<relativePath>..</relativePath>
</parent>
</project>

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/.gitignore vendored Normal file
View File

@@ -0,0 +1,2 @@
#ignore libraries. They will be copied from frc_gazebo_plugins/build/plugins
*.so

13
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/META-INF/MANIFEST.MF Normal file
View File

@@ -0,0 +1,13 @@
Manifest-Version: 1.0
Bundle-ManifestVersion: 2
Bundle-Name: WPILib_Robot_Simulation
Bundle-SymbolicName: edu.wpi.first.wpilib.plugins.simulation;singleton:=true
Bundle-Version: 0.1.0.qualifier
Bundle-Activator: edu.wpi.first.wpilib.plugins.simulation.WPILibSimulationPlugin
Require-Bundle: org.eclipse.core.runtime,
edu.wpi.first.wpilib.plugins.core;bundle-version="0.1.0",
org.eclipse.jface;bundle-version="3.10.2",
org.eclipse.ui;bundle-version="3.106.1"
Bundle-RequiredExecutionEnvironment: JavaSE-1.8
Bundle-ActivationPolicy: lazy
Bundle-Vendor: Worcester Polytechnic Institute

10
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/README.md Normal file
View File

@@ -0,0 +1,10 @@
#Notes on the simulation eclipse plugin
Should download models when installed
build with the rest of the eclipse plugins using:
//if you're in the eclipse-plugins directory
mvn package
//otherwise in the base dir
./gradlew eclipsePlugins //no colons here!

8
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/build.properties Normal file
View File

@@ -0,0 +1,8 @@
source.. = src/main/java/
output.. = target/classes/
bin.includes = META-INF/,\
.,\
plugin.xml,\
resources/
src.include = src/,\
resources/

10
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/plugin.xml Normal file
View File

@@ -0,0 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<?eclipse version="3.2"?>
<plugin>
<extension
point="org.eclipse.ui.startup">
<startup
class="edu.wpi.first.wpilib.plugins.simulation.WPILibSimulationPlugin">
</startup>
</extension>
</plugin>

158
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/pom.xml Normal file
View File

@@ -0,0 +1,158 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd"
xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<artifactId>edu.wpi.first.wpilib.plugins.simulation</artifactId>
<packaging>eclipse-plugin</packaging>
<parent>
<groupId>edu.wpi.first.wpilib.plugins</groupId>
<artifactId>edu.wpi.first.wpilib.plugins</artifactId>
<version>0.1.0.qualifier</version>
<relativePath>..</relativePath>
</parent>
<properties>
<build-number>DEVELOPMENT</build-number>
<simulation-zip>${project.build.directory}\simulation-zip</simulation-zip>
</properties>
<repositories>
<repository>
<id>WPILib Maven Repository</id>
<url>http://first.wpi.edu/FRC/roborio/maven/</url>
</repository>
</repositories>
<build>
<resources>
<resource>
<directory>.</directory>
<includes>
<include>resources/configuration.properties</include>
</includes>
<filtering>true</filtering>
</resource>
</resources>
<plugins>
<plugin>
<artifactId>maven-resources-plugin</artifactId>
<version>2.6</version>
<executions>
<execution>
<id>copy-plugins-to-simulation-zip</id>
<phase>generate-sources</phase>
<goals>
<goal>copy-resources</goal>
</goals>
<configuration>
<outputDirectory>${simulation-zip}</outputDirectory>
<resources>
<resource>
<directory>../../build/simulation/frc_gazebo_plugins/</directory><!-- TODO do this with variables -->
</resource>
</resources>
</configuration>
</execution>
</executions>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-antrun-plugin</artifactId>
<version>1.7</version>
<executions>
<!-- Set time stamp and version properties. -->
<execution>
<id>set-version-info</id>
<goals>
<goal>run</goal>
</goals>
<phase>process-sources</phase>
<configuration>
<target>
<tstamp>
<format property="timestamp" pattern="yyyy/MM/dd HH:mm:ss z"/>
</tstamp>
<tstamp>
<format property="version-info" pattern="yyyy.MM.dd.HH.mm.ss"/>
</tstamp>
<property name="version" value="${version-info}.${build-number}"/>
</target>
<exportAntProperties>true</exportAntProperties>
</configuration>
</execution>
<!-- Generate zip file to unzip for the user. -->
<execution>
<id>generate-simulation-zip</id>
<phase>compile</phase>
<goals>
<goal>run</goal>
</goals>
<configuration>
<target>
<zip destfile="${project.build.directory}/classes/resources/simulation.zip"
basedir="${simulation-zip}"
update="true"/>
</target>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
<pluginManagement>
<plugins>
<!--This plugin's configuration is used to store Eclipse m2e settings only. It has no influence on the Maven build itself.-->
<plugin>
<groupId>org.eclipse.m2e</groupId>
<artifactId>lifecycle-mapping</artifactId>
<version>1.0.0</version>
<configuration>
<lifecycleMappingMetadata>
<pluginExecutions>
<pluginExecution>
<pluginExecutionFilter>
<groupId>
org.apache.maven.plugins
</groupId>
<artifactId>
maven-dependency-plugin
</artifactId>
<versionRange>[2.8,)</versionRange>
<goals>
<goal>copy</goal>
</goals>
</pluginExecutionFilter>
<action>
<ignore/>
</action>
</pluginExecution>
</pluginExecutions>
</lifecycleMappingMetadata>
</configuration>
</plugin>
</plugins>
</pluginManagement>
</build>
<dependencies>
<!-- Add fake dependencies to inform Maven of the correct
order it should build projects in during a multi-module build.
This list should match the list in the invocation of
maven-dependency-plugin:copy above.
It may be possible to avoid this duplication by using the
maven-assembly-plugin instead.-->
<!-- Library sources for debugging WPILib on the Athena -->
<dependency>
<groupId>edu.wpi.first.wpilib</groupId>
<artifactId>sfx</artifactId>
<type>zip</type>
<version>LATEST</version>
</dependency>
</dependencies>
</project>

2
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/resources/configuration.properties Normal file
View File

@@ -0,0 +1,2 @@
timestamp=${timestamp}
version=${version}

104
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/src/main/java/edu/wpi/first/wpilib/plugins/simulation/WPILibSimulationPlugin.java Normal file
View File

@@ -0,0 +1,104 @@
package edu.wpi.first.wpilib.plugins.simulation;
/**
* @author peter mitrano <pdmitrano@wpi.edu>
*/
import java.io.File;
import java.util.Properties;
import org.eclipse.core.runtime.CoreException;
import org.eclipse.core.runtime.Status;
import org.eclipse.ui.IStartup;
import org.eclipse.ui.plugin.AbstractUIPlugin;
import org.osgi.framework.BundleContext;
import edu.wpi.first.wpilib.plugins.core.WPILibCore;
import edu.wpi.first.wpilib.plugins.core.ant.AntPropertiesParser;
import edu.wpi.first.wpilib.plugins.simulation.installer.SimulationInstaller;
public class WPILibSimulationPlugin extends AbstractUIPlugin implements IStartup{
// The plug-in ID
public static final String PLUGIN_ID = "WPILib_Java_Robot_Development"; //$NON-NLS-1$
// The shared instance
private static WPILibSimulationPlugin plugin;
/*
* (non-Javadoc)
* @see org.eclipse.ui.plugin.AbstractUIPlugin#start(org.osgi.framework.BundleContext)
*/
public void start(BundleContext context) throws Exception {
super.start(context);
plugin = this;
}
/*
* (non-Javadoc)
* @see org.osgi.framework.BundleActivator#stop(org.osgi.framework.BundleContext)
*/
public void stop(BundleContext bundleContext) throws Exception {
plugin = null;
super.stop(bundleContext);
}
/**
* Returns the shared instance
*
* @return the shared instance
*/
public static WPILibSimulationPlugin getDefault() {
return plugin;
}
public String getCurrentVersion() {
try {
Properties props = new AntPropertiesParser(
WPILibSimulationPlugin.class.getResourceAsStream("/resources/configuration.properties")).
getProperties();
if (props.getProperty("version").startsWith("$")) {
return "DEVELOPMENT";
} else {
return props.getProperty("version");
}
} catch (CoreException e) {
WPILibSimulationPlugin.logError("Error getting properties.", e);
return "DEVELOPMENT";
}
}
public String getSimulationDir() {
return WPILibCore.getDefault().getWPILibBaseDir()
+ File.separator + "simulation";
}
public String getPluginsDir() {
return getSimulationDir() + File.separator + "plugins";
}
public static void logInfo(String msg) {
getDefault().getLog().log(new Status(Status.INFO, PLUGIN_ID, Status.OK, msg, null));
}
private static void logError(String msg, CoreException e) {
getDefault().getLog().log(new Status(Status.ERROR, PLUGIN_ID, Status.OK, msg, e));
}
public String getJavaPath() {
return WPILibCore.getDefault().getWPILibBaseDir()
+ File.separator + "java" + File.separator + "current";
}
@Override
public void earlyStartup() {
SimulationInstaller simulationInstaller = new SimulationInstaller(getCurrentVersion());
//downloads and copies the models from collabnet and unzips to
//wpilib/simulation/models and wpilib/simulation/worlds
simulationInstaller.installModels();
//extracts and copies the gazebo plugins from simulation.zip to wpilib/simulation/plugins
simulationInstaller.installPlugins();
}
}

89
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/src/main/java/edu/wpi/first/wpilib/plugins/simulation/installer/SimulationInstaller.java Normal file
View File

@@ -0,0 +1,89 @@
package edu.wpi.first.wpilib.plugins.simulation.installer;
/**
* @author peter mitrano <pdmitrano@wpi.edu>
*/
import java.io.File;
import java.io.IOException;
import java.io.InputStream;
import java.net.MalformedURLException;
import java.net.URL;
import java.nio.file.Files;
import java.nio.file.Paths;
import javax.net.ssl.HttpsURLConnection;
import org.eclipse.jface.preference.IPreferenceStore;
import org.osgi.service.log.LogEntry;
import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
import edu.wpi.first.wpilib.plugins.simulation.WPILibSimulationPlugin;
import edu.wpi.first.wpilib.plugins.simulation.preferences.PreferenceConstants;
public class SimulationInstaller extends AbstractInstaller {
public SimulationInstaller(String version) {
// copy gazebo plugins wpilib/simulation/plugins
super(version, WPILibSimulationPlugin.getDefault().getPreferenceStore()
.getString(PreferenceConstants.LIBRARY_INSTALLED),
WPILibSimulationPlugin.getDefault().getPluginsDir());
}
public void installModels() {
// download models
// temporarily hardcoding link, but should be smarter
String inputFilePath = WPILibSimulationPlugin.getDefault()
.getSimulationDir() + File.separator + "models.zip";
File inputFile = new File(inputFilePath);
try {
if (inputFile.exists()) {
WPILibSimulationPlugin.logInfo("models doesn't need to be downloaded again");
} else {
URL url = new URL("https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1162?dl=1");
HttpsURLConnection con = (HttpsURLConnection) url.openConnection();
try (InputStream stream = con.getInputStream()) {
WPILibSimulationPlugin.logInfo("downloading models zip");
Files.copy(stream, Paths.get(inputFilePath));
}
}
// unzip
WPILibSimulationPlugin.logInfo("unzipping to "+ WPILibSimulationPlugin.getDefault().getSimulationDir());
super.installIfNecessary(inputFilePath, WPILibSimulationPlugin.getDefault().getSimulationDir());
} catch (MalformedURLException mue) {
WPILibSimulationPlugin
.logInfo("Malformed URL Exception when downloading models");
WPILibSimulationPlugin.logInfo(mue.getLocalizedMessage());
} catch (IOException ioe) {
WPILibSimulationPlugin
.logInfo("IO Exception when downloading models");
WPILibSimulationPlugin.logInfo(ioe.getLocalizedMessage());
}
}
public void installPlugins() {
super.installIfNecessary();
}
@Override
protected String getFeatureName() {
return "simulation";
}
@Override
protected void updateInstalledVersion(String version) {
IPreferenceStore prefs = WPILibSimulationPlugin.getDefault()
.getPreferenceStore();
prefs.setValue(PreferenceConstants.LIBRARY_INSTALLED, version);
}
@Override
protected InputStream getInstallResourceStream() {
return SimulationInstaller.class
.getResourceAsStream("/resources/simulation.zip");
}
}

10
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/src/main/java/edu/wpi/first/wpilib/plugins/simulation/preferences/PreferenceConstants.java Normal file
View File

@@ -0,0 +1,10 @@
package edu.wpi.first.wpilib.plugins.simulation.preferences;
/**
* @author peter mitrano <pdmitrano@wpi.edu>
*
* Constant definitions for plug-in preferences
*/
public class PreferenceConstants {
public static final String LIBRARY_INSTALLED = "libraryVersion_current";
}

25
eclipse-plugins/edu.wpi.first.wpilib.plugins.simulation/src/main/java/edu/wpi/first/wpilib/plugins/simulation/preferences/PreferenceInitializer.java Normal file
View File

@@ -0,0 +1,25 @@
package edu.wpi.first.wpilib.plugins.simulation.preferences;
import org.eclipse.core.runtime.preferences.AbstractPreferenceInitializer;
import org.eclipse.jface.preference.IPreferenceStore;
import edu.wpi.first.wpilib.plugins.core.WPILibCore;
/**
* @author peter mitrano <pdmitrano@wpi.edu>
*
* Class used to initialize default preference values.
*/
public class PreferenceInitializer extends AbstractPreferenceInitializer {
/*
* (non-Javadoc)
*
* @see org.eclipse.core.runtime.preferences.AbstractPreferenceInitializer#initializeDefaultPreferences()
*/
public void initializeDefaultPreferences() {
IPreferenceStore store = WPILibCore.getDefault().getPreferenceStore();
if (!store.contains(PreferenceConstants.LIBRARY_INSTALLED))
store.setValue(PreferenceConstants.LIBRARY_INSTALLED, "none");
}
}

3
eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/site.xml
View File

@@ -6,6 +6,9 @@
<feature url="features/edu.wpi.first.wpilib.plugins.java.feature_0.1.0.qualifier.jar" id="edu.wpi.first.wpilib.plugins.java.feature" version="0.1.0.qualifier">
<category name="edu.wpi.first.wpilib.plugins"/>
</feature>
<feature url="features/edu.wpi.first.wpilib.plugins.simulation.feature_0.1.0.qualifier.jar" id="edu.wpi.first.wpilib.plugins.simulation.feature" version="0.1.0.qualifier">
<category name="edu.wpi.first.wpilib.plugins"/>
</feature>
<category-def name="edu.wpi.first.wpilib.plugins" label="WPILib Robot Development">
<description>
Core WPILib Robot Development Tools.

2
eclipse-plugins/pom.xml
View File

@@ -11,6 +11,8 @@
<modules>
<module>edu.wpi.first.wpilib.plugins.core</module>
<module>edu.wpi.first.wpilib.plugins.core.feature</module>
<module>edu.wpi.first.wpilib.plugins.simulation</module>
<module>edu.wpi.first.wpilib.plugins.simulation.feature</module>
<module>edu.wpi.first.wpilib.plugins.cpp</module>
<module>edu.wpi.first.wpilib.plugins.cpp.feature</module>
<module>edu.wpi.first.wpilib.plugins.java</module>

18
hal/include/Log.hpp
View File

@@ -4,7 +4,11 @@
#include <iomanip>
#include <string>
#include <stdio.h>
#include <sys/time.h>
#ifdef _WIN32
#include <Windows.h>
#else
#include <sys/time.h>
#endif
inline std::string NowTime();
@@ -88,6 +92,17 @@ typedef Log FILELog;
if (level > FILELog::ReportingLevel()) ; \
else Log().Get(level)
#ifdef _WIN32
inline std::string NowTime()
{
SYSTEMTIME st;
GetLocalTime(&st);
char result[100] = {0};
sprintf(result, "%d:%d:%d.%d", st.wHour , st.wMinute , st.wSecond , st.wMilliseconds);
return result;
}
#else
inline std::string NowTime()
{
char buffer[11];
@@ -101,3 +116,4 @@ inline std::string NowTime()
sprintf(result, "%s.%03ld", buffer, (long)tv.tv_usec / 1000);
return result;
}
#endif

10
networktables/cpp/include/NTBase.h Normal file
View File

@@ -0,0 +1,10 @@
//this file is used for hacking
#ifndef NT_BASE_H_
#define NT_BASE_H_
#if defined(_MSC_VER)
#define noexcept throw()
#endif
#endif

29
networktables/cpp/include/NTErrorBase.h
View File

@@ -8,23 +8,22 @@
#define _ERROR_BASE_H
#if defined WIN32
#include <semLib.h>
#define wpi_setErrnoErrorWithContext(context)
#define wpi_setErrnoError()
#define wpi_setImaqErrorWithContext(code, context)
#define wpi_setErrorWithContext(code, context)
#define wpi_setError(code)
#define wpi_setStaticErrorWithContext(object, code, context)
#define wpi_setErrnoErrorWithContext(context)
#define wpi_setErrnoError()
#define wpi_setImaqErrorWithContext(code, context)
#define wpi_setErrorWithContext(code, context)
#define wpi_setError(code)
#define wpi_setStaticErrorWithContext(object, code, context)
#define wpi_setStaticError(object, code)
#define wpi_setGlobalErrorWithContext(code, context)
#define wpi_setGlobalError(code)
#define wpi_setGlobalErrorWithContext(code, context)
#define wpi_setGlobalError(code)
#define wpi_setWPIErrorWithContext(error, context)
#define wpi_setWPIError(error)
#define wpi_setStaticWPIErrorWithContext(object, error, context)
#define wpi_setStaticWPIError(object, error)
#define wpi_setGlobalWPIErrorWithContext(error, context)
#define wpi_setGlobalWPIError(error)
#define wpi_setWPIError(error)
#define wpi_setStaticWPIErrorWithContext(object, error, context)
#define wpi_setStaticWPIError(object, error)
#define wpi_setGlobalWPIErrorWithContext(error, context)
#define wpi_setGlobalWPIError(error)
/**
* Base class for most objects.
@@ -35,7 +34,7 @@ class ErrorBase
{
//TODO: Consider initializing instance variables and cleanup in destructor
public:
};
#endif

35
networktables/cpp/include/OSAL/Synchronized.h
View File

@@ -10,31 +10,6 @@
#define NT_CRITICAL_REGION(s) { NTSynchronized _sync(s);
#define NT_END_REGION }
#if defined WIN32
#include <semLib.h>
class NTReentrantSemaphore
{
public:
explicit NTReentrantSemaphore(){
m_semaphore = semMCreate(SEM_Q_PRIORITY | SEM_INVERSION_SAFE | SEM_DELETE_SAFE);
};
~NTReentrantSemaphore(){
semDelete(m_semaphore);
};
void take(){
semTake(m_semaphore, WAIT_FOREVER);
};
void give(){
semGive(m_semaphore);
};
private:
SEM_ID m_semaphore;
};
#else
#include <pthread.h>
class NTReentrantSemaphore
@@ -59,7 +34,6 @@ private:
pthread_mutexattr_t mta;
pthread_mutex_t m_semaphore;
};
#endif // WIN32
/**
* Provide easy support for critical regions.
@@ -76,18 +50,9 @@ class NTSynchronized
public:
explicit NTSynchronized(NTReentrantSemaphore&);
//TODO remove vxworks SEM_ID support
#if defined WIN32
explicit NTSynchronized(SEM_ID);
#endif
virtual ~NTSynchronized();
private:
#if defined WIN32
bool usingSem;
NTReentrantSemaphore* m_sem;
SEM_ID m_semaphore;
#else
NTReentrantSemaphore& m_semaphore;
#endif
};

75
networktables/cpp/include/OSAL/Task.h
View File

@@ -1,75 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#ifndef __NTTASK_H__
#define __NTTASK_H__
#if defined WIN32
#include "NTErrorBase.h"
/**
* WPI task is a wrapper for the native Task object.
* All WPILib tasks are managed by a static task manager for simplified cleanup.
**/
class NTTask : public ErrorBase
{
public:
static const UINT32 kDefaultPriority = 101;
static const INT32 kInvalidTaskID = -1;
NTTask(const char* name, FUNCPTR function, INT32 priority = kDefaultPriority, UINT32 stackSize = 20000);
virtual ~NTTask();
NTTask(const NTTask&) = delete;
NTTask& operator=(const NTTask&) = delete;
#ifdef WIN32
bool Start(void * arg0);
#else
bool Start(UINT32 arg0 = 0, UINT32 arg1 = 0, UINT32 arg2 = 0, UINT32 arg3 = 0, UINT32 arg4 = 0,
UINT32 arg5 = 0, UINT32 arg6 = 0, UINT32 arg7 = 0, UINT32 arg8 = 0, UINT32 arg9 = 0);
#endif
bool Restart();
bool Stop();
bool IsReady();
bool IsSuspended();
bool Suspend();
bool Resume();
bool Verify();
INT32 GetPriority();
bool SetPriority(INT32 priority);
const char* GetName();
INT32 GetID();
#ifdef WIN32
FUNCPTR m_function;
void * m_Arg;
#endif
private:
char* m_taskName;
#ifdef WIN32
bool StartInternal();
HANDLE m_Handle;
DWORD m_ID;
#else
FUNCPTR m_function;
INT32 m_taskID;
#endif
UINT32 m_stackSize;
INT32 m_priority;
bool HandleError(STATUS results);
};
#endif // WIN32
#endif // __TASK_H__

1
networktables/cpp/include/networktables2/connection/BadMessageException.h
View File

@@ -8,6 +8,7 @@
#ifndef BADMESSAGEEXCEPTION_H_
#define BADMESSAGEEXCEPTION_H_
#include "NTBase.h"
#include <exception>
#include <string>

14
networktables/cpp/include/networktables2/thread/DefaultThreadManager.h
View File

@@ -17,11 +17,7 @@ class PeriodicNTThread;
#include "networktables2/thread/NTThreadManager.h"
#include "networktables2/thread/NTThread.h"
#if defined WIN32
#include "OSAL/Task.h"
#else
#include <pthread.h>
#endif
class DefaultThreadManager : public NTThreadManager{
public:
@@ -30,21 +26,11 @@ public:
class PeriodicNTThread : public NTThread {
private:
#if defined WIN32
const char* name;
NTTask* thread;
#else
pthread_t thread;
#endif
PeriodicRunnable* r;
bool run;
#if defined WIN32
int _taskMain();
static int taskMain(PeriodicNTThread* o);
#else//TODO make return int for pthread as well
void _taskMain();
static void* taskMain(PeriodicNTThread* o);
#endif
public:
PeriodicNTThread(PeriodicRunnable* r, const char* name);
virtual ~PeriodicNTThread();

15
networktables/cpp/include/networktables2/util/IOException.h
View File

@@ -8,6 +8,7 @@
#ifndef IOEXCEPTION_H_
#define IOEXCEPTION_H_
#include "NTBase.h"
#include <exception>
/**
@@ -17,31 +18,31 @@ class IOException : public std::exception{
public:
/**
* Creates a new IOException with the given message.
*
*
* @param message The message to associate with this exception.
*/
IOException(const char* message);
/**
* Creates a new IOException with the given message and
* error value.
*
*
* @param message The message to associate with this exception.
* @param errorValue The integer code to associate with this exception.
*/
IOException(const char* message, int errorValue);
/**
* Gets the message associated with this exception.
*
*
* @return The message associated with this exception.
*/
const char* what() const noexcept;
/**
* Determines whether this exception indicates that an EOF
* was encountered.
*
*
* @return True if this exception indicates that an EOF was encountered.
* False otherwise.
*/

1
networktables/cpp/include/networktables2/util/IllegalStateException.h
View File

@@ -8,6 +8,7 @@
#ifndef ILLEGALSTATEEXCEPTION_H_
#define ILLEGALSTATEEXCEPTION_H_
#include "NTBase.h"
#include <exception>
#include <string>

9
networktables/cpp/include/tables/ITableListener.h
View File

@@ -8,10 +8,9 @@
#ifndef ITABLELISTENER_H_
#define ITABLELISTENER_H_
class ITableListener;
#include "NTBase.h"
#include "tables/ITable.h"
#include <memory>
@@ -42,7 +41,11 @@ class ITableListener {
private:
template <class T>
struct[[deprecated]] NullDeleter {
struct
#if !defined(_MSC_VER)
[[deprecated]]
#endif
NullDeleter {
void operator()(T*) const noexcept {};
};
};

78
networktables/cpp/lib/Win32/src/main/native/OSAL/Synchronized.cpp
View File

@@ -3,78 +3,22 @@
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "stdafx.h"
// Previous version used semaphores.
// This version was copied from the "Athena" version of network tables.
// It uses pthread and is much simpler
#include "OSAL/Synchronized.h"
#include <stdlib.h>
//TODO see what the STATUS is suppose to return for success
STATUS semGive (SEM_ID semId)
pthread_mutexattr_t mta;
bool hasInit = false;
NTSynchronized::NTSynchronized(NTReentrantSemaphore& semaphore):m_semaphore(semaphore)
{
::LeaveCriticalSection( semId );
return 0;
}
STATUS semTake (SEM_ID semId, int timeout)
{
if (timeout==WAIT_FOREVER)
::EnterCriticalSection( semId );
else
{
BOOL result;
int TimeOut=0;
do
{
result=::TryEnterCriticalSection( semId );
if (result==0)
Sleep(10);
} while ((result==0)&&(TimeOut++<timeout));
assert(result!=0); //TODO timeout
}
return 0;
m_semaphore.take();
}
SEM_ID semMCreate (int options)
{
SEM_ID ret=new CRITICAL_SECTION;
::InitializeCriticalSection( ret );
return ret;
}
STATUS semDelete (SEM_ID semId)
{
::DeleteCriticalSection( semId );
delete semId;
return 0;
}
/**
* Synchronized class deals with critical regions.
* Declare a Synchronized object at the beginning of a block. That will take the semaphore.
* When the code exits from the block it will call the destructor which will give the semaphore.
* This ensures that no matter how the block is exited, the semaphore will always be released.
* Use the CRITICAL_REGION(SEM_ID) and END_REGION macros to make the code look cleaner (see header file)
* @param semaphore The semaphore controlling this critical region.
*/
NTSynchronized::NTSynchronized(SEM_ID semaphore)
{
usingSem = false;
m_semaphore = semaphore;
semTake(m_semaphore, WAIT_FOREVER);
}
NTSynchronized::NTSynchronized(NTReentrantSemaphore& semaphore)
{
usingSem = true;
m_sem = &semaphore;
m_sem->take();
}
/**
* This destructor unlocks the semaphore.
*/
NTSynchronized::~NTSynchronized()
{
if(usingSem)
m_sem->give();
else
semGive(m_semaphore);
m_semaphore.give();
}

6
networktables/cpp/lib/Win32/src/main/native/OSAL/System.cpp
View File

@@ -6,15 +6,17 @@
* Author: Mitchell Wills
*/
#include "windows.h"
#include <Windows.h>
#include <Mmsystem.h>
#include "networktables2/util/System.h"
//#include "semLib.h"
#include <stdio.h>
//#include <sysLib.h> // for sysClkRateGet
//#include <usrLib.h> // for taskDelay
//timeGetTime() uses Winmm.lib
//timeGetTime() uses Winmm.lib
#pragma comment (lib,"Winmm.lib")
#pragma comment( lib, "Ws2_32" )
void sleep_ms(unsigned long ms){
//taskDelay((INT32)((double)sysClkRateGet() * ms / 1000));
Sleep(ms);

316
networktables/cpp/lib/Win32/src/main/native/OSAL/Task.cpp
View File

@@ -1,316 +0,0 @@
#include "stdafx.h"
#include "OSAL/Task.h"
#include "NetworkCommunication/UsageReporting.h"
#include "WPIErrors.h"
#include <string.h>
#include <Windows.h>
//const UINT32 NTTask::kDefaultPriority;
//const INT32 NTTask::kInvalidTaskID;
/**
* Create but don't launch a task.
* @param name The name of the task. "FRC_" will be prepended to the task name.
* @param function The address of the function to run as the new task.
* @param priority The priority for the task.
* @param stackSize The size of the stack for the task
*/
NTTask::NTTask(const char* name, FUNCPTR function, INT32 priority, UINT32 stackSize)
{
//m_taskID = kInvalidTaskID;
m_Handle=NULL;
m_function = function;
m_priority = priority;
m_stackSize = stackSize;
m_taskName = new char[strlen(name) + 5];
strcpy(m_taskName, "FRC_");
strcpy(m_taskName+4, name);
//TODO see if we want to debug out this... it may be interesting info
#if 0
static INT32 instances = 0;
instances++;
#endif
}
NTTask::~NTTask()
{
//if (m_taskID != kInvalidTaskID) Stop();
if (m_Handle)
Stop();
delete [] m_taskName;
m_taskName = NULL;
}
// The thread callback
DWORD thread_proc( void *p_ptr )
{ // Get the pointer to myself
NTTask *p_this = (NTTask*)p_ptr;
assert( p_this );
(*p_this->m_function)( p_this->m_Arg );
return 0;
}
//This sets the name of the thread, which can help to identify threads in win32
#define MS_VC_EXCEPTION 0x406D1388
static void set_thread_name( const char *p_thread_name, DWORD ID )
{
#pragma pack(push,8)
typedef struct tagTHREADNAME_INFO
{ DWORD dwType; // Must be 0x1000.
LPCSTR szName; // Pointer to name (in user addr space).
DWORD dwThreadID; // Thread ID (-1=caller thread).
DWORD dwFlags; // Reserved for future use, must be zero.
} THREADNAME_INFO;
#pragma pack(pop)
// Set the information
THREADNAME_INFO info = { 0x1000, p_thread_name, ID, 0 };
// Raise the exception
__try { ::RaiseException( MS_VC_EXCEPTION, 0, sizeof(info)/sizeof(ULONG_PTR), (ULONG_PTR*)&info ); }
__except( EXCEPTION_EXECUTE_HANDLER ) {}
}
bool NTTask::StartInternal()
{
if (m_Handle)
{
assert(false); // This may be lifted... just want to see if it happens
Stop();
}
m_Handle = ::CreateThread( NULL, m_stackSize, (LPTHREAD_START_ROUTINE)thread_proc, (void*)this, NULL, &m_ID );
if (m_ID!=NULL)
set_thread_name(m_taskName,m_ID);
return m_Handle!=NULL;
}
/**
* Starts this task.
* If it is already running or unable to start, it fails and returns false.
*/
bool NTTask::Start(void *arg0)
{
m_Arg=arg0;
return StartInternal();
}
/**
* Restarts a running task.
* If the task isn't started, it starts it.
* @return false if the task is running and we are unable to kill the previous instance
*/
bool NTTask::Restart()
{
//return HandleError(taskRestart(m_taskID));
Stop();
return StartInternal();
}
/**
* Kills the running task.
* @returns true on success false if the task doesn't exist or we are unable to kill it.
*/
bool NTTask::Stop()
{
if (!m_Handle) return false;
bool ok = true;
// Wait for the thread to finish
#ifdef _DEBUG
try_again:
#endif _DEBUG
//const int TimeOut=2000;
const int TimeOut=INFINITE;
if ( ::WaitForSingleObject( m_Handle , TimeOut ) == WAIT_TIMEOUT )
{ // Signal the thread as having been terminated
//if ( m_p_error ) *m_p_error = true;
// If this gets triggered we have a bug in the code.
#ifdef _DEBUG
switch( ::MessageBoxW( NULL, L"A thread being used by the application\n"
L"has taken to long to exit and so is about\n"
L"to be terminated to avoid locking-up\n"
L"the application.\n\n"
L"Click ABORT to debug.\n"
L"Click RETRY to wait for a bit longer.\n"
L"Click IGNORE to terminate the thread.\n\n"
L"This message is NOT displayed in release mode.",
L"Thread exit has timed out.",
MB_ABORTRETRYIGNORE ) )
{ case IDRETRY: goto try_again;
case IDABORT: ::DebugBreak(); break;
case IDIGNORE: break;
}
#endif _DEBUG
// Free thread memory
CONTEXT c_ = {0};
c_.ContextFlags = CONTEXT_FULL;
::GetThreadContext( m_Handle, &c_ );
MEMORY_BASIC_INFORMATION Info_ = {0};
#ifdef _M_X64
::VirtualQuery( (PVOID) c_.Rsp, &Info_, sizeof(Info_) );
#else
::VirtualQuery( (PVOID) c_.Esp, &Info_, sizeof(Info_) );
#endif
// Terminate the thread
::TerminateThread( m_Handle, 0 );
// Free the memory
::VirtualFree( Info_.AllocationBase, 0, MEM_RELEASE );
}
//if (Verify())
//{
// ok = HandleError(taskDelete(m_taskID));
//}
//m_taskID = kInvalidTaskID;
// The thread has finished
CloseHandle( m_Handle );
m_Handle = NULL;
return ok;
}
/**
* Returns true if the task is ready to execute (i.e. not suspended, delayed, or blocked).
* @return true if ready, false if not ready.
*/
bool NTTask::IsReady()
{
//return taskIsReady(m_taskID);
return m_Handle!=NULL;
}
/**
* Returns true if the task was explicitly suspended by calling Suspend()
* @return true if suspended, false if not suspended.
*/
bool NTTask::IsSuspended()
{
//return taskIsSuspended(m_taskID);
return false;
}
/**
* Pauses a running task.
* Returns true on success, false if unable to pause or the task isn't running.
*/
bool NTTask::Suspend()
{
//return HandleError(taskSuspend(m_taskID));
assert(false);
return false;
}
/**
* Resumes a paused task.
* Returns true on success, false if unable to resume or if the task isn't running/paused.
*/
bool NTTask::Resume()
{
//return HandleError(taskResume(m_taskID));
assert(false);
return false;
}
/**
* Verifies a task still exists.
* @returns true on success.
*/
bool NTTask::Verify()
{
//return taskIdVerify(m_taskID) == OK;
return true;
}
/**
* Gets the priority of a task.
* @returns task priority or 0 if an error occured
*/
INT32 NTTask::GetPriority()
{
//if (HandleError(taskPriorityGet(m_taskID, &m_priority)))
// return m_priority;
//else
// return 0;
return m_priority;
}
/**
* This routine changes a task's priority to a specified priority.
* Priorities range from 0, the highest priority, to 255, the lowest priority.
* Default task priority is 100.
* @param priority The priority the task should run at.
* @returns true on success.
*/
bool NTTask::SetPriority(INT32 priority)
{
m_priority = priority;
//return HandleError(taskPrioritySet(m_taskID, m_priority));
return true;
}
/**
* Returns the name of the task.
* @returns Pointer to the name of the task or NULL if not allocated
*/
const char* NTTask::GetName()
{
return m_taskName;
}
/**
* Get the ID of a task
* @returns Task ID of this task. NTTask::kInvalidTaskID (-1) if the task has not been started or has already exited.
*/
INT32 NTTask::GetID()
{
//if (Verify())
// return m_taskID;
if (m_Handle)
return m_ID;
return kInvalidTaskID;
}
/**
* Handles errors generated by task related code.
*/
bool NTTask::HandleError(STATUS results)
{
if (results != ERROR) return true;
//switch(errnoGet())
//{
//case S_objLib_OBJ_ID_ERROR:
// wpi_setWPIErrorWithContext(TaskIDError, m_taskName);
// break;
//
//case S_objLib_OBJ_DELETED:
// wpi_setWPIErrorWithContext(TaskDeletedError, m_taskName);
// break;
//
//case S_taskLib_ILLEGAL_OPTIONS:
// wpi_setWPIErrorWithContext(TaskOptionsError, m_taskName);
// break;
//
//case S_memLib_NOT_ENOUGH_MEMORY:
// wpi_setWPIErrorWithContext(TaskMemoryError, m_taskName);
// break;
//
//case S_taskLib_ILLEGAL_PRIORITY:
// wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName);
// break;
//default:
// printErrno(errnoGet());
// wpi_setWPIErrorWithContext(TaskError, m_taskName);
//}
return false;
}

22
networktables/cpp/lib/Win32/src/main/native/networktables2/stream/FDIOStream.cpp
View File

@@ -1,22 +1,24 @@
#include "stdafx.h"
/*
* FDIOStream.cpp
*
* Created on: Sep 27, 2012
*/
//make sure this comes before windows.h
#include <winsock2.h>
#include "networktables2/stream/FDIOStream.h"
#include "networktables2/util/IOException.h"
#include "networktables2/util/EOFException.h"
#include <iostream>
#include <errno.h>
#include <stdlib.h>
#include <assert.h>
#include <stdio.h>
#include <windows.h>
#include <winsock2.h>
#include <wininet.h>
#include <ws2tcpip.h>
#include <io.h>
FDIOStream::FDIOStream(int _fd){
fd = _fd;
@@ -24,7 +26,7 @@ FDIOStream::FDIOStream(int _fd){
u_long on = 1;
if (ioctlsocket(fd, FIONBIO, &on))
{
::close(fd);
::_close(fd);
throw IOException("Could not set socket to non-blocking mode");
}
}
@@ -38,7 +40,7 @@ int FDIOStream::read(void* ptr, int numbytes){
return 0;
char* bufferPointer = (char*)ptr;
int totalRead = 0;
while (totalRead < numbytes)
while (totalRead < numbytes)
{
int numRead=recv(fd, bufferPointer, numbytes-totalRead, 0);
if(numRead == 0){
@@ -77,7 +79,7 @@ int Send( int sockfd,char* Data, size_t sizeData )
if (!Result_)
{
char Buffer[128];
sprintf(Buffer,"Send() failed: WSA error=%d\n",WSAGetLastError());
sprintf_s(Buffer,"Send() failed: WSA error=%d\n",WSAGetLastError());
OutputDebugStringA(Buffer);
}
@@ -86,7 +88,7 @@ int Send( int sockfd,char* Data, size_t sizeData )
int FDIOStream::write(const void* ptr, int numbytes)
{
int numWrote = ::write(fd, (char*)ptr, numbytes);
int numWrote = ::_write(fd, (char*)ptr, numbytes);
if(numWrote==numbytes)
return numWrote;
@@ -106,12 +108,12 @@ int FDIOStream::write(const void* ptr, int numbytes)
throw IOException("Select returned an error on write");
if (FD_ISSET(fd, &fdSet)) {
numWrote = ::write(fd, (char*)ptr, numbytes);
numWrote = ::_write(fd, (char*)ptr, numbytes);
if(numWrote==numbytes)
return numWrote;
}
}
perror("write error: ");
fflush(stderr);
throw IOException("Could not write all bytes to fd stream");
@@ -126,7 +128,7 @@ void FDIOStream::close()
if (fd != INVALID_SOCKET)
{
char Buffer[128];
sprintf(Buffer,"closesocket %d\n",fd);
sprintf_s(Buffer,"closesocket %d\n",fd);
OutputDebugStringA(Buffer);
shutdown( fd, SD_BOTH );

2
networktables/cpp/lib/Win32/src/main/native/networktables2/stream/SocketServerStreamProvider.cpp
View File

@@ -4,7 +4,6 @@
* Created on: Sep 27, 2012
* Author: Mitchell Wills
*/
#include "stdafx.h"
#include "networktables2/stream/SocketServerStreamProvider.h"
#include "networktables2/stream/FDIOStream.h"
@@ -12,6 +11,7 @@
#include <cstring>
#include <errno.h>
#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/types.h>

9
networktables/cpp/lib/Win32/src/main/native/networktables2/stream/SocketStreamFactory.cpp
View File

@@ -4,10 +4,9 @@
* Created on: Nov 3, 2012
* Author: Mitchell Wills
*/
#include "stdafx.h"
#include <cstring>
#include <stdlib.h>
#include <assert.h>
#include <stdio.h>
#include <sys/types.h>
#include <winsock2.h>
@@ -53,7 +52,7 @@ IOStream *SocketStreamFactory::createStream(){
server = gethostbyname(host);
if (server == NULL)
if (server == NULL)
throw 1;
memset(&serv_addr, 0, sizeof(serv_addr));
@@ -75,7 +74,7 @@ IOStream *SocketStreamFactory::createStream(){
// [9/10/2013 JamesK]
{
char Buffer[128];
sprintf(Buffer,"connecting %d\n",sockfd);
sprintf_s(Buffer,"connecting %d\n",sockfd);
OutputDebugStringA(Buffer);
}
if (connect(sockfd,(struct sockaddr *) &serv_addr,sizeof(serv_addr)) == 0)
@@ -117,7 +116,7 @@ IOStream *SocketStreamFactory::createStream(){
if (ErrorMsg)
{
char Buffer[1024];
sprintf(Buffer,"ErrorMsg=%s WSA error=%d\n",ErrorMsg,WSAGetLastError());
sprintf_s(Buffer,"ErrorMsg=%s WSA error=%d\n",ErrorMsg,WSAGetLastError());
OutputDebugStringA(Buffer);
printf("ErrorMsg=%s WSA error=%d\n",ErrorMsg,WSAGetLastError());

68
networktables/cpp/lib/Win32/src/main/native/networktables2/thread/DefaultThreadManager.cpp
View File

@@ -3,58 +3,44 @@
*
* Created on: Sep 21, 2012
* Author: Mitchell Wills
* Re-Created on: June 26, 2015
* Author: Peter Mitrano
*/
#include "../../../../../../../../stdafx.h"
// Previous version used semaphores.
// This version was copied from the "Athena" version of network tables.
// It uses pthread and is much simpler
#include "networktables2/thread/DefaultThreadManager.h"
#include <exception>
#include <stdio.h>
PeriodicNTThread::PeriodicNTThread(PeriodicRunnable* _r, const char* _name) :
name(_name), thread(new NTTask(name, (FUNCPTR)PeriodicNTThread::taskMain)), r(_r), run(true)
{
fprintf(stdout, "Starting task: %s\n", name);
fflush(stdout);
thread->Start(this);
PeriodicNTThread::PeriodicNTThread(PeriodicRunnable* _r, const char* name) : r(_r), run(true){
if(pthread_create(&thread, NULL, (void* (*)(void*))PeriodicNTThread::taskMain, (void*)this))
throw std::exception();
}
PeriodicNTThread::~PeriodicNTThread()
{
stop();
//TODO somehow do this async
if (thread)
{
delete thread;
thread=NULL;
}
PeriodicNTThread::~PeriodicNTThread(){
stop();
if(thread.x == pthread_self().x){
fprintf(stderr, "WARNING: thread destructor called from this thread\n");
}
pthread_join(thread, NULL);
}
int PeriodicNTThread::taskMain(PeriodicNTThread* o)
{
//static wrapper
return o->_taskMain();
}
int PeriodicNTThread::_taskMain(){
try {
while(run){
r->run();
}
} catch (...) {
fprintf(stdout, "Task exited with uncaught exception %s\n", name);
fflush(stdout);
return 1;
}
fprintf(stdout, "Task exited normally: %s\n", name);
fflush(stdout);
void* PeriodicNTThread::taskMain(PeriodicNTThread* o){//static wrapper
o->_taskMain();
return 0;
}
void PeriodicNTThread::stop()
{
run = false;
void PeriodicNTThread::_taskMain(){
while(run){
r->run();
}
}
void PeriodicNTThread::stop() {
run = false;
//pthread_cancel(thread);
}
bool PeriodicNTThread::isRunning() {
return thread->IsReady();
return pthread_kill(thread, 0) == 0;
}
NTThread* DefaultThreadManager::newBlockingPeriodicThread(PeriodicRunnable* r, const char* name) {

63
simulation/JavaGazebo/pom.xml
View File

@@ -1,63 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<groupId>org.gazebosim</groupId>
<artifactId>JavaGazebo</artifactId>
<packaging>jar</packaging>
<version>0.1.0-SNAPSHOT</version>
<profiles>
<profile>
<id>docline-java8-disable</id>
<activation>
<jdk>[1.8,</jdk>
</activation>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-javadoc-plugin</artifactId>
<configuration>
<additionalparam>-Xdoclint:none</additionalparam>
</configuration>
</plugin>
</plugins>
</build>
</profile>
</profiles>
<dependencies>
<dependency>
<groupId>com.google.protobuf</groupId>
<artifactId>protobuf-java</artifactId>
<version>2.5.0</version>
</dependency>
<!-- TODO: Add unit tests -->
<!-- <dependency> -->
<!-- <groupId>junit</groupId> -->
<!-- <artifactId>junit</artifactId> -->
<!-- <version>4.11</version> -->
<!-- </dependency> -->
</dependencies>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-compiler-plugin</artifactId>
<version>3.1</version>
<configuration>
<source>1.7</source>
<target>1.7</target>
</configuration>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-source-plugin</artifactId>
<version>2.3</version>
</plugin>
</plugins>
</build>
</project>

11
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Connection.java
View File

@@ -5,6 +5,7 @@ import gazebo.msgs.GzTime.Time;
import java.io.IOException;
import java.net.ConnectException;
import java.net.InetAddress;
import java.io.InputStream;
import java.io.OutputStream;
import java.net.ServerSocket;
@@ -64,9 +65,17 @@ public class Connection {
public void serve(final ServerCallback cb) throws IOException {
ssocket = new ServerSocket(0);
host = ssocket.getInetAddress().getHostAddress(); // TODO: get globally addressable name.
host = ssocket.getInetAddress().getHostAddress();
port = ssocket.getLocalPort();
//enable user to change master uri via environment variable GAZEBO_MASTER_URI
//TODO : allow for automatic guesing of IP. Look at Connection.cc in gazebo for C++ example
String user_defined_ip = System.getenv("GAZEBO_IP");
if (user_defined_ip != null) {
host = InetAddress.getByName(user_defined_ip).getHostAddress();;
LOG.warning("Using custom host: "+host);
}
new Thread("Gazebo Server Thread") {
@Override
public void run() {

56
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Node.java
View File

@@ -52,10 +52,30 @@ public class Node implements Runnable, ServerCallback {
}
public void waitForConnection() throws IOException, InterruptedException {
//enable user to change master uri via environment variable GAZEBO_MASTER_URI
String user_defined_uri = System.getenv("GAZEBO_MASTER_URI");
String gazebo_master_uri = "localhost";
int port = 11345;
if (user_defined_uri != null) {
String[] parts = user_defined_uri.split(":");
if (parts.length != 2){
LOG.severe("invalid GAZEBO_MASTER_URI " + user_defined_uri+ ". URI must be of the form HOSTNAME:PORT");
LOG.warning("using default GAZEBO_MASTER_URI=localhost:11345");
}
else {
gazebo_master_uri = parts[0];
port = Integer.parseInt(parts[1]);
}
}
server.serve(this);
master.connectAndWait("localhost", 11345);
LOG.info("GAZEBO_MASTER_URI is host=" + gazebo_master_uri + " port="+port);
master.connectAndWait(gazebo_master_uri, port);
initializeConnection();
new Thread(this).start();
LOG.info("Serving on: "+server.host+":"+server.port);
}
@@ -66,9 +86,9 @@ public class Node implements Runnable, ServerCallback {
String type = defaultMessage.getDescriptorForType().getFullName();
Publisher<T> pub = new Publisher<T>(topic, type, server.host, server.port);
publishers.put(topic, pub);
Publish req = Publish.newBuilder().setTopic(topic).setMsgType(type)
.setHost(server.host).setPort(server.port).build();
.setHost(server.host).setPort(server.port).build();
try {
master.writePacket("advertise", req);
} catch (IOException e) {
@@ -76,7 +96,7 @@ public class Node implements Runnable, ServerCallback {
}
return pub;
}
public synchronized <T extends Message> Subscriber<T>
subscribe(String topic, T defaultMessage, SubscriberCallback<T> cb) {
topic = fixTopic(topic);
@@ -84,7 +104,7 @@ public class Node implements Runnable, ServerCallback {
if (subscriptions.containsKey(topic)) {
throw new RuntimeException("Multiple subscribers for: "+topic);
}
String type = defaultMessage.getDescriptorForType().getFullName();
Subscribe req = Subscribe.newBuilder().setTopic(topic).setMsgType(type)
.setHost(server.host).setPort(server.port).setLatching(false).build();
@@ -93,7 +113,7 @@ public class Node implements Runnable, ServerCallback {
} catch (IOException e) {
e.printStackTrace(); // FIXME: Shouldn't happen, should probably complain louder
}
Subscriber<T> s = new Subscriber<>(topic, type, cb, defaultMessage,
server.host, server.port);
subscriptions.put(topic, s);
@@ -122,7 +142,7 @@ public class Node implements Runnable, ServerCallback {
e.printStackTrace(); // FIXME: Log
}
}
private synchronized void initializeConnection() throws IOException {
Packet initData = master.read();
if (!initData.getType().equals("version_init")) {
@@ -135,12 +155,12 @@ public class Node implements Runnable, ServerCallback {
String_V ns = String_V.parseFrom(namespaceData.getSerializedData());
namespaces.addAll(ns.getDataList());
LOG.info(namespaces.toString());
Packet publisherData = master.read();
Packet publisherData = master.read();
if (publisherData.getType().equals("publishers_init")) {
Publishers pubs = Publishers.parseFrom(publisherData.getSerializedData());
for (Publish pub : pubs.getPublisherList()) {
PublisherRecord record = new RemotePublisherRecord(pub);
PublisherRecord record = new RemotePublisherRecord(pub);
publishers.put(record.getTopic(), record);
}
LOG.info(publishers.toString());
@@ -148,7 +168,7 @@ public class Node implements Runnable, ServerCallback {
LOG.severe("No publisher data received.");
}
}
public synchronized void processPacket(Packet packet) throws InvalidProtocolBufferException {
if (packet.getType().equals("publisher_add")) {
PublisherRecord pub = new RemotePublisherRecord(Publish.parseFrom(packet.getSerializedData()));
@@ -157,7 +177,7 @@ public class Node implements Runnable, ServerCallback {
LOG.info("ACK "+pub.getTopic());
return; // This is us
}
LOG.info("New Publisher: "+pub.getTopic());
LOG.fine("Publisher: "+Publish.parseFrom(packet.getSerializedData()));
publishers.put(pub.getTopic(), pub);
@@ -169,7 +189,7 @@ public class Node implements Runnable, ServerCallback {
LOG.info("Ignoring subscription request on (local) "+pub.getTopic());
return; // This is us
}
LOG.info("PUBSUB found for "+pub.getTopic());
LOG.fine("Publisher: "+Publish.parseFrom(packet.getSerializedData()));
subscriptions.get(pub.getTopic()).connect(pub);
@@ -185,6 +205,9 @@ public class Node implements Runnable, ServerCallback {
}
@Override
/**
* This is called when another node requests subscription to a topic we are publishing
*/
public void handle(Connection conn) throws IOException {
LOG.fine("Handling new connection");
Packet msg = conn.read();
@@ -192,7 +215,7 @@ public class Node implements Runnable, ServerCallback {
LOG.warning("Read null message.");
return;
}
if (msg.getType().equals("sub")) {
Subscribe sub = Subscribe.parseFrom(msg.getSerializedData());
if (!publishers.containsKey(sub.getTopic())) {
@@ -205,11 +228,12 @@ public class Node implements Runnable, ServerCallback {
PublisherRecord pub = publishers.get(sub.getTopic());
if (!pub.getMsgType().equals(sub.getMsgType())) {
LOG.severe(String.format("Message type mismatch requested=%d publishing=%s\n",
pub.getMsgType(), sub.getMsgType()));
pub.getMsgType(), sub.getMsgType()));
return;
}
LOG.info("CONN " + sub.getTopic());
//Tell the publisher that it has recieved a connection from a subscriver
pub.connect(conn);
} else {
LOG.warning("Unknown message type: " + msg.getType());

4
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Publisher.java
View File

@@ -65,6 +65,10 @@ public class Publisher<T extends Message> implements PublisherRecord {
}
@Override
/**
* This function is called when another topic requests a subscription to a topic I am publishing
* Called in Node.java in the handle() function
*/
public synchronized void connect(Connection conn) {
LOG.fine("Handling subscriber connection for topic: "+topic);
if (latching && lastMsg != null) {

29
simulation/README.md Normal file
View File

@@ -0,0 +1,29 @@
## Simulation Directory
Observe the following directory structure
.
|-- frc_gazebo_plugins (contains Gazebo Plugins)
| |-- clock
| |-- dc_motor
| |-- encoder
| |-- gyro
| |-- plugins
| |-- pneumatic_piston
| |-- potentiometer
| |-- rangefinder
| |-- servo
|
|-- frcsim.bat (launches gazebo with model/plugin paths on windows)
|-- frcsim.sh (launches gazebo with model/plugin paths on linux/mac)
|-- install.sh (convenient linux script to install Eclipse, Eclipse Plugins, and Gazebo)
|-- JavaGazebo (java library used by java simulation. Equivelant of the C++ gazebo_transport)
|-- SimDS (linux driverstation)
The gazbeo plugins are currently built with CMake.
Eventually they will be built with gradle.
All of this is delivered to students via the eclipse plugins
## Building
see the top level building.md

54
simulation/debs/.gitignore vendored
View File

@@ -1,54 +0,0 @@
# General
*.log
build/
screensteps/
trash/
# TMP
*/*/debian/files
*/*/models/
*/*/worlds
*/*/plugins/
*/*/features/
*/*/src/
*/*/devel/
*/*/.*
*/*/include/
*/*/msgs/
*/*/clock/
*/*/dc_motor/
*/*/docs/
*/*/encoder/
*/*/*.doxy
*/*/gyro/
*/*/limit_switch/
*/*/pneumatic_piston/
*/*/potentiometer/
*/*/rangefinder/
*/*/*.gradle
frcsim-gazebo-plugins/frcsim-gazebo-plugins/Makefile
# General Build Artifacts
*.dsc
*.deb
*.orig.tar.gz
*.debian.tar.gz
*.changes
*.build
*.substvars
*/*/debian/*/DEBIAN/
# Specific Build Artifacts
frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/frcsim-gazebo-plugins/
frcsim-gazebo-models/frcsim-gazebo-models/debian/frcsim-gazebo-models/
frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/frcsim-eclipse-plugins/
frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/frcsim-eclipse-toolchain-plugin/
frcsim/frcsim/debian/frcsim/
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/frcsim-libwpilibsim-cpp/
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
# Generated Repository
repository/db/
repository/dists/

202
simulation/debs/Makefile
View File

@@ -1,202 +0,0 @@
codename=trusty
allwpilib=../..
package-version = 1
gazebo-plugins-version = 0.2
gazebo-plugins-package-version = $(gazebo-plugins-version)-$(package-version)
gazebo-models-version = 0.3
gazebo-models-package-version = $(gazebo-models-version)-$(package-version)
gazebo-models-orig-url = https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1070?dl=1
eclipse-plugins-version = 0.1
eclipse-plugins-package-version = $(eclipse-plugins-version)-$(package-version)
eclipse-toolchain-version = 0.1
eclipse-toolchain-package-version = $(eclipse-toolchain-version)-$(package-version)
libwpilibsim-version = 0.1
libwpilibsim-package-version = $(libwpilibsim-version)-$(package-version)
frcsim-version = 0.1
frcsim-package-version = $(frcsim-version)-$(package-version)
# Main Targets
.PHONY: all jenkins allwpilib pull debs update-repository clean-repository clean install
all: update-repository
jenkins: update-repository
allwpilib:
cd $(allwpilib) && mvn -T 8 clean package -Dwith-eclipse-plugins -DskipTests -DskipIT
orig: orig-frcsim-gazebo-plugins orig-frcsim-gazebo-models orig-frcsim-eclipse-plugins \
orig-frcsim-libwpilibsim-cpp orig-frcsim
debs: debs-frcsim-gazebo-plugins debs-frcsim-gazebo-models debs-frcsim-eclipse-plugins \
debs-frcsim-libwpilibsim-cpp debs-frcsim
update-repository: debs clean-repository
cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
# cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
cd repository && reprepro includedeb $(codename) ../frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
cd repository && reprepro includedeb $(codename) ../frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
cd repository && reprepro includedeb $(codename) ../frcsim/frcsim_$(frcsim-package-version)_all.deb
echo Repository Updated
clean-repository:
cd repository && reprepro remove $(codename) frcsim-gazebo-plugins
cd repository && reprepro remove $(codename) frcsim-gazebo-models
cd repository && reprepro remove $(codename) frcsim-eclipse-plugins
# cd repository && reprepro remove $(codename) frcsim-eclipse-toolchain-plugin
cd repository && reprepro remove $(codename) frcsim-libwpilibsim-cpp
cd repository && reprepro remove $(codename) frcsim
clean:
-rm frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
-rm frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
-rm frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
-rm frcsim/frcsim_$(frcsim-version).orig.tar.gz
-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
-rm frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
-rm frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
-rm frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
-rm -r frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
-rm frcsim/frcsim_$(frcsim-package-version)_all.deb
install:
sudo dpkg -i frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb \
frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb \
frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb \
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb \
frcsim/frcsim_$(frcsim-package-version)_all.deb
# orig support (for faster parallel builds)
.PHONY: orig-frcsim-gazebo-plugins orig-frcsim-gazebo-models orig-frcsim-eclipse-plugins \
orig-frcsim-eclipse-toolchain-plugin orig-frcsim-libwpilibsim-cpp orig-frcsim
.PHONY: pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp
orig-frcsim-gazebo-models: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz:
cd frcsim-gazebo-models && \
wget --no-check-certificate $(gazebo-models-orig-url) -O frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz && \
tar xvf frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
orig-frcsim-gazebo-plugins: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
pull-gazebo-plugins:
cp -rf -t frcsim-gazebo-plugins/frcsim-gazebo-plugins/ $(allwpilib)/simulation/frc_gazebo_plugins/*
echo Increment version?
frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz: pull-gazebo-plugins
cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild clean
rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
cd frcsim-gazebo-plugins && tar --exclude="./debian" -czvf \
frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz frcsim-gazebo-plugins
orig-frcsim-eclipse-plugins: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
pull-eclipse-plugins:
rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
mkdir -p frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
mkdir -p frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.java_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.cpp_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.core_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.java.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.cpp.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.core.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
echo Increment version?
frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz: pull-eclipse-plugins
cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild clean
rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
cd frcsim-eclipse-plugins && tar --exclude="./debian" -czvf \
frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz frcsim-eclipse-plugins
orig-frcsim-eclipse-toolchain-plugin: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
pull-eclipse-toolchain:
rm -rf frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/plugins
rm -rf frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/features
mkdir -p frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/plugins
mkdir -p frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/features
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux_* frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/plugins/
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature_* frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/features/
echo Increment version?
frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz: pull-eclipse-toolchain
cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild clean
rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
cd frcsim-eclipse-toolchain-plugin && tar --exclude="./debian" -czvf \
frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz frcsim-eclipse-toolchain-plugin
orig-frcsim-libwpilibsim-cpp: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
pull-libwpilibsim-cpp:
mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
cp -rf $(allwpilib)/hal frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/networktables
cp -rf $(allwpilib)/networktables/cpp frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/networktables
mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/wpilibc
cp -r $(allwpilib)/wpilibc/wpilibC++ frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/wpilibc/wpilibC++
cp -r $(allwpilib)/wpilibc/wpilibC++Sim frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/wpilibc/wpilibC++Sim
echo 'cmake_minimum_required(VERSION 2.8)' > frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
echo 'project(WPILibSim)' >> frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
echo 'add_subdirectory(allwpilib/wpilibc/wpilibC++Sim)' >> frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
echo Increment version?
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz: pull-libwpilibsim-cpp
cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild clean
rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
cd frcsim-libwpilibsim-cpp && tar --exclude="./debian" -czvf \
frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz frcsim-libwpilibsim-cpp
orig-frcsim: frcsim/frcsim_$(frcsim-version).orig.tar.gz
frcsim/frcsim_$(frcsim-version).orig.tar.gz:
cd frcsim/frcsim && debuild clean
rm -f frcsim/frcsim_$(frcsim-version).orig.tar.gz
cd frcsim && tar --exclude="./debian" -czvf \
frcsim_$(frcsim-version).orig.tar.gz frcsim
# debs support (for faster parallel builds)
.PHONY: debs-frcsim-gazebo-plugins debs-frcsim-gazebo-models debs-frcsim-eclipse-plugins \
debs-frcsim-eclipse-toolchain-plugin debs-frcsim-libwpilibsim-cpp debs-frcsim
debs-frcsim-gazebo-plugins: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && make clean
cd frcsim-gazebo-plugins && sbuild --arch=i386 -A -d trusty-i386 frcsim-gazebo-plugins_$(gazebo-plugins-package-version).dsc
frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild --no-lintian -us -uc -aamd64
debs-frcsim-gazebo-models: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
cd frcsim-gazebo-models/frcsim-gazebo-models && debuild --no-lintian -us -uc
debs-frcsim-eclipse-plugins: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild --no-lintian -us -uc
debs-frcsim-eclipse-toolchain-plugin: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild --no-lintian -us -uc
debs-frcsim-libwpilibsim-cpp: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
cd frcsim-libwpilibsim-cpp && sbuild --arch=i386 -A -d trusty-i386 frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version).dsc
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild --no-lintian -us -uc -aamd64
debs-frcsim: frcsim/frcsim_$(frcsim-package-version)_all.deb
frcsim/frcsim_$(frcsim-package-version)_all.deb: frcsim/frcsim_$(frcsim-version).orig.tar.gz
cd frcsim/frcsim && debuild --no-lintian -us -uc
### SBUILD
#
# For building 32-bit builds on 64-bit machines
#
# $ mk-sbuild --arch i386 --personality=linux32 trusty
# To CHANGE the golden image: sudo schroot -c source:trusty-i386 -u root
# To ENTER an image snapshot: schroot -c trusty-i386
# To BUILD within a snapshot: sbuild -A -d trusty-i386 PACKAGE*.dsc
#
# sbuild --arch=i386 -A -d trusty-i386 frcsim-gazebo-plugins_0.2-1.dsc

20
simulation/debs/README.org
View File

@@ -1,20 +0,0 @@
* Setting up apt-repository
: sudo apt-get install reprepro
http://kaivanov.blogspot.com/2012/08/creating-apt-repository-with-reprepro.html
** One-Time
- Get signing key
: gpg --armor --output frcsim.key --export
** To build and add debs
: make
: rsync -r repository/ adhenning@ccc.wpi.edu:public_html/frcsim # Syncs repo
** To use
: sudo nano /etc/apt/sources.list.d/frcsim-latest.list
: deb http://users.wpi.edu/~adhenning/frcsim raring main
: deb-src http://users.wpi.edu/~adhenning/frcsim raring main
: curl -H GET users.wpi.edu/~adhenning/frcsim.key | sudo apt-key add -
: sudo apt-get update
: sudo apt-get install frcsim

16
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/Makefile
View File

@@ -1,16 +0,0 @@
prefix = /usr
eclipsedir = $(prefix)/share/eclipse/dropins/frcsim
plugindir = $(eclipsedir)/plugins
featuredir = $(eclipsedir)/features
all: clean
sh ./genfeatures.sh
clean:
rm -rf build
install: all
mkdir -p $(DESTDIR)$(plugindir)
mkdir -p $(DESTDIR)$(featuredir)
install plugins/** $(DESTDIR)$(plugindir)
cp -r build/features/** $(DESTDIR)$(featuredir)

5
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/changelog
View File

@@ -1,5 +0,0 @@
frcsim-eclipse-plugins (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 21:04:27 -0400

1
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/compat
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@@ -1 +0,0 @@
9

13
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/control
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@@ -1,13 +0,0 @@
Source: frcsim-eclipse-plugins
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim-eclipse-plugins
Architecture: all
Depends: ${shlibs:Depends}, ${misc:Depends}, eclipse, eclipse-jdt, eclipse-cdt, eclipse-rse, eclipse-cdt-launch-remote, g++, libwebkitgtk-1.0-0, frcsim-libwpilibsim-cpp
Description: FRC plugin for developing code for RoboRIO and WPILibSim.
This plugin allows the usage of eclipse for development of WPILib
robot code for the RoboRIO and simulation in gazebo.

25
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/copyright
View File

@@ -1,25 +0,0 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

3
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/rules
View File

@@ -1,3 +0,0 @@
#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/source/format
View File

@@ -1 +0,0 @@
3.0 (quilt)

8
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/genfeatures.sh
View File

@@ -1,8 +0,0 @@
mkdir -p build/zips/features
mkdir -p build/features
for i in features/*.jar; do
echo $i
cp $i build/zips/$i.zip;
mkdir build/$i
unzip build/zips/$i.zip -d build/$i
done

1
simulation/debs/frcsim-eclipse-plugins/version
View File

@@ -1 +0,0 @@
0.1.1

16
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/Makefile
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@@ -1,16 +0,0 @@
prefix = /usr
frcsimdir = $(prefix)/share/frcsim
modeldir = $(frcsimdir)/models
worlddir = $(frcsimdir)/worlds
all:
echo Should download files
clean:
echo Cleaning
install: all
mkdir -p $(DESTDIR)$(modeldir)
mkdir -p $(DESTDIR)$(worlddir)
cp -r models/** $(DESTDIR)$(modeldir)
cp -r worlds/** $(DESTDIR)$(worlddir)

17
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog
View File

@@ -1,17 +0,0 @@
frcsim-gazebo-models (0.3-1) trusty; urgency=medium
* Fixed GearsBot gyro
-- Alex Henning <alex@thoriumrobotics.com> Tue, 12 Aug 2014 09:32:27 -0400
frcsim-gazebo-models (0.2-1) trusty; urgency=medium
* New models using the smaller plugins
-- Alex Henning <alex@thoriumrobotics.com> Mon, 07 Jul 2014 12:52:50 -0700
frcsim-gazebo-models (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 17:13:26 -0400

1
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/compat
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@@ -1 +0,0 @@
9

13
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/control
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@@ -1,13 +0,0 @@
Source: frcsim-gazebo-models
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim-gazebo-models
Architecture: all
Depends: ${shlibs:Depends}, ${misc:Depends}, frcsim-gazebo-plugins
Description: FRC models that can be used in Gazebo.
Models that can be used in Gazebo to simulate FRC-like
robots are controllable through WPILibSim (Java or C++)

25
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/copyright
View File

@@ -1,25 +0,0 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

3
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/rules
View File

@@ -1,3 +0,0 @@
#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/source/format
View File

@@ -1 +0,0 @@
3.0 (quilt)

11
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/changelog
View File

@@ -1,11 +0,0 @@
frcsim-gazebo-plugins (0.2-1) trusty; urgency=medium
* Split plugin into many parts.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 02 Jul 2014 13:50:38 -0700
frcsim-gazebo-plugins (0.1-1) trusty; urgency=low
* Initial release
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 16:22:26 -0400

1
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/compat
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@@ -1 +0,0 @@
9

13
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/control
View File

@@ -1,13 +0,0 @@
Source: frcsim-gazebo-plugins
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9), gazebo3, libgazebo-dev, libavcodec-dev, libavformat-dev, libswscale-dev
Package: frcsim-gazebo-plugins
Architecture: i386 amd64
Depends: ${shlibs:Depends}, ${misc:Depends}, gazebo3, libgazebo-dev, libavcodec-dev, libswscale-dev
Description: FRC plugin for controlling robots in the gazebo plugin.
This plugin allows robots in gazebo to communicate with WPILib
programs and enables the control of the robots.

25
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/copyright
View File

@@ -1,25 +0,0 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

6
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/rules
View File

@@ -1,6 +0,0 @@
#!/usr/bin/make -f
%:
dh $@
override_dh_strip:
strip --remove-section=.comment --remove-section=.note --strip-unneeded debian/frcsim-gazebo-plugins/usr/lib/frcsim/plugins/libgz_potentiometer.so

1
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/source/format
View File

@@ -1 +0,0 @@
3.0 (quilt)

19
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/Makefile
View File

@@ -1,19 +0,0 @@
prefix = /usr
lib.dir = $(prefix)/lib
build.dir = build
allwpilib = ../..
all:
mkdir -p $(build.dir)
cd build && cmake .. && make
# cp -r $(allwpilib)/wpilibc/wpilibC++ build
# cd ${build.dir} && ALLWPILIB=$(allwpilib) cmake .. && make
clean:
rm -rf $(build.dir)
install: all
mkdir -p $(DESTDIR)$(lib.dir)
install build/allwpilib/wpilibc/wpilibC++Sim/libWPILibSim.so $(DESTDIR)$(lib.dir)
# install $(build.dir)/libWPILibSim.so $(DESTDIR)$(lib.dir)
# install $(build.dir)/build/wpilibC++/libWPILib.a $(DESTDIR)$(lib.dir)

5
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/changelog
View File

@@ -1,5 +0,0 @@
frcsim-libwpilibsim-cpp (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 06 June 2014 21:04:27 -0400

1
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/compat
View File

@@ -1 +0,0 @@
9

13
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/control
View File

@@ -1,13 +0,0 @@
Source: frcsim-libwpilibsim-cpp
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim-libwpilibsim-cpp
Architecture: i386 amd64
Depends: ${shlibs:Depends}, ${misc:Depends}, libboost-system-dev, libprotobuf-dev
Description: Installs `libWPILibSim.so`.
Install platform specific libWPILibSim library necessary to run C++
frcsim programs.

25
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/copyright
View File

@@ -1,25 +0,0 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

BIN
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/debianpackage/usr/lib/libWPILibSim.so
View File

Binary file not shown.

13
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/rules
View File

@@ -1,13 +0,0 @@
#!/usr/bin/make -f
# Uncomment this to turn on verbose mode.
#export DH_VERBOSE=1
export DH_OPTIONS
export DESTDIR=$$(pwd)/debian/frcsim-libwpilibsim-cpp
%:
dh $@
override_dh_strip:

1
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/source/format
View File

@@ -1 +0,0 @@
3.0 (quilt)

97
simulation/debs/frcsim.key
View File

@@ -1,97 +0,0 @@
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Version: GnuPG v1.4.12 (GNU/Linux)
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-----END PGP PUBLIC KEY BLOCK-----

12
simulation/debs/frcsim/frcsim/Makefile
View File

@@ -1,12 +0,0 @@
prefix = /usr
bindir = $(prefix)/bin
all:
echo Should download files
clean:
echo Cleaning
install: all
mkdir -p $(DESTDIR)$(bindir)
install frcsim $(DESTDIR)$(bindir)/frcsim

5
simulation/debs/frcsim/frcsim/debian/changelog
View File

@@ -1,5 +0,0 @@
frcsim (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 21:04:27 -0400

1
simulation/debs/frcsim/frcsim/debian/compat
View File

@@ -1 +0,0 @@
9

15
simulation/debs/frcsim/frcsim/debian/control
View File

@@ -1,15 +0,0 @@
Source: frcsim
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim
Architecture: all
Depends: ${shlibs:Depends}, ${misc:Depends}, frcsim-gazebo-plugins, frcsim-gazebo-models, frcsim-eclipse-plugins
Description: Installs everything necessary for FRC simulation with Gazebo.
Package that installs everything necessary for FRC Simulation, including
the gazebo plugin, gazebo models, eclipse-plugins and a wrapper script
around Gazebo. This enables support for development of FRC robots with
simulation.

25
simulation/debs/frcsim/frcsim/debian/copyright
View File

@@ -1,25 +0,0 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

3
simulation/debs/frcsim/frcsim/debian/rules
View File

@@ -1,3 +0,0 @@
#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim/frcsim/debian/source/format
View File

@@ -1 +0,0 @@
3.0 (quilt)

5
simulation/debs/frcsim/frcsim/frcsim
View File

@@ -1,5 +0,0 @@
#!/bin/bash
export GAZEBO_PLUGIN_PATH="${GAZEBO_PLUGIN_PATH}:/usr/lib/frcsim/plugins"
export GAZEBO_MODEL_PATH="${GAZEBO_MODEL_PATH}:/usr/share/frcsim/models"
export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/usr/lib/frcsim/plugins"
gazebo $@

153
simulation/debs/install.sh
View File

@@ -1,153 +0,0 @@
#!/bin/bash
function check-environment {
# Ensure root access
if [ "$(id -u)" != "0" ]; then
echo "*** This script must be run as root!" 1>&2
echo "*** Make sure that you followed the instructions properly." 1>&2
install-fail
fi
# Make sure that we're on Ubuntu.
if [ "$(lsb_release -is)" != "Ubuntu" ]; then
if [ "$(lsb_release -is)" = "" ]; then
echo "*** Distributions other than Ubuntu (such as yours, probably) are not supported." 1>&2
else
echo "*** Distributions other than Ubuntu (such as $(lsb_release -is)) are not supported." 1>&2
fi
echo "*** This means that if the install fails, don't blame us." 1>&2
echo "*** Continue anyway? (y/n)" 1>&2
read CONT
if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
install-fail
fi
fi
# Make sure that we have /etc/apt/sources.list.d available.
if [ ! -e /etc/apt/sources.list.d ]; then
echo "*** Cannot find /etc/apt/sources.list.d - is apt installed?"
install-fail
fi
# Make sure that apt-key is installed.
if ! which apt-key >/dev/null; then
echo "*** You don't appear to have apt-key installed." 1>&2
echo "*** Please install apt and run the script again." 1>&2
install-fail
fi
# Make sure that apt-get is installed.
if ! which apt-get >/dev/null; then
echo "*** You don't appear to have apt-get installed." 1>&2
echo "*** Please install apt and run the script again." 1>&2
install-fail
fi
# Make sure that we have internet access.
if ! ping 8.8.8.8 -c 1 >/dev/null; then
echo "*** You don't appear to be able to access the internet! (Can't ping 8.8.8.8)" 1>&2
install-fail
fi
# Make sure that wget is installed.
if ! which wget >/dev/null; then
echo "*** You don't appear to have wget installed." 1>&2
echo "*** Install? (y/n)" 1>&2
read CONT
if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
install-fail
fi
apt-get install wget
fi
}
function install-fail {
python -c "raw_input(\"Installation Failed (Hit enter to exit) \")" 1>&2
exit 1
}
function remove-frcsim {
check-environment
echo "*** Remove Gazebo package entry too? (y/n)" 1>&2
read CONT
if [ "$CONT" == "y" -o "$CONT" == "Y" ]; then
rm -f /etc/apt/sources.list.d/gazebo-latest.list
fi
rm -f /etc/apt/sources.list.d/frcsim-latest.list
# TODO: Does not currently remove keys. Should it?
apt-get update
apt-get remove --auto-remove frcsim
}
function install-frcsim {
check-environment
# Add Gazebo Repository and Key
if ! echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list
then
echo "*** Cannot add Gazebo repository!" 1>&2
install-fail
fi
if ! (wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -)
then
echo "*** Cannot add Gazebo repository key!" 1>&2
if ! ping packages.osrfoundation.org -c 1 >/dev/null; then
echo "*** The package host for Gazebo appears to be down. Try again later." 1>&2
fi
install-fail
fi
# Add FRCSim Repository and Key
if ! echo "deb http://first.wpi.edu/FRC/roborio/release/linux `lsb_release -cs` main" > /etc/apt/sources.list.d/frcsim-latest.list
then
echo "*** Cannot add FRCSim repository!" 1>&2
install-fail
fi
if ! (wget first.wpi.edu/FRC/roborio/wpilib.gpg.key -O - | apt-key add -)
then
echo "*** Cannot add FRCSim repository key!" 1>&2
if ! ping first.wpi.edu -c 1 >/dev/null; then
echo "*** The package host for FRCSim appears to be down. Try again later." 1>&2
fi
install-fail
fi
# Update and install frcsim and its dependencies
if ! apt-get update
then
echo "*** Could not resynchronize package index files." 1>&2
echo "*** Are you running another update or install?" 1>&2
install-fail
fi
if ! apt-get install -y frcsim
then
echo "*** Could not install frcsim packages. See above output for details." 1>&2
echo "*** Are you running another update or install?" 1>&2
install-fail
fi
# Done
python -c "raw_input(\"Installation Finished (Hit enter to exit) \")" 1>&2
}
if [ "$1" == "ROOT" ]
then
install-frcsim
elif [ "$1" == "INSTALLER" ]
then
SUDO_ASKPASS=/usr/bin/ssh-askpass sudo bash -c "$0 ROOT"
elif [ "$1" == "REMOVE-ROOT" ]
then
remove-frcsim
elif [ "$1" == "REMOVE" ]
then
SUDO_ASKPASS=/usr/bin/ssh-askpass sudo bash -c "$0 REMOVE-ROOT"
else
gnome-terminal --window --hide-menubar --title "FRCSim Installer" -e "$0 INSTALLER"
fi

12
simulation/debs/repository/conf/distributions
View File

@@ -1,12 +0,0 @@
Origin: users.wpi.edu
Label: FRCSim
Codename: trusty
Architectures: i386 amd64 source
Components: main
Description: Repository for simulating FRC robots using WPILibSim and the Gazebo simualtor.
SignWith: yes
DebOverride: override.trusty
DscOverride: override.trusty
DebIndices: Packages Release . .gz
UDebIndices: Packages . .gz
DscIndices: Sources Release . .gz

3
simulation/debs/repository/conf/options
View File

@@ -1,3 +0,0 @@
verbose
ask-passphrase
basedir .

0
simulation/debs/repository/conf/override.trusty
View File

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