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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

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
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@@ -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 {};
};
};