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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
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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__