merged from frcsim branch

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

simulation/frc_gazebo_plugins/servo/src/servo.cpp

@@ -0,0 +1,70 @@
+#ifdef _WIN32
+  // Ensure that Winsock2.h is included before Windows.h, which can get
+  // pulled in by anybody (e.g., Boost).
+  #include <Winsock2.h>
+#endif
+
+#include "servo.h"
+
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+GZ_REGISTER_MODEL_PLUGIN(Servo)
+
+Servo::Servo() {}
+
+Servo::~Servo() {}
+
+void Servo::Load(physics::ModelPtr model, sdf::ElementPtr sdf){
+	this->model = model;
+	signal = 0;
+
+	//parse SDF Properries
+	joint = model->GetJoint(sdf->Get<std::string>("joint"));
+	if (sdf->HasElement("topic")) {
+		topic = sdf->Get<std::string>("topic");
+	}
+	else {
+		topic = "~/"+sdf->GetAttribute("name")->GetAsString();
+	}
+
+	if (sdf->HasElement("torque")) {
+		torque = sdf->Get<double>("torque");
+	}
+	else {
+		torque = 5;
+	}
+
+	gzmsg << "initializing awesome servo: " << topic
+		<< " joint=" << joint->GetName()
+		<< " torque=" << torque << std::endl;
+
+	//Connect to Gazebo transport for messaging
+	std::string scoped_name = model->GetWorld()->GetName()+"::"+model->GetScopedName();
+	boost::replace_all(scoped_name, "::","/");
+	node = transport::NodePtr(new transport::Node());
+	node->Init(scoped_name);
+	sub = node->Subscribe(topic, &Servo::Callback, this);
+
+	//connect to the world update event
+	//this will call update every iteration
+	updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&Servo::Update, this, _1));
+}
+
+void Servo::Update(const common::UpdateInfo &info){
+	//torque is in kg*cm
+	//joint->SetAngle(0,signal*180);
+  if (joint->GetAngle(0) < signal){
+    joint->SetForce(0,torque);
+  }
+  else if (joint->GetAngle(0) > signal){
+    joint->SetForce(0,torque);
+  }
+  joint->SetForce(0,0);
+}
+
+void Servo::Callback(const msgs::ConstFloat64Ptr &msg){
+  	signal = msg->data();
+    if (signal < -1) { signal = -1; }
+    else if (signal > 1) { signal = 1; }
+}