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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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33
wpilibc/wpilibC++Sim/src/DriverStation.cpp
View File

@@ -24,7 +24,7 @@ TLogLevel dsLogLevel = logDEBUG;
const uint32_t DriverStation::kBatteryChannel;
const uint32_t DriverStation::kJoystickPorts;
const uint32_t DriverStation::kJoystickAxes;
constexpr float DriverStation::kUpdatePeriod;
const float DriverStation::kUpdatePeriod = 0.02;
uint8_t DriverStation::m_updateNumber = 0;
/**
@@ -37,22 +37,22 @@ DriverStation::DriverStation() {
stateSub = MainNode::Subscribe("~/ds/state",
&DriverStation::stateCallback, this);
// TODO: for loop + boost bind
joysticks[0] = msgs::JoystickPtr(new msgs::Joystick());
joysticks[0] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[0] = MainNode::Subscribe("~/ds/joysticks/0",
&DriverStation::joystickCallback0, this);
joysticks[1] = msgs::JoystickPtr(new msgs::Joystick());
joysticks[1] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[1] = MainNode::Subscribe("~/ds/joysticks/1",
&DriverStation::joystickCallback1, this);
joysticks[2] = msgs::JoystickPtr(new msgs::Joystick());
joysticks[2] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[2] = MainNode::Subscribe("~/ds/joysticks/2",
&DriverStation::joystickCallback2, this);
joysticks[3] = msgs::JoystickPtr(new msgs::Joystick());
joysticks[3] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[3] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback3, this);
joysticks[4] = msgs::JoystickPtr(new msgs::Joystick());
joysticks[4] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[4] = MainNode::Subscribe("~/ds/joysticks/4",
&DriverStation::joystickCallback4, this);
joysticks[5] = msgs::JoystickPtr(new msgs::Joystick());
joysticks[5] = msgs::FRCJoystickPtr(new msgs::FRCJoystick());
joysticksSub[5] = MainNode::Subscribe("~/ds/joysticks/5",
&DriverStation::joystickCallback5, this);
@@ -148,7 +148,7 @@ short DriverStation::GetStickButtons(uint32_t stick)
short btns = 0, btnid;
std::unique_lock<std::recursive_mutex> lock(m_joystickMutex);
msgs::JoystickPtr joy = joysticks[stick];
msgs::FRCJoystickPtr joy = joysticks[stick];
for (btnid = 0; btnid < joy->buttons().size() && btnid < 12; btnid++)
{
if (joysticks[stick]->buttons(btnid))
@@ -210,7 +210,8 @@ void DriverStation::SetDigitalOut(uint32_t channel, bool value)
*/
bool DriverStation::GetDigitalOut(uint32_t channel)
{
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetDigitalOut");
wpi_setWPIErrorWithContext(UnsupportedInSimulation, "GetDigitalOut");
return false;
}
bool DriverStation::IsEnabled() const
@@ -331,39 +332,39 @@ void DriverStation::stateCallback(const msgs::ConstDriverStationPtr &msg)
m_waitForDataCond.notify_all();
}
void DriverStation::joystickCallback(const msgs::ConstJoystickPtr &msg,
void DriverStation::joystickCallback(const msgs::ConstFRCJoystickPtr &msg,
int i)
{
std::unique_lock<std::recursive_mutex> lock(m_joystickMutex);
*(joysticks[i]) = *msg;
}
void DriverStation::joystickCallback0(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback0(const msgs::ConstFRCJoystickPtr &msg)
{
joystickCallback(msg, 0);
}
void DriverStation::joystickCallback1(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback1(const msgs::ConstFRCJoystickPtr &msg)
{
joystickCallback(msg, 1);
}
void DriverStation::joystickCallback2(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback2(const msgs::ConstFRCJoystickPtr &msg)
{
joystickCallback(msg, 2);
}
void DriverStation::joystickCallback3(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback3(const msgs::ConstFRCJoystickPtr &msg)
{
joystickCallback(msg, 3);
}
void DriverStation::joystickCallback4(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback4(const msgs::ConstFRCJoystickPtr &msg)
{
joystickCallback(msg, 4);
}
void DriverStation::joystickCallback5(const msgs::ConstJoystickPtr &msg)
void DriverStation::joystickCallback5(const msgs::ConstFRCJoystickPtr &msg)
{
joystickCallback(msg, 5);
}