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merged from frcsim branch

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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/Timer.cpp
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@@ -11,6 +11,21 @@
#include "simulation/simTime.h"
#include "Utility.h"
// Internal stuff
#include "simulation/SimFloatInput.h"
#include "simulation/MainNode.h"
namespace wpilib { namespace internal {
double simTime = 0;
std::condition_variable time_wait;
std::mutex time_wait_mutex;
void time_callback(const msgs::ConstFloat64Ptr &msg) {
simTime = msg->data();
time_wait.notify_all();
}
}}
/**
* Pause the task for a specified time.
*
@@ -26,8 +41,8 @@ void Wait(double seconds)
double start = wpilib::internal::simTime;
std::unique_lock<std::mutex> lock(wpilib::internal::time_wait_mutex);
while ((wpilib::internal::simTime - start) < seconds) {
std::unique_lock<std::mutex> lock(wpilib::internal::time_wait_mutex);
wpilib::internal::time_wait.wait(lock);
}
}
@@ -51,6 +66,8 @@ double GetTime()
return Timer::GetFPGATimestamp(); // The epoch starts when Gazebo starts
}
//for compatibility with msvc12--see C2864
const double Timer::kRolloverTime = (1ll << 32) / 1e6;
/**
* Create a new timer object.
*
@@ -189,17 +206,3 @@ extern "C"
uint32_t niTimestamp32(void);
uint64_t niTimestamp64(void);
}
// Internal stuff
#include "simulation/SimFloatInput.h"
#include "simulation/MainNode.h"
namespace wpilib { namespace internal {
double simTime = 0;
void time_callback(const msgs::ConstFloat64Ptr &msg) {
simTime = msg->data();
time_wait.notify_all();
}
transport::SubscriberPtr time_pub = MainNode::Subscribe("~/time", &time_callback);
}}