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

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java

@@ -54,7 +54,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     	m_init_analog_input = true;
         initPot(input, scale, offset);
     }
-    
+
     /**
      * AnalogPotentiometer constructor.
      *
@@ -73,7 +73,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     	m_init_analog_input = false;
     	initPot(input, scale, offset);
     }
-    
+
     /**
      * AnalogPotentiometer constructor.
      *
@@ -90,7 +90,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     public AnalogPotentiometer(final int channel, double scale) {
         this(channel, scale, 0);
     }
-    
+
     /**
      * AnalogPotentiometer constructor.
      *
@@ -116,7 +116,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     public AnalogPotentiometer(final int channel) {
     	this(channel, 1, 0);
     }
-    
+
     /**
      * AnalogPotentiometer constructor.
      *
@@ -190,7 +190,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
     public ITable getTable(){
         return m_table;
     }
-    
+
     public void free(){
     	if(m_init_analog_input){
     		m_analog_input.free();

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -162,7 +162,7 @@ public abstract class RobotBase {
             System.exit(1);
             return;
         }
-        
+
         // Set some implementations so that the static methods work properly
         Timer.SetImplementation(new SimTimer());
         RobotState.SetImplementation(DriverStation.getInstance());
@@ -173,10 +173,15 @@ public abstract class RobotBase {
 		try {
 			resources = RobotBase.class.getClassLoader().getResources("META-INF/MANIFEST.MF");
 		} catch (IOException e) {e.printStackTrace();}
+
+        System.out.println("resources = |"+ resources +"|");
+
 		while (resources != null && resources.hasMoreElements()) {
 		    try {
 		    	Manifest manifest = new Manifest(resources.nextElement().openStream());
-		    	robotName = manifest.getMainAttributes().getValue("Robot-Class");
+          if (manifest.getMainAttributes().getValue("Robot-Class") != null){
+            robotName = manifest.getMainAttributes().getValue("Robot-Class");
+          }
 		    } catch (IOException e) {e.printStackTrace();}
 		}
 

wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Servo.java

@@ -0,0 +1,192 @@
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+import edu.wpi.first.wpilibj.simulation.SimSpeedController;
+import edu.wpi.first.wpilibj.tables.ITable;
+import edu.wpi.first.wpilibj.tables.ITableListener;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
+/**
+ * Standard hobby style servo.
+ *
+ * The range parameters default to the appropriate values for the Hitec HS-322HD servo provided
+ * in the FIRST Kit of Parts in 2008.
+ */
+public class Servo implements SpeedController, LiveWindowSendable{
+
+    private static final double kMaxServoAngle = 180.0;
+    private static final double kMinServoAngle = 0.0;
+
+    protected static final double kDefaultMaxServoPWM = 2.4;
+    protected static final double kDefaultMinServoPWM = .6;
+
+    private SimSpeedController impl;
+    private int channel;
+
+    /**
+     * Common initialization code called by all constructors.
+     *
+     * InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
+     * well as the minimum and maximum PWM values supported by the servo.
+     *
+     */
+    private void initServo() {
+        LiveWindow.addActuator("Servo", channel, this);
+        impl = new SimSpeedController("simulator/pwm/"+channel);
+    }
+
+    /**
+     * Set the PWM value.
+     *
+     * @deprecated
+     *
+     * The PWM value is set using a range of -1.0 to 1.0, appropriately
+     * scaling the value for the FPGA.
+     *
+     * @param speed The speed to set.  Value should be between -1.0 and 1.0.
+     * @param syncGroup The update group to add this Set() to, pending UpdateSyncGroup().  If 0, update immediately.
+     */
+    public void set(double speed, byte syncGroup) {
+    	impl.set(speed, syncGroup);
+    }
+
+    /**
+     * Write out the PID value as seen in the PIDOutput base object.
+     *
+     * @param output Write out the PWM value as was found in the PIDController
+     */
+    public void pidWrite(double output) {
+        impl.pidWrite(output);
+    }
+
+    /**
+     * Constructor.<br>
+     *
+     * By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
+     * By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
+     *
+     * @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on the MXP port
+     */
+    public Servo(final int channel) {
+        this.channel = channel;
+        initServo();
+    }
+
+    private double getServoAngleRange() {
+        return kMaxServoAngle - kMinServoAngle;
+    }
+
+    /**
+     * Set the servo position.
+     *
+     * Servo values range from -1.0 to 1.0 corresponding to the range of full left to full right.
+     *
+     * @param value Position from -1.0 to 1.0.
+     */
+    public void set(double value) {
+        impl.set(value);
+    }
+
+    /**
+     * Get the servo position.
+     *
+     * Servo values range from -1.0 to 1.0 corresponding to the range of full left to full right.
+     *
+     * @return Position from -1.0 to 1.0.
+     */
+    public double get() {
+        return impl.get();
+    }
+
+    /**
+     * Disable the speed controller
+     */
+    public void disable() {
+  		impl.set(0);
+  	}
+
+    /**
+     * Set the servo angle.
+     *
+     * Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
+     *
+     * Servo angles that are out of the supported range of the servo simply "saturate" in that direction
+     * In other words, if the servo has a range of (X degrees to Y degrees) than angles of less than X
+     * result in an angle of X being set and angles of more than Y degrees result in an angle of Y being set.
+     *
+     * @param degrees The angle in degrees to set the servo.
+     */
+    public void setAngle(double degrees) {
+        if (degrees < kMinServoAngle) {
+            degrees = kMinServoAngle;
+        } else if (degrees > kMaxServoAngle) {
+            degrees = kMaxServoAngle;
+        }
+
+        set((degrees - kMinServoAngle) / getServoAngleRange());
+    }
+
+    /**
+     * Get the servo angle.
+     *
+     * Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
+     * @return The angle in degrees to which the servo is set.
+     */
+    public double getAngle() {
+        return impl.get() * getServoAngleRange() + kMinServoAngle;
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+  	@Override
+	  public ITable getTable() {
+        return m_table;
+  	}
+
+    /*
+     * Live Window code, only does anything if live window is activated.
+     */
+    public String getSmartDashboardType() {
+        return "Servo";
+    }
+    private ITable m_table;
+    private ITableListener m_table_listener;
+
+    /**
+     * {@inheritDoc}
+     */
+    public void initTable(ITable subtable) {
+        m_table = subtable;
+        updateTable();
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public void updateTable() {
+        if (m_table != null) {
+            m_table.putNumber("Value", get());
+        }
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public void startLiveWindowMode() {
+        m_table_listener = new ITableListener() {
+            public void valueChanged(ITable itable, String key, Object value, boolean bln) {
+                set(((Double) value).doubleValue());
+            }
+        };
+        m_table.addTableListener("Value", m_table_listener, true);
+    }
+
+    /**
+     * {@inheritDoc}
+     */
+    public void stopLiveWindowMode() {
+        // TODO: Broken, should only remove the listener from "Value" only.
+        m_table.removeTableListener(m_table_listener);
+    }
+}