refactored HAL library

builds two libraries, Athena  and Desktop.
Simulation should use Desktop, Robots should use Athena

Also:
 - copied Driverstation and Joystick from Devices into Sim
 - Descreased dependency of pthreads in JNI.
 - removed Simulation ifdef from non simulation
 - added missing decprecated attribute for msvc
 - removed usage reporting from sim
 - removed unused pom.xml and constexpr

Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d

hal/lib/Athena/HALAthena.cpp

@@ -0,0 +1,301 @@
+#include "HAL/HAL.hpp"
+
+#include "HAL/Port.h"
+#include "HAL/Errors.hpp"
+#include "ctre/ctre.h"
+#include "visa/visa.h"
+#include "ChipObject.h"
+#include "NetworkCommunication/FRCComm.h"
+#include "NetworkCommunication/UsageReporting.h"
+#include "NetworkCommunication/LoadOut.h"
+#include "NetworkCommunication/CANSessionMux.h"
+#include <fstream>
+#include <iostream>
+#include <unistd.h>
+#include <sys/prctl.h>
+#include <signal.h> // linux for kill
+const uint32_t solenoid_kNumDO7_0Elements = 8;
+const uint32_t dio_kNumSystems = tDIO::kNumSystems;
+const uint32_t interrupt_kNumSystems = tInterrupt::kNumSystems;
+const uint32_t kSystemClockTicksPerMicrosecond = 40;
+
+static tGlobal *global;
+static tSysWatchdog *watchdog;
+
+void* getPort(uint8_t pin)
+{
+	Port* port = new Port();
+	port->pin = pin;
+	port->module = 1;
+	return port;
+}
+
+/**
+ * @deprecated Uses module numbers
+ */
+void* getPortWithModule(uint8_t module, uint8_t pin)
+{
+	Port* port = new Port();
+	port->pin = pin;
+	port->module = module;
+	return port;
+}
+
+const char* getHALErrorMessage(int32_t code)
+{
+	switch(code) {
+		case 0:
+			return "";
+		case CTR_RxTimeout:
+			return CTR_RxTimeout_MESSAGE;
+		case CTR_TxTimeout:
+			return CTR_TxTimeout_MESSAGE;
+		case CTR_InvalidParamValue:
+			return CTR_InvalidParamValue_MESSAGE;
+		case CTR_UnexpectedArbId:
+			return CTR_UnexpectedArbId_MESSAGE;
+                case CTR_TxFailed:
+			return CTR_TxFailed_MESSAGE;
+                case CTR_SigNotUpdated:
+			return CTR_SigNotUpdated_MESSAGE;
+		case NiFpga_Status_FifoTimeout:
+			return NiFpga_Status_FifoTimeout_MESSAGE;
+		case NiFpga_Status_TransferAborted:
+			return NiFpga_Status_TransferAborted_MESSAGE;
+		case NiFpga_Status_MemoryFull:
+			return NiFpga_Status_MemoryFull_MESSAGE;
+		case NiFpga_Status_SoftwareFault:
+			return NiFpga_Status_SoftwareFault_MESSAGE;
+		case NiFpga_Status_InvalidParameter:
+			return NiFpga_Status_InvalidParameter_MESSAGE;
+		case NiFpga_Status_ResourceNotFound:
+			return NiFpga_Status_ResourceNotFound_MESSAGE;
+		case NiFpga_Status_ResourceNotInitialized:
+			return NiFpga_Status_ResourceNotInitialized_MESSAGE;
+		case NiFpga_Status_HardwareFault:
+			return NiFpga_Status_HardwareFault_MESSAGE;
+		case NiFpga_Status_IrqTimeout:
+			return NiFpga_Status_IrqTimeout_MESSAGE;
+		case SAMPLE_RATE_TOO_HIGH:
+			return SAMPLE_RATE_TOO_HIGH_MESSAGE;
+		case VOLTAGE_OUT_OF_RANGE:
+			return VOLTAGE_OUT_OF_RANGE_MESSAGE;
+		case LOOP_TIMING_ERROR:
+			return LOOP_TIMING_ERROR_MESSAGE;
+		case SPI_WRITE_NO_MOSI:
+			return SPI_WRITE_NO_MOSI_MESSAGE;
+		case SPI_READ_NO_MISO:
+			return SPI_READ_NO_MISO_MESSAGE;
+		case SPI_READ_NO_DATA:
+			return SPI_READ_NO_DATA_MESSAGE;
+		case INCOMPATIBLE_STATE:
+			return INCOMPATIBLE_STATE_MESSAGE;
+		case NO_AVAILABLE_RESOURCES:
+			return NO_AVAILABLE_RESOURCES_MESSAGE;
+		case NULL_PARAMETER:
+			return NULL_PARAMETER_MESSAGE;
+		case ANALOG_TRIGGER_LIMIT_ORDER_ERROR:
+			return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
+		case ANALOG_TRIGGER_PULSE_OUTPUT_ERROR:
+			return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
+		case PARAMETER_OUT_OF_RANGE:
+			return PARAMETER_OUT_OF_RANGE_MESSAGE;
+		case ERR_CANSessionMux_InvalidBuffer:
+			return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
+		case ERR_CANSessionMux_MessageNotFound:
+			return ERR_CANSessionMux_MessageNotFound_MESSAGE;
+		case WARN_CANSessionMux_NoToken:
+			return WARN_CANSessionMux_NoToken_MESSAGE;
+		case ERR_CANSessionMux_NotAllowed:
+			return ERR_CANSessionMux_NotAllowed_MESSAGE;
+		case ERR_CANSessionMux_NotInitialized:
+			return ERR_CANSessionMux_NotInitialized_MESSAGE;
+		case VI_ERROR_SYSTEM_ERROR:
+			return VI_ERROR_SYSTEM_ERROR_MESSAGE;
+		case VI_ERROR_INV_OBJECT:
+			return VI_ERROR_INV_OBJECT_MESSAGE;
+		case VI_ERROR_RSRC_LOCKED:
+			return VI_ERROR_RSRC_LOCKED_MESSAGE;
+		case VI_ERROR_RSRC_NFOUND:
+			return VI_ERROR_RSRC_NFOUND_MESSAGE;
+		case VI_ERROR_INV_RSRC_NAME:
+			return VI_ERROR_INV_RSRC_NAME_MESSAGE;
+		case VI_ERROR_QUEUE_OVERFLOW:
+			return VI_ERROR_QUEUE_OVERFLOW_MESSAGE;
+		case VI_ERROR_IO:
+			return VI_ERROR_IO_MESSAGE;
+		case VI_ERROR_ASRL_PARITY:
+			return VI_ERROR_ASRL_PARITY_MESSAGE;
+		case VI_ERROR_ASRL_FRAMING:
+			return VI_ERROR_ASRL_FRAMING_MESSAGE;
+		case VI_ERROR_ASRL_OVERRUN:
+			return VI_ERROR_ASRL_OVERRUN_MESSAGE;
+		case VI_ERROR_RSRC_BUSY:
+			return VI_ERROR_RSRC_BUSY_MESSAGE;
+		case VI_ERROR_INV_PARAMETER:
+			return VI_ERROR_INV_PARAMETER_MESSAGE;
+		default:
+			return "Unknown error status";
+	}
+}
+
+/**
+ * Return the FPGA Version number.
+ * For now, expect this to be competition year.
+ * @return FPGA Version number.
+ */
+uint16_t getFPGAVersion(int32_t *status)
+{
+	return global->readVersion(status);
+}
+
+/**
+ * Return the FPGA Revision number.
+ * The format of the revision is 3 numbers.
+ * The 12 most significant bits are the Major Revision.
+ * the next 8 bits are the Minor Revision.
+ * The 12 least significant bits are the Build Number.
+ * @return FPGA Revision number.
+ */
+uint32_t getFPGARevision(int32_t *status)
+{
+	return global->readRevision(status);
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA reset).
+ */
+uint32_t getFPGATime(int32_t *status)
+{
+	return global->readLocalTime(status);
+}
+
+/**
+ * Get the state of the "USER" button on the RoboRIO
+ * @return true if the button is currently pressed down
+ */
+bool getFPGAButton(int32_t *status)
+{
+	return global->readUserButton(status);
+}
+
+int HALSetErrorData(const char *errors, int errorsLength, int wait_ms)
+{
+	return setErrorData(errors, errorsLength, wait_ms);
+}
+
+
+bool HALGetSystemActive(int32_t *status)
+{
+	return watchdog->readStatus_SystemActive(status);
+}
+
+bool HALGetBrownedOut(int32_t *status)
+{
+	return !(watchdog->readStatus_PowerAlive(status));
+}
+
+/**
+ * Call this to start up HAL. This is required for robot programs.
+ */
+int HALInitialize(int mode)
+{
+    setlinebuf(stdin);
+    setlinebuf(stdout);
+
+    prctl(PR_SET_PDEATHSIG, SIGTERM);
+
+	FRC_NetworkCommunication_Reserve(nullptr);
+	// image 4; Fixes errors caused by multiple processes. Talk to NI about this
+	nFPGA::nRoboRIO_FPGANamespace::g_currentTargetClass =
+			nLoadOut::kTargetClass_RoboRIO;
+
+	int32_t status;
+	global = tGlobal::create(&status);
+	watchdog = tSysWatchdog::create(&status);
+
+	// Kill any previous robot programs
+	std::fstream fs;
+	// By making this both in/out, it won't give us an error if it doesnt exist
+	fs.open("/var/lock/frc.pid", std::fstream::in | std::fstream::out);
+	if (fs.bad())
+		return 0;
+
+	pid_t pid = 0;
+	if (!fs.eof() && !fs.fail())
+	{
+		fs >> pid;
+		//see if the pid is around, but we don't want to mess with init id=1, or ourselves
+		if (pid >= 2 && kill(pid, 0) == 0 && pid != getpid())
+		{
+			std::cout << "Killing previously running FRC program..."
+					<< std::endl;
+			kill(pid, SIGTERM); // try to kill it
+			delayMillis(100);
+			if (kill(pid, 0) == 0)
+			{
+				// still not successfull
+				if (mode == 0)
+				{
+					std::cout << "FRC pid " << pid
+							<< " did not die within 110ms. Aborting"
+							<< std::endl;
+					return 0; // just fail
+				}
+				else if (mode == 1) // kill -9 it
+					kill(pid, SIGKILL);
+				else
+				{
+					std::cout << "WARNING: FRC pid " << pid
+							<< " did not die within 110ms." << std::endl;
+				}
+			}
+
+		}
+	}
+	fs.close();
+	// we will re-open it write only to truncate the file
+	fs.open("/var/lock/frc.pid", std::fstream::out | std::fstream::trunc);
+	fs.seekp(0);
+	pid = getpid();
+	fs << pid << std::endl;
+	fs.close();
+	return 1;
+}
+
+uint32_t HALReport(uint8_t resource, uint8_t instanceNumber, uint8_t context,
+		const char *feature)
+{
+	if(feature == NULL)
+	{
+		feature = "";
+	}
+
+	return FRC_NetworkCommunication_nUsageReporting_report(resource, instanceNumber, context, feature);
+}
+
+// TODO: HACKS
+void NumericArrayResize()
+{
+}
+void RTSetCleanupProc()
+{
+}
+void EDVR_CreateReference()
+{
+}
+void Occur()
+{
+}
+
+void imaqGetErrorText()
+{
+}
+void imaqGetLastError()
+{
+}
+void niTimestamp64()
+{
+}