artf4154: Get rid of raw pointers in C++.

This deals with the majority of the user-facing code
in wpilibC++Devices and a substantial portion of it in
wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests
are untouched except where it is necessary to make them
work with the rest of the libraries.

There is still a lot to do in the following areas:
-The HAL (which we may not want to touch at all).
-The I2C, Serial, and SPI interfaces in wpilibC++Devices,
  which I haven't gotten around to doing yet.
-Most wpilibC++Devices classes have void* pointers
  for interacting with the HAL.
-InterruptableSensorBase passes a void *params for
  the interrupt handler.
-I haven't converted all the const char* to std::strings.
-There are plenty of other cases of raw pointers still
  existing.
-This doesn't fall directly under raw pointer stuff,
  but move syntax and rvalue references could be introduced
  in many places.
-I haven't touched vision code.
-The Resource classes conflict (one is in the hal, the other
  in wpilibC++). Someone should figure out a more
  permanent fix (eg, just renaming them), then doing
  what I did (making a new namespace for one of them,
  essentially the same as renaming it).

A few other things:
-I created a NullDeleter class which is marked as deprecated.
  What this does is it can be passed as the deleter to a
  std::shared_ptr so that when you are converting raw pointers
  to shared_ptrs the shared_ptr doesn't do any deletion if
  someone else owns the raw pointer. This should only be
  used in making old raw pointer UIs.
-I had to alter the build.gradle so that it did not
  emit errors when deprecated functions called deprecated
  functions. Unfortunately, gradle doesn't appear to be
  actually printing out gcc warnigns for some reason.
  The best way I have found to fix this is to patch
  the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff)
  so that a deprecated function calling a deprecated
  function is fine but a non-deprecated function calling
  a deprecated function will throw a warning (which we
  then elevate with -Werror). I believe that clang
  deals with this properly, although I have not
  tried it myself.

Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2

wpilibc/wpilibC++Devices/src/Ultrasonic.cpp

@@ -72,17 +72,16 @@ void Ultrasonic::Initialize() {
     m_firstSensor = this;
   }
 
-  m_counter = new Counter(m_echoChannel);  // set up counter for this sensor
-  m_counter->SetMaxPeriod(1.0);
-  m_counter->SetSemiPeriodMode(true);
-  m_counter->Reset();
+  m_counter.SetMaxPeriod(1.0);
+  m_counter.SetSemiPeriodMode(true);
+  m_counter.Reset();
   m_enabled = true;  // make it available for round robin scheduling
   SetAutomaticMode(originalMode);
 
   static int instances = 0;
   instances++;
   HALReport(HALUsageReporting::kResourceType_Ultrasonic, instances);
-  LiveWindow::GetInstance()->AddSensor("Ultrasonic",
+  LiveWindow::GetInstance().AddSensor("Ultrasonic",
                                        m_echoChannel->GetChannel(), this);
 }
 
@@ -99,10 +98,10 @@ void Ultrasonic::Initialize() {
  * @param units The units returned in either kInches or kMilliMeters
  */
 Ultrasonic::Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
-                       DistanceUnit units) {
-  m_pingChannel = new DigitalOutput(pingChannel);
-  m_echoChannel = new DigitalInput(echoChannel);
-  m_allocatedChannels = true;
+                       DistanceUnit units)
+    : m_pingChannel(::std::make_shared<DigitalOutput>(pingChannel)),
+      m_echoChannel(::std::make_shared<DigitalInput>(echoChannel)),
+      m_counter(m_echoChannel) {
   m_units = units;
   Initialize();
 }
@@ -118,14 +117,14 @@ Ultrasonic::Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
  * @param units The units returned in either kInches or kMilliMeters
  */
 Ultrasonic::Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
-                       DistanceUnit units) {
+                       DistanceUnit units)
+    : m_pingChannel(pingChannel, NullDeleter<DigitalOutput>()),
+      m_echoChannel(echoChannel, NullDeleter<DigitalInput>()),
+      m_counter(m_echoChannel) {
   if (pingChannel == nullptr || echoChannel == nullptr) {
     wpi_setWPIError(NullParameter);
     return;
   }
-  m_allocatedChannels = false;
-  m_pingChannel = pingChannel;
-  m_echoChannel = echoChannel;
   m_units = units;
   Initialize();
 }
@@ -141,10 +140,30 @@ Ultrasonic::Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
  * @param units The units returned in either kInches or kMilliMeters
  */
 Ultrasonic::Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel,
-                       DistanceUnit units) {
-  m_allocatedChannels = false;
-  m_pingChannel = &pingChannel;
-  m_echoChannel = &echoChannel;
+                       DistanceUnit units)
+    : m_pingChannel(&pingChannel, NullDeleter<DigitalOutput>()),
+      m_echoChannel(&echoChannel, NullDeleter<DigitalInput>()),
+      m_counter(m_echoChannel) {
+  m_units = units;
+  Initialize();
+}
+
+/**
+ * Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo
+ * channel and a DigitalOutput
+ * for the ping channel.
+ * @param pingChannel The digital output object that starts the sensor doing a
+ * ping. Requires a 10uS pulse to start.
+ * @param echoChannel The digital input object that times the return pulse to
+ * determine the range.
+ * @param units The units returned in either kInches or kMilliMeters
+ */
+Ultrasonic::Ultrasonic(::std::shared_ptr<DigitalOutput> pingChannel,
+                       ::std::shared_ptr<DigitalInput> echoChannel,
+                       DistanceUnit units)
+    : m_pingChannel(pingChannel),
+      m_echoChannel(echoChannel),
+      m_counter(m_echoChannel) {
   m_units = units;
   Initialize();
 }
@@ -160,10 +179,6 @@ Ultrasonic::Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel,
 Ultrasonic::~Ultrasonic() {
   bool wasAutomaticMode = m_automaticEnabled;
   SetAutomaticMode(false);
-  if (m_allocatedChannels) {
-    delete m_pingChannel;
-    delete m_echoChannel;
-  }
   wpi_assert(m_firstSensor != nullptr);
 
   {
@@ -194,7 +209,7 @@ Ultrasonic::~Ultrasonic() {
  * the ultrasonic sensors. This
  * scheduling method assures that the sensors are non-interfering because no two
  * sensors fire at the same time.
- * If another scheduling algorithm is preffered, it can be implemented by
+ * If another scheduling algorithm is prefered, it can be implemented by
  * pinging the sensors manually and waiting
  * for the results to come back.
  */
@@ -206,7 +221,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
     // enabling automatic mode.
     // Clear all the counters so no data is valid
     for (Ultrasonic *u = m_firstSensor; u != nullptr; u = u->m_nextSensor) {
-      u->m_counter->Reset();
+      u->m_counter.Reset();
     }
     // Start round robin task
     wpi_assert(m_task.Verify() ==
@@ -225,7 +240,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
 
     // clear all the counters (data now invalid) since automatic mode is stopped
     for (Ultrasonic *u = m_firstSensor; u != nullptr; u = u->m_nextSensor) {
-      u->m_counter->Reset();
+      u->m_counter.Reset();
     }
     m_automaticEnabled = false;
     m_task.join();
@@ -242,7 +257,7 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
  */
 void Ultrasonic::Ping() {
   wpi_assert(!m_automaticEnabled);
-  m_counter->Reset();  // reset the counter to zero (invalid data now)
+  m_counter.Reset();  // reset the counter to zero (invalid data now)
   m_pingChannel->Pulse(
       kPingTime);  // do the ping to start getting a single range
 }
@@ -254,7 +269,7 @@ void Ultrasonic::Ping() {
  * signal. If the count is not at least 2, then the range has not yet been
  * measured, and is invalid.
  */
-bool Ultrasonic::IsRangeValid() const { return m_counter->Get() > 1; }
+bool Ultrasonic::IsRangeValid() const { return m_counter.Get() > 1; }
 
 /**
  * Get the range in inches from the ultrasonic sensor.
@@ -265,7 +280,7 @@ bool Ultrasonic::IsRangeValid() const { return m_counter->Get() > 1; }
  */
 double Ultrasonic::GetRangeInches() const {
   if (IsRangeValid())
-    return m_counter->GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
+    return m_counter.GetPeriod() * kSpeedOfSoundInchesPerSec / 2.0;
   else
     return 0;
 }
@@ -324,9 +339,9 @@ void Ultrasonic::StopLiveWindowMode() {}
 
 std::string Ultrasonic::GetSmartDashboardType() const { return "Ultrasonic"; }
 
-void Ultrasonic::InitTable(ITable *subTable) {
+void Ultrasonic::InitTable(::std::shared_ptr<ITable> subTable) {
   m_table = subTable;
   UpdateTable();
 }
 
-ITable *Ultrasonic::GetTable() const { return m_table; }
+::std::shared_ptr<ITable> Ultrasonic::GetTable() const { return m_table; }