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++Sim/src/IterativeRobot.cpp

@@ -16,7 +16,7 @@ constexpr double IterativeRobot::kDefaultPeriod;
 
 /**
  * Set the period for the periodic functions.
- * 
+ *
  * @param period The period of the periodic function calls.  0.0 means sync to driver station control data.
  */
 void IterativeRobot::SetPeriod(double period)
@@ -60,22 +60,22 @@ double IterativeRobot::GetLoopsPerSec()
 
 /**
  * Provide an alternate "main loop" via StartCompetition().
- * 
+ *
  * This specific StartCompetition() implements "main loop" behavior like that of the FRC
  * control system in 2008 and earlier, with a primary (slow) loop that is
- * called periodically, and a "fast loop" (a.k.a. "spin loop") that is 
- * called as fast as possible with no delay between calls. 
+ * called periodically, and a "fast loop" (a.k.a. "spin loop") that is
+ * called as fast as possible with no delay between calls.
  */
 void IterativeRobot::StartCompetition()
 {
-	LiveWindow *lw = LiveWindow::GetInstance();
+	LiveWindow &lw = LiveWindow::GetInstance();
 	// first and one-time initialization
 	SmartDashboard::init();
 	NetworkTable::GetTable("LiveWindow")->GetSubTable("~STATUS~")->PutBoolean("LW Enabled", false);
 	RobotInit();
 
 	// loop forever, calling the appropriate mode-dependent function
-	lw->SetEnabled(false);
+	lw.SetEnabled(false);
 	while (true)
 	{
 		// Call the appropriate function depending upon the current robot mode
@@ -85,7 +85,7 @@ void IterativeRobot::StartCompetition()
 			// either a different mode or from power-on
 			if(!m_disabledInitialized)
 			{
-				lw->SetEnabled(false);
+				lw.SetEnabled(false);
 				DisabledInit();
 				m_disabledInitialized = true;
 				// reset the initialization flags for the other modes
@@ -105,7 +105,7 @@ void IterativeRobot::StartCompetition()
 			// either a different mode or from power-on
 			if(!m_autonomousInitialized)
 			{
-				lw->SetEnabled(false);
+				lw.SetEnabled(false);
 				AutonomousInit();
 				m_autonomousInitialized = true;
 				// reset the initialization flags for the other modes
@@ -125,7 +125,7 @@ void IterativeRobot::StartCompetition()
             // either a different mode or from power-on
             if(!m_testInitialized)
             {
-            	lw->SetEnabled(true);
+            	lw.SetEnabled(true);
                 TestInit();
                 m_testInitialized = true;
                 // reset the initialization flags for the other modes
@@ -145,14 +145,14 @@ void IterativeRobot::StartCompetition()
 			// either a different mode or from power-on
 			if(!m_teleopInitialized)
 			{
-				lw->SetEnabled(false);
+				lw.SetEnabled(false);
 				TeleopInit();
 				m_teleopInitialized = true;
 				// reset the initialization flags for the other modes
 				m_disabledInitialized = false;
                 m_autonomousInitialized = false;
                 m_testInitialized = false;
-                Scheduler::GetInstance()->SetEnabled(true);
+                Scheduler::GetInstance().SetEnabled(true);
 			}
 			if (NextPeriodReady())
 			{
@@ -162,7 +162,7 @@ void IterativeRobot::StartCompetition()
 		}
 		// wait for driver station data so the loop doesn't hog the CPU
 		m_ds->WaitForData();
-	}	
+	}
 }
 
 /**
@@ -190,7 +190,7 @@ bool IterativeRobot::NextPeriodReady()
 
 /**
  * Robot-wide initialization code should go here.
- * 
+ *
  * Users should override this method for default Robot-wide initialization which will
  * be called when the robot is first powered on.  It will be called exactly 1 time.
  */
@@ -201,7 +201,7 @@ void IterativeRobot::RobotInit()
 
 /**
  * Initialization code for disabled mode should go here.
- * 
+ *
  * Users should override this method for initialization code which will be called each time
  * the robot enters disabled mode.
  */
@@ -212,7 +212,7 @@ void IterativeRobot::DisabledInit()
 
 /**
  * Initialization code for autonomous mode should go here.
- * 
+ *
  * Users should override this method for initialization code which will be called each time
  * the robot enters autonomous mode.
  */
@@ -223,7 +223,7 @@ void IterativeRobot::AutonomousInit()
 
 /**
  * Initialization code for teleop mode should go here.
- * 
+ *
  * Users should override this method for initialization code which will be called each time
  * the robot enters teleop mode.
  */
@@ -234,7 +234,7 @@ void IterativeRobot::TeleopInit()
 
 /**
  * Initialization code for test mode should go here.
- * 
+ *
  * Users should override this method for initialization code which will be called each time
  * the robot enters test mode.
  */
@@ -245,7 +245,7 @@ void IterativeRobot::TestInit()
 
 /**
  * Periodic code for disabled mode should go here.
- * 
+ *
  * Users should override this method for code which will be called periodically at a regular
  * rate while the robot is in disabled mode.
  */