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Fixed a few bugs with C++ due to the merge.

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Change-Id: I6c5120ff502b40ecba0884f5a3631fa91822cfd4
This commit is contained in:
Alex Henning
2014-08-11 19:52:43 -04:00
parent 1301d76d61
commit 66e1f2a184
11 changed files with 84 additions and 121 deletions
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2
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml
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@@ -228,7 +228,7 @@
<shortcut
class="edu.wpi.first.wpilib.plugins.cpp.launching.SimulateLaunchShortcut"
description="Test the WPILib project using the Gazebo simulator."
icon="resources/icons/wpi.ico"
icon="resources/icons/Gazebo.png"
id="edu.wpi.first.wpilib.plugins.cpp.launching.simulate"
label="WPILib C++ Simulation"
modes="run,debug">

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eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/icons/Gazebo.png Normal file
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5
eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject
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@@ -28,6 +28,7 @@
<option id="gnu.cpp.compiler.option.optimization.level.549514425" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
<option id="gnu.cpp.compiler.option.debugging.level.1682909384" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
<option id="gnu.cpp.compiler.option.include.paths.1597382905" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
<listOptionValue builtIn="false" value="$cpp-location/include"/>
</option>
<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.963785380" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
@@ -38,7 +39,9 @@
<listOptionValue builtIn="false" value="$cpp-location/lib"/>
</option>
<option id="gnu.cpp.link.option.libs.1072058280" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
<listOptionValue builtIn="false" value="WPILib"/>
<listOptionValue builtIn="false" value="WPILibAthena"/>
<listOptionValue builtIn="false" value="WPILib"/>
<listOptionValue builtIn="false" value="HALAthena"/>
<listOptionValue builtIn="false" value="NetworkTables"/>
<listOptionValue builtIn="false" value="FRC_NetworkCommunication"/>
@@ -167,7 +170,9 @@
<tool id="cdt.managedbuild.tool.gnu.c.linker.base.66697269" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cpp.linker.base.2094820582" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
<option id="gnu.cpp.link.option.libs.1563598353" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
<listOptionValue builtIn="false" value="WPILib"/>
<listOptionValue builtIn="false" value="WPILibSim"/>
<listOptionValue builtIn="false" value="WPILib"/>
<listOptionValue builtIn="false" value="gazebo"/>
<listOptionValue builtIn="false" value="gazebo_transport"/>
<listOptionValue builtIn="false" value="gazebo_msgs"/>

4
simulation/debs/Makefile
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@@ -4,9 +4,9 @@ allwpilib=../..
package-version = 1
gazebo-plugins-version = 0.2
gazebo-plugins-package-version = $(gazebo-plugins-version)-$(package-version)
gazebo-models-version = 0.2
gazebo-models-version = 0.3
gazebo-models-package-version = $(gazebo-models-version)-$(package-version)
gazebo-models-orig-url = https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1052?dl=1
gazebo-models-orig-url = https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1070?dl=1
eclipse-plugins-version = 0.1
eclipse-plugins-package-version = $(eclipse-plugins-version)-$(package-version)
eclipse-toolchain-version = 0.1

6
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog
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@@ -1,3 +1,9 @@
frcsim-gazebo-models (0.3-1) trusty; urgency=medium
* Fixed GearsBot gyro
-- Alex Henning <alex@thoriumrobotics.com> Tue, 12 Aug 2014 09:32:27 -0400
frcsim-gazebo-models (0.2-1) trusty; urgency=medium
* New models using the smaller plugins

1
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/pom.xml
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@@ -24,6 +24,7 @@
<mkdir dir="${project.build.directory}/sim-includes/sim/include"/>
<copy todir="${project.build.directory}/sim-includes/sim/include">
<fileset dir="include"/>
<fileset dir="../wpilibC++/include"/>
<fileset dir="../../networktables/cpp/include"/>
<fileset dir="../../hal/include"/>
</copy>

1
wpilibc/wpilibC++Sim/Makefile
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@@ -14,3 +14,4 @@ clean:
install: all
mkdir -p $(DESTDIR)$(lib.dir)
install $(build.dir)/libWPILibSim.so $(DESTDIR)$(lib.dir)
install $(build.dir)/build/wpilibC++/libWPILib.a $(DESTDIR)$(lib.dir)

1
wpilibc/wpilibC++Sim/pom.xml
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@@ -24,6 +24,7 @@
<mkdir dir="${project.build.directory}/sim-includes/sim/include"/>
<copy todir="${project.build.directory}/sim-includes/sim/include">
<fileset dir="include"/>
<fileset dir="../wpilibC++/include"/>
<fileset dir="../../networktables/cpp/include"/>
<fileset dir="../../hal/include"/>
</copy>

115
wpilibc/wpilibC++Sim/src/Error.cpp
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@@ -1,115 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "Error.h"
#include <cstdio>
#include <cstring>
#include "Timer.h"
#include "Utility.h"
bool Error::m_suspendOnErrorEnabled = false;
Error::Error()
: m_code(0)
, m_lineNumber(0)
, m_originatingObject(NULL)
, m_timestamp (0.0)
{}
Error::~Error()
{}
void Error::Clone(Error &error)
{
m_code = error.m_code;
m_message = error.m_message;
m_filename = error.m_filename;
m_function = error.m_function;
m_lineNumber = error.m_lineNumber;
m_originatingObject = error.m_originatingObject;
m_timestamp = error.m_timestamp;
}
Error::Code Error::GetCode() const
{ return m_code; }
const char * Error::GetMessage() const
{ return m_message.c_str(); }
const char * Error::GetFilename() const
{ return m_filename.c_str(); }
const char * Error::GetFunction() const
{ return m_function.c_str(); }
uint32_t Error::GetLineNumber() const
{ return m_lineNumber; }
const ErrorBase* Error::GetOriginatingObject() const
{ return m_originatingObject; }
double Error::GetTime() const
{ return m_timestamp; }
void Error::Set(Code code, const char* contextMessage, const char* filename, const char* function, uint32_t lineNumber, const ErrorBase* originatingObject)
{
m_code = code;
m_message = contextMessage;
m_filename = filename;
m_function = function;
m_lineNumber = lineNumber;
m_originatingObject = originatingObject;
m_timestamp = GetTime();
Report();
// XXX: BROKEN! if (m_suspendOnErrorEnabled) suspendTask(0);
}
void Error::Report()
{
// Error string buffers
char *error = new char[256];
char *error_with_code = new char[256];
// Build error strings
if (m_code != -1)
{
snprintf(error, 256, "%s: status = %d (0x%08X) %s ...in %s() in %s at line %d\n",
m_code < 0 ? "ERROR" : "WARNING", (int32_t)m_code, (uint32_t)m_code, m_message.c_str(),
m_function.c_str(), m_filename.c_str(), m_lineNumber);
sprintf(error_with_code,"<Code>%d %s", (int32_t)m_code, error);
} else {
snprintf(error, 256, "ERROR: %s ...in %s() in %s at line %d\n", m_message.c_str(),
m_function.c_str(), m_filename.c_str(), m_lineNumber);
strcpy(error_with_code, error);
}
// TODO: Add logging to disk
delete [] error_with_code;
// Print to console
printf("\n\n>>>>%s", error);
delete [] error;
// printf("-----------<Stack Trace>----------------\n");
// printCurrentStackTrace();
}
void Error::Clear()
{
m_code = 0;
m_message = "";
m_filename = "";
m_function = "";
m_lineNumber = 0;
m_originatingObject = NULL;
m_timestamp = 0.0;
}

62
wpilibc/wpilibC++Sim/src/Utility.cpp
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@@ -11,6 +11,14 @@
#include <stdio.h>
#include <string.h>
#include <iostream>
#include <sstream>
#include <cstdio>
#include <cstdlib>
#include <cstring>
#include <execinfo.h>
#include <cxxabi.h>
static bool stackTraceEnabled = false;
static bool suspendOnAssertEnabled = false;
@@ -162,3 +170,57 @@ uint32_t GetFPGATime()
return wpilib::internal::simTime * 1e6;
}
/**
* Demangle a C++ symbol, used for printing stack traces.
*/
static std::string demangle(char const *mangledSymbol)
{
char buffer[256];
size_t length;
int status;
if(sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer))
{
char *symbol = abi::__cxa_demangle(buffer, NULL, &length, &status);
if(status == 0)
{
return symbol;
}
else
{
// If the symbol couldn't be demangled, it's probably a C function,
// so just return it as-is.
return buffer;
}
}
// If everything else failed, just return the mangled symbol
return mangledSymbol;
}
/**
* Get a stack trace, ignoring the first "offset" symbols.
*/
std::string GetStackTrace(uint32_t offset)
{
void *stackTrace[128];
int stackSize = backtrace(stackTrace, 128);
char **mangledSymbols = backtrace_symbols(stackTrace, stackSize);
std::stringstream trace;
for(int i = offset; i < stackSize; i++)
{
// Only print recursive functions once in a row.
if(i == 0 ||stackTrace[i] != stackTrace[i - 1])
{
trace << "\tat " << demangle(mangledSymbols[i]) << std::endl;
}
}
free(mangledSymbols);
return trace.str();
}

8
wpilibc/wpilibC++Sim/src/simulation/SimGyro.cpp
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@@ -10,9 +10,11 @@ SimGyro::SimGyro(std::string topic) {
velSub = MainNode::Subscribe("~/simulator/"+topic+"/velocity",
&SimGyro::velocityCallback, this);
commandPub->WaitForConnection();
std::cout << "Initialized ~/simulator/"+topic << std::endl;
if (commandPub->WaitForConnection(gazebo::common::Time(5.0))) { // Wait up to five seconds.
std::cout << "Initialized ~/simulator/" + topic << std::endl;
} else {
std::cerr << "Failed to initialize ~/simulator/" + topic + ": does the gyro exist?" << std::endl;
}
}
void SimGyro::Reset() {