diff --git a/.hgignore b/.hgignore index d855f99c8c..1ae5e257d1 100644 --- a/.hgignore +++ b/.hgignore @@ -1,24 +1,13 @@ -# auto-generated from .gitignore files by build-hgignore.py syntax: re ^\.hgignore$ -.*/.*~$ # '*~' in 'eclipse-plugins' -eclipse-plugins/.*/target(?:/|$) # 'target/' in 'eclipse-plugins' -eclipse-plugins/.*/bin(?:/|$) # 'bin/' in 'eclipse-plugins' -eclipse-plugins/.*/\.settings(?:/|$) # '.settings/' in 'eclipse-plugins' -networktables/.*/target(?:/|$) # 'target/' in 'networktables' -networktables/.*/build(?:/|$) # 'build/' in 'networktables' -networktables/.*/dist(?:/|$) # 'dist/' in 'networktables' -^networktables/OutlineViewer/nbproject/private(?:/|$) # '/OutlineViewer/nbproject/private/' in 'networktables' -maven-utilities/.*/target(?:/|$) # 'target/' in 'maven-utilities' -hal/.*/.*#$ # '*#' in 'hal' -hal/.*/PPC603gnu(?:/|$) # 'PPC603gnu/' in 'hal' -hal/.*/Debug(?:/|$) # 'Debug/' in 'hal' -hal/.*/target(?:/|$) # 'target/' in 'hal' -hal/.*/tmp(?:/|$) # 'tmp/' in 'hal' -hal/.*/GPATH$ # 'GPATH' in 'hal' -hal/.*/GRTAGS$ # 'GRTAGS' in 'hal' -hal/.*/GSYMS$ # 'GSYMS' in 'hal' -hal/.*/GTAGS$ # 'GTAGS' in 'hal' -ni-libraries/.*/target(?:/|$) # 'target/' in 'ni-libraries' -wpilib.?/.*/target(?:/|$) +.*/target(?:/|$) +.*/dist(?:/|$) +eclipse-plugins/.*/bin(?:/|$) +syntax: glob +wpilibc/build/ +hal/build/ +networktables/cpp/build/ +build/ +networktables/OutlineViewer/nbproject/private +*~ diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000000..1d4db94500 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,12 @@ +cmake_minimum_required(VERSION 2.8) +project(All-WPILib) +set(CMAKE_BUILD_TYPE Debug) +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wextra -Wno-unused-parameter") +SET(CMAKE_SKIP_BUILD_RPATH TRUE) + +file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*) +get_filename_component(HAL_API_INCLUDES hal/include REALPATH) +get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH) +add_subdirectory(hal) +add_subdirectory(networktables/cpp) +add_subdirectory(wpilibc) diff --git a/arm-toolchain.cmake b/arm-toolchain.cmake index 3a278ba21f..6835466c91 100644 --- a/arm-toolchain.cmake +++ b/arm-toolchain.cmake @@ -1,9 +1,10 @@ cmake_minimum_required(VERSION 2.8) INCLUDE(CMakeForceCompiler) -set(ARM_PREFIX arm-linux-gnueabi) +set(ARM_PREFIX arm-none-linux-gnueabi) set(CMAKE_SYSTEM_NAME Linux) CMAKE_FORCE_CXX_COMPILER(${ARM_PREFIX}-g++ GNU) +CMAKE_FORCE_C_COMPILER(${ARM_PREFIX}-gcc GNU) set(CMAKE_CXX_FLAGS "-march=armv7-a -mcpu=cortex-a9 -mfloat-abi=softfp -Wall" CACHE STRING "" FORCE) set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3" CACHE STRING "" FORCE) set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g" CACHE STRING "" FORCE) # still want debugging for release? -SET(CMAKE_FIND_ROOT_PATH /home/patrick/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/arm-none-linux-gnueabi/libc) +SET(CMAKE_FIND_ROOT_PATH $ENV{USER_HOME}/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/arm-none-linux-gnueabi/libc) diff --git a/ni-libraries/.gitignore b/cmake/.gitignore similarity index 100% rename from ni-libraries/.gitignore rename to cmake/.gitignore diff --git a/cmake/pom.xml b/cmake/pom.xml new file mode 100644 index 0000000000..f74b997ae5 --- /dev/null +++ b/cmake/pom.xml @@ -0,0 +1,92 @@ + + + 4.0.0 + edu.wpi.first.wpilib.cmake + cpp-root + 1.0.0 + jar + + Unix Makefiles + + + + + com.googlecode.cmake-maven-project + cmake-maven-plugin + 2.8.11-b4 + + + cmake + generate-resources + + generate + + + + + + + + + + cmake2 + generate-resources + + compile + + + install + + + + + .. + ${project.build.directory}/cmake + ${project.build.directory}/cmake + ${cmakeGenerator} + release + + + + org.apache.maven.plugins + maven-antrun-plugin + 1.7 + + + + set-version-info + + run + + process-sources + + + + + + + + + + + true + + + + + unzip-cpp-includes + compile + + run + + + + + + + + + + + + diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml index a481b064e0..1b4187538c 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/pom.xml @@ -1,358 +1,145 @@ - - 4.0.0 - edu.wpi.first.wpilib.plugins.cpp - eclipse-plugin - - - edu.wpi.first.wpilib.plugins - edu.wpi.first.wpilib.plugins - 0.1.0.qualifier - .. - - - - DEVELOPMENT - ${project.build.directory}/cpp-zip - - - - - - . - - resources/configuration.properties - - true - - - - - maven-resources-plugin - 2.6 - - - copy-ant-resources-to-cpp-zip - generate-sources - - copy-resources - - - ${cpp-zip} - - - src/main/resources/cpp-zip - - - - - - - - org.apache.maven.plugins - maven-dependency-plugin - 2.8 - - - - - fetch-cpp-zip-dependencies - compile - - copy - - - - - - edu.wpi.first.wpilib.networktables.cpp - libNetworkTablesAthena - 0.1.0-SNAPSHOT - a - libNetworkTables.a - - - edu.wpi.first.wpilib.hal - libHALAthena - 0.1.0-SNAPSHOT - a - libHAL.a - - - edu.wpi.first.wpilib.cpp - libWPILibAthena - 0.1.0-SNAPSHOT - a - libWPILib.a - - - com.ni.first.libraries - libFRC_NetworkCommunication - 0.1.0-SNAPSHOT - so - libFRC_NetworkCommunication.so - - - - com.ni.first.libraries - libRoboRIO_FRC_ChipObject - 0.1.0-SNAPSHOT - so - libRoboRIO_FRC_ChipObject.so - - - com.ni.first.libraries - libFRC_FPGA_ChipObject - 0.1.0-SNAPSHOT - so - libFRC_FPGA_ChipObject.so - - - com.ni.first.libraries - libNiFpga - 0.1.0-SNAPSHOT - so - libNiFpga.so - - - com.ni.first.libraries - libni_emb - 0.1.0-SNAPSHOT - so - libni_emb.so - - - com.ni.first.libraries - libnirio_emb_can - 0.1.0-SNAPSHOT - so - libnirio_emb_can.so - - - com.ni.first.libraries - libNiFpgaLv - 0.1.0-SNAPSHOT - so - libNiFpgaLv.so - - - com.ni.first.libraries - libNiRioSrv - 0.1.0-SNAPSHOT - so - libNiRioSrv.so - - - com.ni.first.libraries - libni_rtlog - 0.1.0-SNAPSHOT - so - libni_rtlog.so - - - - - edu.wpi.first.wpilib.hal - include - 0.1.0-SNAPSHOT - inczip - ${cpp-zip}/inczip - - - edu.wpi.first.wpilib.networktables.cpp - include - 0.1.0-SNAPSHOT - inczip - ${cpp-zip}/inczip - - - edu.wpi.first.wpilib.cpp - libWPILibAthena - 0.1.0-SNAPSHOT - inczip - ${cpp-zip}/inczip - - - ${cpp-zip}/lib - false - true - true - - - - - - org.apache.maven.plugins - maven-antrun-plugin - 1.7 - - - - - set-version-info - - run - - process-sources - - - - - - - - - - - true - - - - - - unzip-cpp-includes - compile - - run - - - - - - - - - - - - - - - - - - - generate-cpp-zip - compile - - run - - - - - - - - - - - - - - - - - edu.wpi.first.wpilib.networktables.cpp - libNetworkTablesAthena - 0.1.0-SNAPSHOT - a - - - edu.wpi.first.wpilib.hal - libHALAthena - 0.1.0-SNAPSHOT - a - - - edu.wpi.first.wpilib.cpp - libWPILibAthena - 0.1.0-SNAPSHOT - a - - - com.ni.first.libraries - libFRC_NetworkCommunication - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libRoboRIO_FRC_ChipObject - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libFRC_FPGA_ChipObject - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libNiFpga - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libni_emb - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libnirio_emb_can - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libNiFpgaLv - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libNiRioSrv - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libni_rtlog - 0.1.0-SNAPSHOT - so - - - - - edu.wpi.first.wpilib.hal - include - 0.1.0-SNAPSHOT - inczip - - - edu.wpi.first.wpilib.networktables.cpp - include - 0.1.0-SNAPSHOT - inczip - - - edu.wpi.first.wpilib.cpp - libWPILibAthena - 0.1.0-SNAPSHOT - inczip - - - + + 4.0.0 + edu.wpi.first.wpilib.plugins.cpp + eclipse-plugin + + edu.wpi.first.wpilib.plugins + edu.wpi.first.wpilib.plugins + 0.1.0.qualifier + .. + + + DEVELOPMENT + ${project.build.directory}/cpp-zip + + + + + . + + resources/configuration.properties + + true + + + + + maven-resources-plugin + 2.6 + + + copy-ant-resources-to-cpp-zip + generate-sources + + copy-resources + + + ${cpp-zip} + + + src/main/resources/cpp-zip + + + + + + + + org.apache.maven.plugins + maven-dependency-plugin + 2.8 + + + + fetch-cpp-zip-dependencies + compile + + copy + + + + + edu.wpi.first.wpilib.cmake + cpp-root + 1.0.0 + jar + cpp-root.jar + + + ${project.build.directory} + false + true + true + + + + + + org.apache.maven.plugins + maven-antrun-plugin + 1.7 + + + + set-version-info + + run + + process-sources + + + + + + + + + + + true + + + + + unzip-cpp-includes + compile + + run + + + + + + + + + + + + + + generate-cpp-zip + compile + + run + + + + + + + + + + + + + + edu.wpi.first.wpilib.cmake + cpp-root + 1.0.0 + jar + + diff --git a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject index f05fb0ea8a..bfc041ab71 100644 --- a/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject +++ b/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject @@ -38,22 +38,11 @@ + + diff --git a/ni-libraries/README.org b/ni-libraries/README.org deleted file mode 100644 index c95e4b1737..0000000000 --- a/ni-libraries/README.org +++ /dev/null @@ -1,11 +0,0 @@ - -* Purpose -This project provides the NI =*.so= files that need to be linked -against to build programs in a Maven friendly way. It use =cp= or -=copy= as a fake linker to copy the =so= files as Maven artifacts. - -* Building and Installing with Maven -To build everything with Maven: -1. Run the following maven command: - =mvn clean install= -2. Success diff --git a/ni-libraries/libFRC_FPGA_ChipObject/libFRC_FPGA_ChipObject.so b/ni-libraries/libFRC_FPGA_ChipObject.so.1 similarity index 100% rename from ni-libraries/libFRC_FPGA_ChipObject/libFRC_FPGA_ChipObject.so rename to ni-libraries/libFRC_FPGA_ChipObject.so.1 diff --git a/ni-libraries/libFRC_FPGA_ChipObject/pom.xml b/ni-libraries/libFRC_FPGA_ChipObject/pom.xml deleted file mode 100644 index a540b4e5ae..0000000000 --- a/ni-libraries/libFRC_FPGA_ChipObject/pom.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - 4.0.0 - libFRC_FPGA_ChipObject - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - - com.ni.first.libraries - libNiFpgaLv - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libNiRioSrv - 0.1.0-SNAPSHOT - so - - - - - libFRC_FPGA_ChipObject.so - - diff --git a/ni-libraries/libFRC_NetworkCommunication/libFRC_NetworkCommunication.so b/ni-libraries/libFRC_NetworkCommunication.so.1 similarity index 100% rename from ni-libraries/libFRC_NetworkCommunication/libFRC_NetworkCommunication.so rename to ni-libraries/libFRC_NetworkCommunication.so.1 diff --git a/ni-libraries/libFRC_NetworkCommunication/pom.xml b/ni-libraries/libFRC_NetworkCommunication/pom.xml deleted file mode 100644 index bfb1f732d8..0000000000 --- a/ni-libraries/libFRC_NetworkCommunication/pom.xml +++ /dev/null @@ -1,39 +0,0 @@ - - - 4.0.0 - libFRC_NetworkCommunication - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - - com.ni.first.libraries - libFRC_FPGA_ChipObject - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libNiFpga - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libni_emb - 0.1.0-SNAPSHOT - so - - - - - libFRC_NetworkCommunication.so - - diff --git a/ni-libraries/libNiFpga/libNiFpga.so b/ni-libraries/libNiFpga.so.13 similarity index 100% rename from ni-libraries/libNiFpga/libNiFpga.so rename to ni-libraries/libNiFpga.so.13 diff --git a/ni-libraries/libNiFpga/pom.xml b/ni-libraries/libNiFpga/pom.xml deleted file mode 100644 index 1f3a91f112..0000000000 --- a/ni-libraries/libNiFpga/pom.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - 4.0.0 - libNiFpga - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - libNiFpga.so - - diff --git a/ni-libraries/libNiFpgaLv/libNiFpgaLv.so b/ni-libraries/libNiFpgaLv.so.13 similarity index 100% rename from ni-libraries/libNiFpgaLv/libNiFpgaLv.so rename to ni-libraries/libNiFpgaLv.so.13 diff --git a/ni-libraries/libNiFpgaLv/pom.xml b/ni-libraries/libNiFpgaLv/pom.xml deleted file mode 100644 index 2989312fe6..0000000000 --- a/ni-libraries/libNiFpgaLv/pom.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - 4.0.0 - libNiFpgaLv - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - libNiFpgaLv.so - - diff --git a/ni-libraries/libNiRioSrv/libNiRioSrv.so b/ni-libraries/libNiRioSrv.so.13 similarity index 100% rename from ni-libraries/libNiRioSrv/libNiRioSrv.so rename to ni-libraries/libNiRioSrv.so.13 diff --git a/ni-libraries/libNiRioSrv/pom.xml b/ni-libraries/libNiRioSrv/pom.xml deleted file mode 100644 index d379c34dae..0000000000 --- a/ni-libraries/libNiRioSrv/pom.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - 4.0.0 - libNiRioSrv - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - libNiRioSrv.so - - diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject/libRoboRIO_FRC_ChipObject.so b/ni-libraries/libRoboRIO_FRC_ChipObject.so.1 similarity index 100% rename from ni-libraries/libRoboRIO_FRC_ChipObject/libRoboRIO_FRC_ChipObject.so rename to ni-libraries/libRoboRIO_FRC_ChipObject.so.1 diff --git a/ni-libraries/libRoboRIO_FRC_ChipObject/pom.xml b/ni-libraries/libRoboRIO_FRC_ChipObject/pom.xml deleted file mode 100644 index 1a3cbfe430..0000000000 --- a/ni-libraries/libRoboRIO_FRC_ChipObject/pom.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - 4.0.0 - libRoboRIO_FRC_ChipObject - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - - com.ni.first.libraries - libNiFpgaLv - 0.1.0-SNAPSHOT - so - - - com.ni.first.libraries - libNiRioSrv - 0.1.0-SNAPSHOT - so - - - - - libRoboRIO_FRC_ChipObject.so - - diff --git a/ni-libraries/libfrccansae/libfrccansae.so b/ni-libraries/libfrccansae/libfrccansae.so deleted file mode 100644 index 7de8dc3885..0000000000 Binary files a/ni-libraries/libfrccansae/libfrccansae.so and /dev/null differ diff --git a/ni-libraries/libfrccansae/pom.xml b/ni-libraries/libfrccansae/pom.xml deleted file mode 100644 index 4a3d847c38..0000000000 --- a/ni-libraries/libfrccansae/pom.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - 4.0.0 - libfrccansae - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - libfrccansae.so - - diff --git a/ni-libraries/libi2c/libi2c.so b/ni-libraries/libi2c.so.1 similarity index 100% rename from ni-libraries/libi2c/libi2c.so rename to ni-libraries/libi2c.so.1 diff --git a/ni-libraries/libi2c/pom.xml b/ni-libraries/libi2c/pom.xml deleted file mode 100644 index d74a5b91de..0000000000 --- a/ni-libraries/libi2c/pom.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - 4.0.0 - libi2c - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - libi2c.so - - diff --git a/ni-libraries/libni_emb/libni_emb.so b/ni-libraries/libni_emb.so.6 similarity index 100% rename from ni-libraries/libni_emb/libni_emb.so rename to ni-libraries/libni_emb.so.6 diff --git a/ni-libraries/libni_emb/pom.xml b/ni-libraries/libni_emb/pom.xml deleted file mode 100644 index 89c8f22340..0000000000 --- a/ni-libraries/libni_emb/pom.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - 4.0.0 - libni_emb - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - - - com.ni.first.libraries - libni_rtlog - 0.1.0-SNAPSHOT - so - - - - - libni_emb.so - - diff --git a/ni-libraries/libni_rtlog/libni_rtlog.so b/ni-libraries/libni_rtlog.so.2 similarity index 100% rename from ni-libraries/libni_rtlog/libni_rtlog.so rename to ni-libraries/libni_rtlog.so.2 diff --git a/ni-libraries/libni_rtlog/pom.xml b/ni-libraries/libni_rtlog/pom.xml deleted file mode 100644 index 13dc7e2c50..0000000000 --- a/ni-libraries/libni_rtlog/pom.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - 4.0.0 - libni_rtlog - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - libni_rtlog.so - - diff --git a/ni-libraries/libnirio_emb_can/libnirio_emb_can.so b/ni-libraries/libnirio_emb_can.so.14 similarity index 100% rename from ni-libraries/libnirio_emb_can/libnirio_emb_can.so rename to ni-libraries/libnirio_emb_can.so.14 diff --git a/ni-libraries/libnirio_emb_can/pom.xml b/ni-libraries/libnirio_emb_can/pom.xml deleted file mode 100644 index 1b7debb317..0000000000 --- a/ni-libraries/libnirio_emb_can/pom.xml +++ /dev/null @@ -1,28 +0,0 @@ - - - 4.0.0 - libnirio_emb_can - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - - - com.ni.first.libraries - libni_rtlog - 0.1.0-SNAPSHOT - so - - - - - libnirio_emb_can.so - - diff --git a/ni-libraries/libspi/libspi.so b/ni-libraries/libspi.so.1 similarity index 100% rename from ni-libraries/libspi/libspi.so rename to ni-libraries/libspi.so.1 diff --git a/ni-libraries/libspi/pom.xml b/ni-libraries/libspi/pom.xml deleted file mode 100644 index d362cdedf1..0000000000 --- a/ni-libraries/libspi/pom.xml +++ /dev/null @@ -1,18 +0,0 @@ - - - 4.0.0 - libspi - so - - - com.ni.first.libraries - parent - 0.1.0-SNAPSHOT - ../parent - - - - libspi.so - - diff --git a/ni-libraries/libvisa.so b/ni-libraries/libvisa.so new file mode 100644 index 0000000000..9edd2eaa0b Binary files /dev/null and b/ni-libraries/libvisa.so differ diff --git a/ni-libraries/parent/pom.xml b/ni-libraries/parent/pom.xml deleted file mode 100644 index 63b7f9869a..0000000000 --- a/ni-libraries/parent/pom.xml +++ /dev/null @@ -1,57 +0,0 @@ - - - 4.0.0 - com.ni.first.libraries - parent - pom - 0.1.0-SNAPSHOT - - - UTF-8 - UTF-8 - - - - - - org.codehaus.mojo - native-maven-plugin - 1.0-alpha-7 - true - - ar - echo - cp - - - ${library} - - - - - - - - - windows-builder - - - Windows - - - - - - org.codehaus.mojo - native-maven-plugin - true - - copy - - - - - - - diff --git a/ni-libraries/pom.xml b/ni-libraries/pom.xml deleted file mode 100644 index 69c08da92b..0000000000 --- a/ni-libraries/pom.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - 4.0.0 - com.ni.first.libraries - com.ni.first.libraries - pom - 0.1.0-SNAPSHOT - - - parent - libFRC_NetworkCommunication - libRoboRIO_FRC_ChipObject - libFRC_FPGA_ChipObject - libNiFpga - libni_emb - libNiFpgaLv - libNiRioSrv - libni_rtlog - libnirio_emb_can - libfrccansae - libi2c - libspi - - diff --git a/pom.xml b/pom.xml index 6f3a67f23e..7f55040250 100644 --- a/pom.xml +++ b/pom.xml @@ -1,51 +1,46 @@ - - 4.0.0 - edu.wpi.first.wpilib - aggregator-pom - 1.0.0 - pom - - - eclipse-plugins - hal - maven-utilities - networktables - ni-libraries - wpilibc - wpilibj - - - - - - org.apache.maven.plugins - maven-enforcer-plugin - 1.3.1 - - - enforce-maven - - enforce - - - - - - [3.0.0,3.1.0), (3.1.0,) - WPILib has been tested with Maven 3.0.0+. + [3.0.0,3.1.0), (3.1.0,) + WPILib has been tested with Maven 3.0.0+. Note: Maven 3.1.0 is not supported due to Maven bug MNG-5503 (http://jira.codehaus.org/browse/MNG-5503). Please upgrade to Maven 3.1.1 or later. - - - - - - - - + + + + + + + + diff --git a/wpilibc/.cproject b/wpilibc/.cproject deleted file mode 100644 index 97b7354a84..0000000000 --- a/wpilibc/.cproject +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/wpilibc/.project b/wpilibc/.project deleted file mode 100644 index 134c1cd73d..0000000000 --- a/wpilibc/.project +++ /dev/null @@ -1,20 +0,0 @@ - - - WPILib - - - - - - com.windriver.ide.core.wrbuilder - - - - - - com.windriver.ide.core.wrnature - com.windriver.ide.core.wrcorenature - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - - diff --git a/wpilibc/.settings/Makefile b/wpilibc/.settings/Makefile deleted file mode 100644 index bc1916495a..0000000000 --- a/wpilibc/.settings/Makefile +++ /dev/null @@ -1,2184 +0,0 @@ -# Wind River Workbench generated Makefile. -# Do not edit!!! -# -# The file ".wrmakefile" is the template used by the Wind River Workbench to -# generate the makefiles of this project. Add user-specific build targets and -# make rules only(!) in this project's ".wrmakefile" file. 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-# entry point for extending the build -external_build :: - @echo "" - -# main entry point for pre processing prior to the build -pre_build :: $(PRE_BUILD_STEP) generate_sources - @echo "" - -# entry point for generating sources prior to the build -generate_sources :: - @echo "" - -# main entry point for post processing after the build -post_build :: $(POST_BUILD_STEP) deploy_output - @echo "" - -# entry point for deploying output after the build -deploy_output :: - @echo "" - -clean :: external_clean $(CLEAN_STEP) _clean - -# entry point for extending the build clean -external_clean :: - @echo "" diff --git a/wpilibc/.settings/org.eclipse.ltk.core.refactoring.prefs b/wpilibc/.settings/org.eclipse.ltk.core.refactoring.prefs deleted file mode 100644 index f59d2e6968..0000000000 --- a/wpilibc/.settings/org.eclipse.ltk.core.refactoring.prefs +++ /dev/null @@ -1,3 +0,0 @@ -#Tue Sep 14 17:17:39 EDT 2010 -eclipse.preferences.version=1 -org.eclipse.ltk.core.refactoring.enable.project.refactoring.history=false diff --git a/wpilibc/.wrmakefile b/wpilibc/.wrmakefile deleted file mode 100644 index 6ad1e05a50..0000000000 --- a/wpilibc/.wrmakefile +++ /dev/null @@ -1,48 +0,0 @@ -# The file ".wrmakefile" is the template used by the Wind River Workbench to -# generate the makefiles of this project. Add user-specific build targets and -# make rules only(!) in this project's ".wrmakefile" file. These will then be -# automatically dumped into the makefiles. - -WIND_HOME := $(subst \,/,$(WIND_HOME)) -WIND_BASE := $(subst \,/,$(WIND_BASE)) -WIND_USR := $(subst \,/,$(WIND_USR)) - -all : pre_build main_all post_build - -_clean :: - @echo "make: removing targets and objects of `pwd`" - -%IDE_GENERATED% - --include $(PRJ_ROOT_DIR)/*.makefile - --include *.makefile - -main_all : external_build $(PROJECT_TARGETS) - @echo "make: built targets of `pwd`" - -# entry point for extending the build -external_build :: - @echo "" - -# main entry point for pre processing prior to the build -pre_build :: $(PRE_BUILD_STEP) generate_sources - @echo "" - -# entry point for generating sources prior to the build -generate_sources :: - @echo "" - -# main entry point for post processing after the build -post_build :: $(POST_BUILD_STEP) deploy_output - @echo "" - -# entry point for deploying output after the build -deploy_output :: - @echo "" - -clean :: external_clean $(CLEAN_STEP) _clean - -# entry point for extending the build clean -external_clean :: - @echo "" diff --git a/wpilibc/.wrproject b/wpilibc/.wrproject deleted file mode 100644 index d148c97164..0000000000 --- a/wpilibc/.wrproject +++ /dev/null @@ -1,1414 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/wpilibc/Athena/pom.xml b/wpilibc/Athena/pom.xml deleted file mode 100644 index 11c0c993ed..0000000000 --- a/wpilibc/Athena/pom.xml +++ /dev/null @@ -1,58 +0,0 @@ - - - 4.0.0 - edu.wpi.first.wpilib.cpp - libWPILibAthena - a - - - edu.wpi.first.wpilib.templates.athena - static-library - 0.1.0-SNAPSHOT - ../../maven-utilities/athena/static-library/pom.xml - - - - - edu.wpi.first.wpilib.hal - include - 0.1.0-SNAPSHOT - inczip - - - edu.wpi.first.wpilib.networktables.cpp - include - 0.1.0-SNAPSHOT - inczip - - - - - - - org.codehaus.mojo - native-maven-plugin - - - - ../src/main/native - - **/*.cpp - - - Vision/* - - - - ../src/main/include - - - true - - - - - - - diff --git a/wpilibc/CMakeLists.txt b/wpilibc/CMakeLists.txt new file mode 100644 index 0000000000..f93cd46cd1 --- /dev/null +++ b/wpilibc/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8) +project(WPILib) + +file(GLOB_RECURSE SRC_FILES lib/*.cpp) +include_directories(include/ ${HAL_API_INCLUDES} ${NWT_API_INCLUDES}) +add_library(WPILibAthena SHARED ${SRC_FILES}) +target_link_libraries(WPILibAthena HALAthena NetworkTables ${NI_LIBS}) +INSTALL(TARGETS WPILibAthena LIBRARY DESTINATION lib) +INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX}) +# lib/ c m gcc_s ld-linux +# usr/lib stdc++ +# ni_emb +# HAL NWT diff --git a/wpilibc/Eclipse.cproject b/wpilibc/Eclipse.cproject deleted file mode 100644 index 8447cbb650..0000000000 --- a/wpilibc/Eclipse.cproject +++ /dev/null @@ -1,109 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/wpilibc/Eclipse.project b/wpilibc/Eclipse.project deleted file mode 100644 index 2a7f5d16c0..0000000000 --- a/wpilibc/Eclipse.project +++ /dev/null @@ -1,27 +0,0 @@ - - - WPILib - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/wpilibc/Makefile b/wpilibc/Makefile deleted file mode 100644 index 598ecf39c8..0000000000 --- a/wpilibc/Makefile +++ /dev/null @@ -1,34 +0,0 @@ -# force powerpc compilers -CXX=powerpc-wrs-vxworks-g++ -AR=powerpc-wrs-vxworks-ar - -CPPFILES := $(shell find -name '*.cpp' | sort | sed 's/\.\///g') -OBJS = $(CPPFILES:.cpp=.o) - -WPILib.a: $(OBJS) - @echo " [AR] WPILib.a" - @$(AR) crus WPILib.a $(OBJS) - -%.o: %.cpp - @echo " [G++] "$? - @mkdir -p `dirname Debug/$@` - @$(CXX) -o $@ -c $? -g -I. -mcpu=603 -mstrict-align -mlongcall -Wall -DTOOL=GNU -D'SVN_REV="3623+1"' -std=c++11 - -clean-objects: - @$(foreach obf, $(shell find -name '*.o' | sort | sed 's/\.\///g'), echo " [RM] "$(obf);rm -rf $(obf);) - -clean-wpilib: - @echo " [RM] WPILib.a" - @rm -rf WPILib.a - -clean: clean-objects clean-wpilib - -install: - mkdir -p $(DESTDIR)$(PREFIX)/lib - cp WPILib.a $(DESTDIR)$(PREFIX)/lib/libWPILib.a - $(foreach hdir,$(shell find -name '*.h' | sed 's/\.\///g' | xargs -L 1 dirname | sort | uniq),mkdir -p $(DESTDIR)$(PREFIX)/include/WPILib/$(hdir);) - $(foreach header, $(shell find -name '*.h' | sed 's/\.\///g'), cp $(header) $(DESTDIR)$(PREFIX)/include/WPILib/$(header);) - -rebuild: clean all - -all: WPILib.a diff --git a/wpilibc/src/main/include/ADXL345_I2C.h b/wpilibc/include/ADXL345_I2C.h similarity index 100% rename from wpilibc/src/main/include/ADXL345_I2C.h rename to wpilibc/include/ADXL345_I2C.h diff --git a/wpilibc/src/main/include/ADXL345_SPI.h b/wpilibc/include/ADXL345_SPI.h similarity index 100% rename from wpilibc/src/main/include/ADXL345_SPI.h rename to wpilibc/include/ADXL345_SPI.h diff --git a/wpilibc/src/main/include/Accelerometer.h b/wpilibc/include/Accelerometer.h similarity index 100% rename from wpilibc/src/main/include/Accelerometer.h rename to wpilibc/include/Accelerometer.h diff --git a/wpilibc/src/main/include/AnalogChannel.h b/wpilibc/include/AnalogChannel.h similarity index 100% rename from wpilibc/src/main/include/AnalogChannel.h rename to wpilibc/include/AnalogChannel.h diff --git a/wpilibc/src/main/include/AnalogModule.h b/wpilibc/include/AnalogModule.h similarity index 100% rename from wpilibc/src/main/include/AnalogModule.h rename to wpilibc/include/AnalogModule.h diff --git a/wpilibc/src/main/include/AnalogTrigger.h b/wpilibc/include/AnalogTrigger.h similarity index 100% rename from wpilibc/src/main/include/AnalogTrigger.h rename to wpilibc/include/AnalogTrigger.h diff --git a/wpilibc/src/main/include/AnalogTriggerOutput.h b/wpilibc/include/AnalogTriggerOutput.h similarity index 100% rename from wpilibc/src/main/include/AnalogTriggerOutput.h rename to wpilibc/include/AnalogTriggerOutput.h diff --git a/wpilibc/src/main/include/Base.h b/wpilibc/include/Base.h similarity index 100% rename from wpilibc/src/main/include/Base.h rename to wpilibc/include/Base.h diff --git a/wpilibc/src/main/include/Buttons/AnalogIOButton.h b/wpilibc/include/Buttons/AnalogIOButton.h similarity index 100% rename from wpilibc/src/main/include/Buttons/AnalogIOButton.h rename to wpilibc/include/Buttons/AnalogIOButton.h diff --git a/wpilibc/src/main/include/Buttons/Button.h b/wpilibc/include/Buttons/Button.h similarity index 100% rename from wpilibc/src/main/include/Buttons/Button.h rename to wpilibc/include/Buttons/Button.h diff --git a/wpilibc/src/main/include/Buttons/ButtonScheduler.h b/wpilibc/include/Buttons/ButtonScheduler.h similarity index 100% rename from wpilibc/src/main/include/Buttons/ButtonScheduler.h rename to wpilibc/include/Buttons/ButtonScheduler.h diff --git a/wpilibc/src/main/include/Buttons/CancelButtonScheduler.h b/wpilibc/include/Buttons/CancelButtonScheduler.h similarity index 100% rename from wpilibc/src/main/include/Buttons/CancelButtonScheduler.h rename to wpilibc/include/Buttons/CancelButtonScheduler.h diff --git a/wpilibc/src/main/include/Buttons/DigitalIOButton.h b/wpilibc/include/Buttons/DigitalIOButton.h similarity index 100% rename from wpilibc/src/main/include/Buttons/DigitalIOButton.h rename to wpilibc/include/Buttons/DigitalIOButton.h diff --git a/wpilibc/src/main/include/Buttons/HeldButtonScheduler.h b/wpilibc/include/Buttons/HeldButtonScheduler.h similarity index 100% rename from wpilibc/src/main/include/Buttons/HeldButtonScheduler.h rename to wpilibc/include/Buttons/HeldButtonScheduler.h diff --git a/wpilibc/src/main/include/Buttons/InternalButton.h b/wpilibc/include/Buttons/InternalButton.h similarity index 100% rename from wpilibc/src/main/include/Buttons/InternalButton.h rename to wpilibc/include/Buttons/InternalButton.h diff --git a/wpilibc/src/main/include/Buttons/JoystickButton.h b/wpilibc/include/Buttons/JoystickButton.h similarity index 100% rename from wpilibc/src/main/include/Buttons/JoystickButton.h rename to wpilibc/include/Buttons/JoystickButton.h diff --git a/wpilibc/src/main/include/Buttons/NetworkButton.h b/wpilibc/include/Buttons/NetworkButton.h similarity index 100% rename from wpilibc/src/main/include/Buttons/NetworkButton.h rename to wpilibc/include/Buttons/NetworkButton.h diff --git a/wpilibc/src/main/include/Buttons/PressedButtonScheduler.h b/wpilibc/include/Buttons/PressedButtonScheduler.h similarity index 100% rename from wpilibc/src/main/include/Buttons/PressedButtonScheduler.h rename to wpilibc/include/Buttons/PressedButtonScheduler.h diff --git a/wpilibc/src/main/include/Buttons/ReleasedButtonScheduler.h b/wpilibc/include/Buttons/ReleasedButtonScheduler.h similarity index 100% rename from wpilibc/src/main/include/Buttons/ReleasedButtonScheduler.h rename to wpilibc/include/Buttons/ReleasedButtonScheduler.h diff --git a/wpilibc/src/main/include/Buttons/ToggleButtonScheduler.h b/wpilibc/include/Buttons/ToggleButtonScheduler.h similarity index 100% rename from wpilibc/src/main/include/Buttons/ToggleButtonScheduler.h rename to wpilibc/include/Buttons/ToggleButtonScheduler.h diff --git a/wpilibc/src/main/include/Buttons/Trigger.h b/wpilibc/include/Buttons/Trigger.h similarity index 100% rename from wpilibc/src/main/include/Buttons/Trigger.h rename to wpilibc/include/Buttons/Trigger.h diff --git a/wpilibc/src/main/include/CAN/JaguarCANDriver.h b/wpilibc/include/CAN/JaguarCANDriver.h similarity index 100% rename from wpilibc/src/main/include/CAN/JaguarCANDriver.h rename to wpilibc/include/CAN/JaguarCANDriver.h diff --git a/wpilibc/src/main/include/CAN/can_proto.h b/wpilibc/include/CAN/can_proto.h similarity index 100% rename from wpilibc/src/main/include/CAN/can_proto.h rename to wpilibc/include/CAN/can_proto.h diff --git a/wpilibc/src/main/include/CANJaguar.h b/wpilibc/include/CANJaguar.h similarity index 100% rename from wpilibc/src/main/include/CANJaguar.h rename to wpilibc/include/CANJaguar.h diff --git a/wpilibc/src/main/include/Commands/Command.h b/wpilibc/include/Commands/Command.h similarity index 100% rename from wpilibc/src/main/include/Commands/Command.h rename to wpilibc/include/Commands/Command.h diff --git a/wpilibc/src/main/include/Commands/CommandGroup.h b/wpilibc/include/Commands/CommandGroup.h similarity index 100% rename from wpilibc/src/main/include/Commands/CommandGroup.h rename to wpilibc/include/Commands/CommandGroup.h diff --git a/wpilibc/src/main/include/Commands/CommandGroupEntry.h b/wpilibc/include/Commands/CommandGroupEntry.h similarity index 100% rename from wpilibc/src/main/include/Commands/CommandGroupEntry.h rename to wpilibc/include/Commands/CommandGroupEntry.h diff --git a/wpilibc/src/main/include/Commands/PIDCommand.h b/wpilibc/include/Commands/PIDCommand.h similarity index 100% rename from wpilibc/src/main/include/Commands/PIDCommand.h rename to wpilibc/include/Commands/PIDCommand.h diff --git a/wpilibc/src/main/include/Commands/PIDSubsystem.h b/wpilibc/include/Commands/PIDSubsystem.h similarity index 100% rename from wpilibc/src/main/include/Commands/PIDSubsystem.h rename to wpilibc/include/Commands/PIDSubsystem.h diff --git a/wpilibc/src/main/include/Commands/PrintCommand.h b/wpilibc/include/Commands/PrintCommand.h similarity index 100% rename from wpilibc/src/main/include/Commands/PrintCommand.h rename to wpilibc/include/Commands/PrintCommand.h diff --git a/wpilibc/src/main/include/Commands/Scheduler.h b/wpilibc/include/Commands/Scheduler.h similarity index 100% rename from wpilibc/src/main/include/Commands/Scheduler.h rename to wpilibc/include/Commands/Scheduler.h diff --git a/wpilibc/src/main/include/Commands/StartCommand.h b/wpilibc/include/Commands/StartCommand.h similarity index 100% rename from wpilibc/src/main/include/Commands/StartCommand.h rename to wpilibc/include/Commands/StartCommand.h diff --git a/wpilibc/src/main/include/Commands/Subsystem.h b/wpilibc/include/Commands/Subsystem.h similarity index 100% rename from wpilibc/src/main/include/Commands/Subsystem.h rename to wpilibc/include/Commands/Subsystem.h diff --git a/wpilibc/src/main/include/Commands/WaitCommand.h b/wpilibc/include/Commands/WaitCommand.h similarity index 100% rename from wpilibc/src/main/include/Commands/WaitCommand.h rename to wpilibc/include/Commands/WaitCommand.h diff --git a/wpilibc/src/main/include/Commands/WaitForChildren.h b/wpilibc/include/Commands/WaitForChildren.h similarity index 100% rename from wpilibc/src/main/include/Commands/WaitForChildren.h rename to wpilibc/include/Commands/WaitForChildren.h diff --git a/wpilibc/src/main/include/Commands/WaitUntilCommand.h b/wpilibc/include/Commands/WaitUntilCommand.h similarity index 100% rename from wpilibc/src/main/include/Commands/WaitUntilCommand.h rename to wpilibc/include/Commands/WaitUntilCommand.h diff --git a/wpilibc/src/main/include/Compressor.h b/wpilibc/include/Compressor.h similarity index 100% rename from wpilibc/src/main/include/Compressor.h rename to wpilibc/include/Compressor.h diff --git a/wpilibc/src/main/include/Controller.h b/wpilibc/include/Controller.h similarity index 100% rename from wpilibc/src/main/include/Controller.h rename to wpilibc/include/Controller.h diff --git a/wpilibc/src/main/include/Counter.h b/wpilibc/include/Counter.h similarity index 100% rename from wpilibc/src/main/include/Counter.h rename to wpilibc/include/Counter.h diff --git a/wpilibc/src/main/include/CounterBase.h b/wpilibc/include/CounterBase.h similarity index 100% rename from wpilibc/src/main/include/CounterBase.h rename to wpilibc/include/CounterBase.h diff --git a/wpilibc/src/main/include/Dashboard.h b/wpilibc/include/Dashboard.h similarity index 100% rename from wpilibc/src/main/include/Dashboard.h rename to wpilibc/include/Dashboard.h diff --git a/wpilibc/src/main/include/DashboardBase.h b/wpilibc/include/DashboardBase.h similarity index 100% rename from wpilibc/src/main/include/DashboardBase.h rename to wpilibc/include/DashboardBase.h diff --git a/wpilibc/src/main/include/DigitalInput.h b/wpilibc/include/DigitalInput.h similarity index 100% rename from wpilibc/src/main/include/DigitalInput.h rename to wpilibc/include/DigitalInput.h diff --git a/wpilibc/src/main/include/DigitalModule.h b/wpilibc/include/DigitalModule.h similarity index 100% rename from wpilibc/src/main/include/DigitalModule.h rename to wpilibc/include/DigitalModule.h diff --git a/wpilibc/src/main/include/DigitalOutput.h b/wpilibc/include/DigitalOutput.h similarity index 100% rename from wpilibc/src/main/include/DigitalOutput.h rename to wpilibc/include/DigitalOutput.h diff --git a/wpilibc/src/main/include/DigitalSource.h b/wpilibc/include/DigitalSource.h similarity index 100% rename from wpilibc/src/main/include/DigitalSource.h rename to wpilibc/include/DigitalSource.h diff --git a/wpilibc/src/main/include/DoubleSolenoid.h b/wpilibc/include/DoubleSolenoid.h similarity index 100% rename from wpilibc/src/main/include/DoubleSolenoid.h rename to wpilibc/include/DoubleSolenoid.h diff --git a/wpilibc/src/main/include/DriverStation.h b/wpilibc/include/DriverStation.h similarity index 100% rename from wpilibc/src/main/include/DriverStation.h rename to wpilibc/include/DriverStation.h diff --git a/wpilibc/src/main/include/DriverStationEnhancedIO.h b/wpilibc/include/DriverStationEnhancedIO.h similarity index 100% rename from wpilibc/src/main/include/DriverStationEnhancedIO.h rename to wpilibc/include/DriverStationEnhancedIO.h diff --git a/wpilibc/src/main/include/DriverStationLCD.h b/wpilibc/include/DriverStationLCD.h similarity index 100% rename from wpilibc/src/main/include/DriverStationLCD.h rename to wpilibc/include/DriverStationLCD.h diff --git a/wpilibc/src/main/include/Encoder.h b/wpilibc/include/Encoder.h similarity index 100% rename from wpilibc/src/main/include/Encoder.h rename to wpilibc/include/Encoder.h diff --git a/wpilibc/src/main/include/Error.h b/wpilibc/include/Error.h similarity index 100% rename from wpilibc/src/main/include/Error.h rename to wpilibc/include/Error.h diff --git a/wpilibc/src/main/include/ErrorBase.h b/wpilibc/include/ErrorBase.h similarity index 100% rename from wpilibc/src/main/include/ErrorBase.h rename to wpilibc/include/ErrorBase.h diff --git a/wpilibc/src/main/include/GearTooth.h b/wpilibc/include/GearTooth.h similarity index 100% rename from wpilibc/src/main/include/GearTooth.h rename to wpilibc/include/GearTooth.h diff --git a/wpilibc/src/main/include/GenericHID.h b/wpilibc/include/GenericHID.h similarity index 100% rename from wpilibc/src/main/include/GenericHID.h rename to wpilibc/include/GenericHID.h diff --git a/wpilibc/src/main/include/Gyro.h b/wpilibc/include/Gyro.h similarity index 100% rename from wpilibc/src/main/include/Gyro.h rename to wpilibc/include/Gyro.h diff --git a/wpilibc/src/main/include/HiTechnicColorSensor.h b/wpilibc/include/HiTechnicColorSensor.h similarity index 100% rename from wpilibc/src/main/include/HiTechnicColorSensor.h rename to wpilibc/include/HiTechnicColorSensor.h diff --git a/wpilibc/src/main/include/HiTechnicCompass.h b/wpilibc/include/HiTechnicCompass.h similarity index 100% rename from wpilibc/src/main/include/HiTechnicCompass.h rename to wpilibc/include/HiTechnicCompass.h diff --git a/wpilibc/src/main/include/I2C.h b/wpilibc/include/I2C.h similarity index 100% rename from wpilibc/src/main/include/I2C.h rename to wpilibc/include/I2C.h diff --git a/wpilibc/src/main/include/InterruptableSensorBase.h b/wpilibc/include/InterruptableSensorBase.h similarity index 100% rename from wpilibc/src/main/include/InterruptableSensorBase.h rename to wpilibc/include/InterruptableSensorBase.h diff --git a/wpilibc/src/main/include/IterativeRobot.h b/wpilibc/include/IterativeRobot.h similarity index 100% rename from wpilibc/src/main/include/IterativeRobot.h rename to wpilibc/include/IterativeRobot.h diff --git a/wpilibc/src/main/include/Jaguar.h b/wpilibc/include/Jaguar.h similarity index 100% rename from wpilibc/src/main/include/Jaguar.h rename to wpilibc/include/Jaguar.h diff --git a/wpilibc/src/main/include/Joystick.h b/wpilibc/include/Joystick.h similarity index 100% rename from wpilibc/src/main/include/Joystick.h rename to wpilibc/include/Joystick.h diff --git a/wpilibc/src/main/include/Kinect.h b/wpilibc/include/Kinect.h similarity index 100% rename from wpilibc/src/main/include/Kinect.h rename to wpilibc/include/Kinect.h diff --git a/wpilibc/src/main/include/KinectStick.h b/wpilibc/include/KinectStick.h similarity index 100% rename from wpilibc/src/main/include/KinectStick.h rename to wpilibc/include/KinectStick.h diff --git a/wpilibc/src/main/include/LiveWindow/LiveWindow.h b/wpilibc/include/LiveWindow/LiveWindow.h similarity index 100% rename from wpilibc/src/main/include/LiveWindow/LiveWindow.h rename to wpilibc/include/LiveWindow/LiveWindow.h diff --git a/wpilibc/src/main/include/LiveWindow/LiveWindowSendable.h b/wpilibc/include/LiveWindow/LiveWindowSendable.h similarity index 100% rename from wpilibc/src/main/include/LiveWindow/LiveWindowSendable.h rename to wpilibc/include/LiveWindow/LiveWindowSendable.h diff --git a/wpilibc/src/main/include/LiveWindow/LiveWindowStatusListener.h b/wpilibc/include/LiveWindow/LiveWindowStatusListener.h similarity index 100% rename from wpilibc/src/main/include/LiveWindow/LiveWindowStatusListener.h rename to wpilibc/include/LiveWindow/LiveWindowStatusListener.h diff --git a/wpilibc/src/main/include/Module.h b/wpilibc/include/Module.h similarity index 100% rename from wpilibc/src/main/include/Module.h rename to wpilibc/include/Module.h diff --git a/wpilibc/src/main/include/MotorSafety.h b/wpilibc/include/MotorSafety.h similarity index 100% rename from wpilibc/src/main/include/MotorSafety.h rename to wpilibc/include/MotorSafety.h diff --git a/wpilibc/src/main/include/MotorSafetyHelper.h b/wpilibc/include/MotorSafetyHelper.h similarity index 100% rename from wpilibc/src/main/include/MotorSafetyHelper.h rename to wpilibc/include/MotorSafetyHelper.h diff --git a/wpilibc/src/main/include/NetworkCommunication/AICalibration.h b/wpilibc/include/NetworkCommunication/AICalibration.h similarity index 100% rename from wpilibc/src/main/include/NetworkCommunication/AICalibration.h rename to wpilibc/include/NetworkCommunication/AICalibration.h diff --git a/wpilibc/src/main/include/NetworkCommunication/FRCComm.h b/wpilibc/include/NetworkCommunication/FRCComm.h similarity index 100% rename from wpilibc/src/main/include/NetworkCommunication/FRCComm.h rename to wpilibc/include/NetworkCommunication/FRCComm.h diff --git a/wpilibc/src/main/include/NetworkCommunication/LoadOut.h b/wpilibc/include/NetworkCommunication/LoadOut.h similarity index 100% rename from wpilibc/src/main/include/NetworkCommunication/LoadOut.h rename to wpilibc/include/NetworkCommunication/LoadOut.h diff --git a/wpilibc/src/main/include/NetworkCommunication/UsageReporting.h b/wpilibc/include/NetworkCommunication/UsageReporting.h similarity index 100% rename from wpilibc/src/main/include/NetworkCommunication/UsageReporting.h rename to wpilibc/include/NetworkCommunication/UsageReporting.h diff --git a/wpilibc/src/main/include/NetworkCommunication/symModuleLink.h b/wpilibc/include/NetworkCommunication/symModuleLink.h similarity index 100% rename from wpilibc/src/main/include/NetworkCommunication/symModuleLink.h rename to wpilibc/include/NetworkCommunication/symModuleLink.h diff --git a/wpilibc/src/main/include/Notifier.h b/wpilibc/include/Notifier.h similarity index 100% rename from wpilibc/src/main/include/Notifier.h rename to wpilibc/include/Notifier.h diff --git a/wpilibc/src/main/include/PIDController.h b/wpilibc/include/PIDController.h similarity index 100% rename from wpilibc/src/main/include/PIDController.h rename to wpilibc/include/PIDController.h diff --git a/wpilibc/src/main/include/PIDOutput.h b/wpilibc/include/PIDOutput.h similarity index 100% rename from wpilibc/src/main/include/PIDOutput.h rename to wpilibc/include/PIDOutput.h diff --git a/wpilibc/src/main/include/PIDSource.h b/wpilibc/include/PIDSource.h similarity index 100% rename from wpilibc/src/main/include/PIDSource.h rename to wpilibc/include/PIDSource.h diff --git a/wpilibc/src/main/include/PWM.h b/wpilibc/include/PWM.h similarity index 100% rename from wpilibc/src/main/include/PWM.h rename to wpilibc/include/PWM.h diff --git a/wpilibc/src/main/include/Preferences.h b/wpilibc/include/Preferences.h similarity index 100% rename from wpilibc/src/main/include/Preferences.h rename to wpilibc/include/Preferences.h diff --git a/wpilibc/src/main/include/Relay.h b/wpilibc/include/Relay.h similarity index 100% rename from wpilibc/src/main/include/Relay.h rename to wpilibc/include/Relay.h diff --git a/wpilibc/src/main/include/Resource.h b/wpilibc/include/Resource.h similarity index 100% rename from wpilibc/src/main/include/Resource.h rename to wpilibc/include/Resource.h diff --git a/wpilibc/src/main/include/RobotBase.h b/wpilibc/include/RobotBase.h similarity index 100% rename from wpilibc/src/main/include/RobotBase.h rename to wpilibc/include/RobotBase.h diff --git a/wpilibc/src/main/include/RobotDrive.h b/wpilibc/include/RobotDrive.h similarity index 100% rename from wpilibc/src/main/include/RobotDrive.h rename to wpilibc/include/RobotDrive.h diff --git a/wpilibc/src/main/include/SPI.h b/wpilibc/include/SPI.h similarity index 100% rename from wpilibc/src/main/include/SPI.h rename to wpilibc/include/SPI.h diff --git a/wpilibc/src/main/include/SafePWM.h b/wpilibc/include/SafePWM.h similarity index 100% rename from wpilibc/src/main/include/SafePWM.h rename to wpilibc/include/SafePWM.h diff --git a/wpilibc/src/main/include/SensorBase.h b/wpilibc/include/SensorBase.h similarity index 100% rename from wpilibc/src/main/include/SensorBase.h rename to wpilibc/include/SensorBase.h diff --git a/wpilibc/src/main/include/SerialPort.h b/wpilibc/include/SerialPort.h similarity index 100% rename from wpilibc/src/main/include/SerialPort.h rename to wpilibc/include/SerialPort.h diff --git a/wpilibc/src/main/include/Servo.h b/wpilibc/include/Servo.h similarity index 100% rename from wpilibc/src/main/include/Servo.h rename to wpilibc/include/Servo.h diff --git a/wpilibc/src/main/include/SimpleRobot.h b/wpilibc/include/SimpleRobot.h similarity index 100% rename from wpilibc/src/main/include/SimpleRobot.h rename to wpilibc/include/SimpleRobot.h diff --git a/wpilibc/src/main/include/Skeleton.h b/wpilibc/include/Skeleton.h similarity index 100% rename from wpilibc/src/main/include/Skeleton.h rename to wpilibc/include/Skeleton.h diff --git a/wpilibc/src/main/include/SmartDashboard/NamedSendable.h b/wpilibc/include/SmartDashboard/NamedSendable.h similarity index 100% rename from wpilibc/src/main/include/SmartDashboard/NamedSendable.h rename to wpilibc/include/SmartDashboard/NamedSendable.h diff --git a/wpilibc/src/main/include/SmartDashboard/Sendable.h b/wpilibc/include/SmartDashboard/Sendable.h similarity index 100% rename from wpilibc/src/main/include/SmartDashboard/Sendable.h rename to wpilibc/include/SmartDashboard/Sendable.h diff --git a/wpilibc/src/main/include/SmartDashboard/SendableChooser.h b/wpilibc/include/SmartDashboard/SendableChooser.h similarity index 100% rename from wpilibc/src/main/include/SmartDashboard/SendableChooser.h rename to wpilibc/include/SmartDashboard/SendableChooser.h diff --git a/wpilibc/src/main/include/SmartDashboard/SmartDashboard.h b/wpilibc/include/SmartDashboard/SmartDashboard.h similarity index 100% rename from wpilibc/src/main/include/SmartDashboard/SmartDashboard.h rename to wpilibc/include/SmartDashboard/SmartDashboard.h diff --git a/wpilibc/src/main/include/Solenoid.h b/wpilibc/include/Solenoid.h similarity index 100% rename from wpilibc/src/main/include/Solenoid.h rename to wpilibc/include/Solenoid.h diff --git a/wpilibc/src/main/include/SolenoidBase.h b/wpilibc/include/SolenoidBase.h similarity index 100% rename from wpilibc/src/main/include/SolenoidBase.h rename to wpilibc/include/SolenoidBase.h diff --git a/wpilibc/src/main/include/SpeedController.h b/wpilibc/include/SpeedController.h similarity index 100% rename from wpilibc/src/main/include/SpeedController.h rename to wpilibc/include/SpeedController.h diff --git a/wpilibc/src/main/include/Talon.h b/wpilibc/include/Talon.h similarity index 100% rename from wpilibc/src/main/include/Talon.h rename to wpilibc/include/Talon.h diff --git a/wpilibc/src/main/include/Task.h b/wpilibc/include/Task.h similarity index 100% rename from wpilibc/src/main/include/Task.h rename to wpilibc/include/Task.h diff --git a/wpilibc/src/main/include/Timer.h b/wpilibc/include/Timer.h similarity index 100% rename from wpilibc/src/main/include/Timer.h rename to wpilibc/include/Timer.h diff --git a/wpilibc/src/main/include/Ultrasonic.h b/wpilibc/include/Ultrasonic.h similarity index 100% rename from wpilibc/src/main/include/Ultrasonic.h rename to wpilibc/include/Ultrasonic.h diff --git a/wpilibc/src/main/include/Utility.h b/wpilibc/include/Utility.h similarity index 100% rename from wpilibc/src/main/include/Utility.h rename to wpilibc/include/Utility.h diff --git a/wpilibc/src/main/include/Victor.h b/wpilibc/include/Victor.h similarity index 100% rename from wpilibc/src/main/include/Victor.h rename to wpilibc/include/Victor.h diff --git a/wpilibc/src/main/include/WPIErrors.h b/wpilibc/include/WPIErrors.h similarity index 100% rename from wpilibc/src/main/include/WPIErrors.h rename to wpilibc/include/WPIErrors.h diff --git a/wpilibc/src/main/include/WPILib.h b/wpilibc/include/WPILib.h similarity index 100% rename from wpilibc/src/main/include/WPILib.h rename to wpilibc/include/WPILib.h diff --git a/wpilibc/src/main/include/nivision.h b/wpilibc/include/nivision.h similarity index 100% rename from wpilibc/src/main/include/nivision.h rename to wpilibc/include/nivision.h diff --git a/wpilibc/src/main/include/pcre.h b/wpilibc/include/pcre.h similarity index 100% rename from wpilibc/src/main/include/pcre.h rename to wpilibc/include/pcre.h diff --git a/wpilibc/src/main/include/visa/visa.h b/wpilibc/include/visa/visa.h similarity index 100% rename from wpilibc/src/main/include/visa/visa.h rename to wpilibc/include/visa/visa.h diff --git a/wpilibc/src/main/include/visa/visatype.h b/wpilibc/include/visa/visatype.h similarity index 100% rename from wpilibc/src/main/include/visa/visatype.h rename to wpilibc/include/visa/visatype.h diff --git a/wpilibc/src/main/native/ADXL345_I2C.cpp b/wpilibc/lib/ADXL345_I2C.cpp similarity index 100% rename from wpilibc/src/main/native/ADXL345_I2C.cpp rename to wpilibc/lib/ADXL345_I2C.cpp diff --git a/wpilibc/src/main/native/ADXL345_SPI.cpp b/wpilibc/lib/ADXL345_SPI.cpp similarity index 100% rename from wpilibc/src/main/native/ADXL345_SPI.cpp rename to wpilibc/lib/ADXL345_SPI.cpp diff --git a/wpilibc/src/main/native/Accelerometer.cpp b/wpilibc/lib/Accelerometer.cpp similarity index 100% rename from wpilibc/src/main/native/Accelerometer.cpp rename to wpilibc/lib/Accelerometer.cpp diff --git a/wpilibc/src/main/native/AnalogChannel.cpp b/wpilibc/lib/AnalogChannel.cpp similarity index 100% rename from wpilibc/src/main/native/AnalogChannel.cpp rename to wpilibc/lib/AnalogChannel.cpp diff --git a/wpilibc/src/main/native/AnalogModule.cpp b/wpilibc/lib/AnalogModule.cpp similarity index 100% rename from wpilibc/src/main/native/AnalogModule.cpp rename to wpilibc/lib/AnalogModule.cpp diff --git a/wpilibc/src/main/native/AnalogTrigger.cpp b/wpilibc/lib/AnalogTrigger.cpp similarity index 100% rename from wpilibc/src/main/native/AnalogTrigger.cpp rename to wpilibc/lib/AnalogTrigger.cpp diff --git a/wpilibc/src/main/native/AnalogTriggerOutput.cpp b/wpilibc/lib/AnalogTriggerOutput.cpp similarity index 100% rename from wpilibc/src/main/native/AnalogTriggerOutput.cpp rename to wpilibc/lib/AnalogTriggerOutput.cpp diff --git a/wpilibc/src/main/native/Buttons/AnalogIOButton.cpp b/wpilibc/lib/Buttons/AnalogIOButton.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/AnalogIOButton.cpp rename to wpilibc/lib/Buttons/AnalogIOButton.cpp diff --git a/wpilibc/src/main/native/Buttons/Button.cpp b/wpilibc/lib/Buttons/Button.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/Button.cpp rename to wpilibc/lib/Buttons/Button.cpp diff --git a/wpilibc/src/main/native/Buttons/ButtonScheduler.cpp b/wpilibc/lib/Buttons/ButtonScheduler.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/ButtonScheduler.cpp rename to wpilibc/lib/Buttons/ButtonScheduler.cpp diff --git a/wpilibc/src/main/native/Buttons/CancelButtonScheduler.cpp b/wpilibc/lib/Buttons/CancelButtonScheduler.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/CancelButtonScheduler.cpp rename to wpilibc/lib/Buttons/CancelButtonScheduler.cpp diff --git a/wpilibc/src/main/native/Buttons/DigitalIOButton.cpp b/wpilibc/lib/Buttons/DigitalIOButton.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/DigitalIOButton.cpp rename to wpilibc/lib/Buttons/DigitalIOButton.cpp diff --git a/wpilibc/src/main/native/Buttons/HeldButtonScheduler.cpp b/wpilibc/lib/Buttons/HeldButtonScheduler.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/HeldButtonScheduler.cpp rename to wpilibc/lib/Buttons/HeldButtonScheduler.cpp diff --git a/wpilibc/src/main/native/Buttons/InternalButton.cpp b/wpilibc/lib/Buttons/InternalButton.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/InternalButton.cpp rename to wpilibc/lib/Buttons/InternalButton.cpp diff --git a/wpilibc/src/main/native/Buttons/JoystickButton.cpp b/wpilibc/lib/Buttons/JoystickButton.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/JoystickButton.cpp rename to wpilibc/lib/Buttons/JoystickButton.cpp diff --git a/wpilibc/src/main/native/Buttons/NetworkButton.cpp b/wpilibc/lib/Buttons/NetworkButton.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/NetworkButton.cpp rename to wpilibc/lib/Buttons/NetworkButton.cpp diff --git a/wpilibc/src/main/native/Buttons/PressedButtonScheduler.cpp b/wpilibc/lib/Buttons/PressedButtonScheduler.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/PressedButtonScheduler.cpp rename to wpilibc/lib/Buttons/PressedButtonScheduler.cpp diff --git a/wpilibc/src/main/native/Buttons/ReleasedButtonScheduler.cpp b/wpilibc/lib/Buttons/ReleasedButtonScheduler.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/ReleasedButtonScheduler.cpp rename to wpilibc/lib/Buttons/ReleasedButtonScheduler.cpp diff --git a/wpilibc/src/main/native/Buttons/ToggleButtonScheduler.cpp b/wpilibc/lib/Buttons/ToggleButtonScheduler.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/ToggleButtonScheduler.cpp rename to wpilibc/lib/Buttons/ToggleButtonScheduler.cpp diff --git a/wpilibc/src/main/native/Buttons/Trigger.cpp b/wpilibc/lib/Buttons/Trigger.cpp similarity index 100% rename from wpilibc/src/main/native/Buttons/Trigger.cpp rename to wpilibc/lib/Buttons/Trigger.cpp diff --git a/wpilibc/src/main/native/CANJaguar.cpp b/wpilibc/lib/CANJaguar.cpp similarity index 100% rename from wpilibc/src/main/native/CANJaguar.cpp rename to wpilibc/lib/CANJaguar.cpp diff --git a/wpilibc/src/main/native/Commands/Command.cpp b/wpilibc/lib/Commands/Command.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/Command.cpp rename to wpilibc/lib/Commands/Command.cpp diff --git a/wpilibc/src/main/native/Commands/CommandGroup.cpp b/wpilibc/lib/Commands/CommandGroup.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/CommandGroup.cpp rename to wpilibc/lib/Commands/CommandGroup.cpp diff --git a/wpilibc/src/main/native/Commands/CommandGroupEntry.cpp b/wpilibc/lib/Commands/CommandGroupEntry.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/CommandGroupEntry.cpp rename to wpilibc/lib/Commands/CommandGroupEntry.cpp diff --git a/wpilibc/src/main/native/Commands/PIDCommand.cpp b/wpilibc/lib/Commands/PIDCommand.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/PIDCommand.cpp rename to wpilibc/lib/Commands/PIDCommand.cpp diff --git a/wpilibc/src/main/native/Commands/PIDSubsystem.cpp b/wpilibc/lib/Commands/PIDSubsystem.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/PIDSubsystem.cpp rename to wpilibc/lib/Commands/PIDSubsystem.cpp diff --git a/wpilibc/src/main/native/Commands/PrintCommand.cpp b/wpilibc/lib/Commands/PrintCommand.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/PrintCommand.cpp rename to wpilibc/lib/Commands/PrintCommand.cpp diff --git a/wpilibc/src/main/native/Commands/Scheduler.cpp b/wpilibc/lib/Commands/Scheduler.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/Scheduler.cpp rename to wpilibc/lib/Commands/Scheduler.cpp diff --git a/wpilibc/src/main/native/Commands/StartCommand.cpp b/wpilibc/lib/Commands/StartCommand.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/StartCommand.cpp rename to wpilibc/lib/Commands/StartCommand.cpp diff --git a/wpilibc/src/main/native/Commands/Subsystem.cpp b/wpilibc/lib/Commands/Subsystem.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/Subsystem.cpp rename to wpilibc/lib/Commands/Subsystem.cpp diff --git a/wpilibc/src/main/native/Commands/WaitCommand.cpp b/wpilibc/lib/Commands/WaitCommand.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/WaitCommand.cpp rename to wpilibc/lib/Commands/WaitCommand.cpp diff --git a/wpilibc/src/main/native/Commands/WaitForChildren.cpp b/wpilibc/lib/Commands/WaitForChildren.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/WaitForChildren.cpp rename to wpilibc/lib/Commands/WaitForChildren.cpp diff --git a/wpilibc/src/main/native/Commands/WaitUntilCommand.cpp b/wpilibc/lib/Commands/WaitUntilCommand.cpp similarity index 100% rename from wpilibc/src/main/native/Commands/WaitUntilCommand.cpp rename to wpilibc/lib/Commands/WaitUntilCommand.cpp diff --git a/wpilibc/src/main/native/Compressor.cpp b/wpilibc/lib/Compressor.cpp similarity index 100% rename from wpilibc/src/main/native/Compressor.cpp rename to wpilibc/lib/Compressor.cpp diff --git a/wpilibc/src/main/native/Counter.cpp b/wpilibc/lib/Counter.cpp similarity index 100% rename from wpilibc/src/main/native/Counter.cpp rename to wpilibc/lib/Counter.cpp diff --git a/wpilibc/src/main/native/Dashboard.cpp b/wpilibc/lib/Dashboard.cpp similarity index 100% rename from wpilibc/src/main/native/Dashboard.cpp rename to wpilibc/lib/Dashboard.cpp diff --git a/wpilibc/src/main/native/DigitalInput.cpp b/wpilibc/lib/DigitalInput.cpp similarity index 100% rename from wpilibc/src/main/native/DigitalInput.cpp rename to wpilibc/lib/DigitalInput.cpp diff --git a/wpilibc/src/main/native/DigitalModule.cpp b/wpilibc/lib/DigitalModule.cpp similarity index 100% rename from wpilibc/src/main/native/DigitalModule.cpp rename to wpilibc/lib/DigitalModule.cpp diff --git a/wpilibc/src/main/native/DigitalOutput.cpp b/wpilibc/lib/DigitalOutput.cpp similarity index 100% rename from wpilibc/src/main/native/DigitalOutput.cpp rename to wpilibc/lib/DigitalOutput.cpp diff --git a/wpilibc/src/main/native/DigitalSource.cpp b/wpilibc/lib/DigitalSource.cpp similarity index 100% rename from wpilibc/src/main/native/DigitalSource.cpp rename to wpilibc/lib/DigitalSource.cpp diff --git a/wpilibc/src/main/native/DoubleSolenoid.cpp b/wpilibc/lib/DoubleSolenoid.cpp similarity index 100% rename from wpilibc/src/main/native/DoubleSolenoid.cpp rename to wpilibc/lib/DoubleSolenoid.cpp diff --git a/wpilibc/src/main/native/DriverStation.cpp b/wpilibc/lib/DriverStation.cpp similarity index 100% rename from wpilibc/src/main/native/DriverStation.cpp rename to wpilibc/lib/DriverStation.cpp diff --git a/wpilibc/src/main/native/DriverStationEnhancedIO.cpp b/wpilibc/lib/DriverStationEnhancedIO.cpp similarity index 100% rename from wpilibc/src/main/native/DriverStationEnhancedIO.cpp rename to wpilibc/lib/DriverStationEnhancedIO.cpp diff --git a/wpilibc/src/main/native/DriverStationLCD.cpp b/wpilibc/lib/DriverStationLCD.cpp similarity index 100% rename from wpilibc/src/main/native/DriverStationLCD.cpp rename to wpilibc/lib/DriverStationLCD.cpp diff --git a/wpilibc/src/main/native/Encoder.cpp b/wpilibc/lib/Encoder.cpp similarity index 100% rename from wpilibc/src/main/native/Encoder.cpp rename to wpilibc/lib/Encoder.cpp diff --git a/wpilibc/src/main/native/Error.cpp b/wpilibc/lib/Error.cpp similarity index 100% rename from wpilibc/src/main/native/Error.cpp rename to wpilibc/lib/Error.cpp diff --git a/wpilibc/src/main/native/ErrorBase.cpp b/wpilibc/lib/ErrorBase.cpp similarity index 100% rename from wpilibc/src/main/native/ErrorBase.cpp rename to wpilibc/lib/ErrorBase.cpp diff --git a/wpilibc/src/main/native/GearTooth.cpp b/wpilibc/lib/GearTooth.cpp similarity index 100% rename from wpilibc/src/main/native/GearTooth.cpp rename to wpilibc/lib/GearTooth.cpp diff --git a/wpilibc/src/main/native/Gyro.cpp b/wpilibc/lib/Gyro.cpp similarity index 100% rename from wpilibc/src/main/native/Gyro.cpp rename to wpilibc/lib/Gyro.cpp diff --git a/wpilibc/src/main/native/HiTechnicColorSensor.cpp b/wpilibc/lib/HiTechnicColorSensor.cpp similarity index 100% rename from wpilibc/src/main/native/HiTechnicColorSensor.cpp rename to wpilibc/lib/HiTechnicColorSensor.cpp diff --git a/wpilibc/src/main/native/HiTechnicCompass.cpp b/wpilibc/lib/HiTechnicCompass.cpp similarity index 100% rename from wpilibc/src/main/native/HiTechnicCompass.cpp rename to wpilibc/lib/HiTechnicCompass.cpp diff --git a/wpilibc/src/main/native/I2C.cpp b/wpilibc/lib/I2C.cpp similarity index 100% rename from wpilibc/src/main/native/I2C.cpp rename to wpilibc/lib/I2C.cpp diff --git a/wpilibc/src/main/native/InterruptableSensorBase.cpp b/wpilibc/lib/InterruptableSensorBase.cpp similarity index 100% rename from wpilibc/src/main/native/InterruptableSensorBase.cpp rename to wpilibc/lib/InterruptableSensorBase.cpp diff --git a/wpilibc/src/main/native/IterativeRobot.cpp b/wpilibc/lib/IterativeRobot.cpp similarity index 100% rename from wpilibc/src/main/native/IterativeRobot.cpp rename to wpilibc/lib/IterativeRobot.cpp diff --git a/wpilibc/src/main/native/Jaguar.cpp b/wpilibc/lib/Jaguar.cpp similarity index 100% rename from wpilibc/src/main/native/Jaguar.cpp rename to wpilibc/lib/Jaguar.cpp diff --git a/wpilibc/src/main/native/Joystick.cpp b/wpilibc/lib/Joystick.cpp similarity index 100% rename from wpilibc/src/main/native/Joystick.cpp rename to wpilibc/lib/Joystick.cpp diff --git a/wpilibc/src/main/native/Kinect.cpp b/wpilibc/lib/Kinect.cpp similarity index 100% rename from wpilibc/src/main/native/Kinect.cpp rename to wpilibc/lib/Kinect.cpp diff --git a/wpilibc/src/main/native/KinectStick.cpp b/wpilibc/lib/KinectStick.cpp similarity index 100% rename from wpilibc/src/main/native/KinectStick.cpp rename to wpilibc/lib/KinectStick.cpp diff --git a/wpilibc/src/main/native/LiveWindow/LiveWindow.cpp b/wpilibc/lib/LiveWindow/LiveWindow.cpp similarity index 100% rename from wpilibc/src/main/native/LiveWindow/LiveWindow.cpp rename to wpilibc/lib/LiveWindow/LiveWindow.cpp diff --git a/wpilibc/src/main/native/LiveWindow/LiveWindowStatusListener.cpp b/wpilibc/lib/LiveWindow/LiveWindowStatusListener.cpp similarity index 100% rename from wpilibc/src/main/native/LiveWindow/LiveWindowStatusListener.cpp rename to wpilibc/lib/LiveWindow/LiveWindowStatusListener.cpp diff --git a/wpilibc/src/main/native/Module.cpp b/wpilibc/lib/Module.cpp similarity index 100% rename from wpilibc/src/main/native/Module.cpp rename to wpilibc/lib/Module.cpp diff --git a/wpilibc/src/main/native/MotorSafetyHelper.cpp b/wpilibc/lib/MotorSafetyHelper.cpp similarity index 100% rename from wpilibc/src/main/native/MotorSafetyHelper.cpp rename to wpilibc/lib/MotorSafetyHelper.cpp diff --git a/wpilibc/src/main/native/Notifier.cpp b/wpilibc/lib/Notifier.cpp similarity index 100% rename from wpilibc/src/main/native/Notifier.cpp rename to wpilibc/lib/Notifier.cpp diff --git a/wpilibc/src/main/native/PIDController.cpp b/wpilibc/lib/PIDController.cpp similarity index 100% rename from wpilibc/src/main/native/PIDController.cpp rename to wpilibc/lib/PIDController.cpp diff --git a/wpilibc/src/main/native/PWM.cpp b/wpilibc/lib/PWM.cpp similarity index 100% rename from wpilibc/src/main/native/PWM.cpp rename to wpilibc/lib/PWM.cpp diff --git a/wpilibc/src/main/native/Preferences.cpp b/wpilibc/lib/Preferences.cpp similarity index 99% rename from wpilibc/src/main/native/Preferences.cpp rename to wpilibc/lib/Preferences.cpp index f492f97216..76379ec23f 100644 --- a/wpilibc/src/main/native/Preferences.cpp +++ b/wpilibc/lib/Preferences.cpp @@ -13,9 +13,6 @@ #include #include -/** Private NI function needed to write to the VxWorks target */ -extern "C" int Priv_SetWriteFileAllowed(uint32_t enable); - /** The Preferences table name */ static const char *kTableName = "Preferences"; /** The value of the save field */ @@ -537,7 +534,6 @@ void Preferences::WriteTaskRun() giveSemaphore(m_fileOpStarted); FILE *file = NULL; - Priv_SetWriteFileAllowed(1); file = fopen(kFileName, "w"); fputs("[Preferences]\n", file); diff --git a/wpilibc/src/main/native/Relay.cpp b/wpilibc/lib/Relay.cpp similarity index 100% rename from wpilibc/src/main/native/Relay.cpp rename to wpilibc/lib/Relay.cpp diff --git a/wpilibc/src/main/native/Resource.cpp b/wpilibc/lib/Resource.cpp similarity index 100% rename from wpilibc/src/main/native/Resource.cpp rename to wpilibc/lib/Resource.cpp diff --git a/wpilibc/src/main/native/RobotBase.cpp b/wpilibc/lib/RobotBase.cpp similarity index 100% rename from wpilibc/src/main/native/RobotBase.cpp rename to wpilibc/lib/RobotBase.cpp diff --git a/wpilibc/src/main/native/RobotDrive.cpp b/wpilibc/lib/RobotDrive.cpp similarity index 100% rename from wpilibc/src/main/native/RobotDrive.cpp rename to wpilibc/lib/RobotDrive.cpp diff --git a/wpilibc/src/main/native/SPI.cpp b/wpilibc/lib/SPI.cpp similarity index 100% rename from wpilibc/src/main/native/SPI.cpp rename to wpilibc/lib/SPI.cpp diff --git a/wpilibc/src/main/native/SafePWM.cpp b/wpilibc/lib/SafePWM.cpp similarity index 100% rename from wpilibc/src/main/native/SafePWM.cpp rename to wpilibc/lib/SafePWM.cpp diff --git a/wpilibc/src/main/native/SensorBase.cpp b/wpilibc/lib/SensorBase.cpp similarity index 100% rename from wpilibc/src/main/native/SensorBase.cpp rename to wpilibc/lib/SensorBase.cpp diff --git a/wpilibc/src/main/native/SerialPort.cpp b/wpilibc/lib/SerialPort.cpp similarity index 100% rename from wpilibc/src/main/native/SerialPort.cpp rename to wpilibc/lib/SerialPort.cpp diff --git a/wpilibc/src/main/native/Servo.cpp b/wpilibc/lib/Servo.cpp similarity index 100% rename from wpilibc/src/main/native/Servo.cpp rename to wpilibc/lib/Servo.cpp diff --git a/wpilibc/src/main/native/SimpleRobot.cpp b/wpilibc/lib/SimpleRobot.cpp similarity index 100% rename from wpilibc/src/main/native/SimpleRobot.cpp rename to wpilibc/lib/SimpleRobot.cpp diff --git a/wpilibc/src/main/native/SmartDashboard/SendableChooser.cpp b/wpilibc/lib/SmartDashboard/SendableChooser.cpp similarity index 100% rename from wpilibc/src/main/native/SmartDashboard/SendableChooser.cpp rename to wpilibc/lib/SmartDashboard/SendableChooser.cpp diff --git a/wpilibc/src/main/native/SmartDashboard/SmartDashboard.cpp b/wpilibc/lib/SmartDashboard/SmartDashboard.cpp similarity index 100% rename from wpilibc/src/main/native/SmartDashboard/SmartDashboard.cpp rename to wpilibc/lib/SmartDashboard/SmartDashboard.cpp diff --git a/wpilibc/src/main/native/Solenoid.cpp b/wpilibc/lib/Solenoid.cpp similarity index 100% rename from wpilibc/src/main/native/Solenoid.cpp rename to wpilibc/lib/Solenoid.cpp diff --git a/wpilibc/src/main/native/SolenoidBase.cpp b/wpilibc/lib/SolenoidBase.cpp similarity index 100% rename from wpilibc/src/main/native/SolenoidBase.cpp rename to wpilibc/lib/SolenoidBase.cpp diff --git a/wpilibc/src/main/native/Talon.cpp b/wpilibc/lib/Talon.cpp similarity index 100% rename from wpilibc/src/main/native/Talon.cpp rename to wpilibc/lib/Talon.cpp diff --git a/wpilibc/src/main/native/Task.cpp b/wpilibc/lib/Task.cpp similarity index 100% rename from wpilibc/src/main/native/Task.cpp rename to wpilibc/lib/Task.cpp diff --git a/wpilibc/src/main/native/Timer.cpp b/wpilibc/lib/Timer.cpp similarity index 100% rename from wpilibc/src/main/native/Timer.cpp rename to wpilibc/lib/Timer.cpp diff --git a/wpilibc/src/main/native/Ultrasonic.cpp b/wpilibc/lib/Ultrasonic.cpp similarity index 100% rename from wpilibc/src/main/native/Ultrasonic.cpp rename to wpilibc/lib/Ultrasonic.cpp diff --git a/wpilibc/src/main/native/Utility.cpp b/wpilibc/lib/Utility.cpp similarity index 100% rename from wpilibc/src/main/native/Utility.cpp rename to wpilibc/lib/Utility.cpp diff --git a/wpilibc/src/main/native/Victor.cpp b/wpilibc/lib/Victor.cpp similarity index 100% rename from wpilibc/src/main/native/Victor.cpp rename to wpilibc/lib/Victor.cpp diff --git a/wpilibc/pom.xml b/wpilibc/pom.xml deleted file mode 100644 index a4c9c42287..0000000000 --- a/wpilibc/pom.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - 4.0.0 - edu.wpi.first.wpilib - cpp - pom - 0.1.0-SNAPSHOT - - - Athena - - diff --git a/wpilibc/src/main/include/Vision/AxisCamera.h b/wpilibc/src/main/include/Vision/AxisCamera.h deleted file mode 100644 index c6939536d2..0000000000 --- a/wpilibc/src/main/include/Vision/AxisCamera.h +++ /dev/null @@ -1,114 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __AXIS_CAMERA_H__ -#define __AXIS_CAMERA_H__ - -#include "HAL/HAL.h" -#include -#include - -#include "Vision/AxisCameraParams.h" -#if JAVA_CAMERA_LIB != 1 -#include "Vision/ColorImage.h" -#include "Vision/HSLImage.h" -#endif -#include "nivision.h" -#include -#include "Task.h" -#include "HAL/Semaphore.h" - -class PCVideoServer; - -/** - * AxisCamera class. - * This class handles everything about the Axis 206 FRC Camera. - * It starts up 2 tasks each using a different connection to the camera: - * - image reading task that reads images repeatedly from the camera - * - parameter handler task in the base class that monitors for changes to - * parameters and updates the camera - */ -class AxisCamera : public AxisCameraParams -{ -private: - explicit AxisCamera(const char *cameraIP); -public: - virtual ~AxisCamera(); - static AxisCamera& GetInstance(const char *cameraIP = NULL); - static void DeleteInstance(); - - bool IsFreshImage(); - SEMAPHORE_ID GetNewImageSem(); - - int GetImage(Image *imaqImage); -#if JAVA_CAMERA_LIB != 1 - int GetImage(ColorImage *image); - HSLImage *GetImage(); -#endif - - int CopyJPEG(char **destImage, int &destImageSize, int &destImageBufferSize); - -private: - static int s_ImageStreamTaskFunction(AxisCamera *thisPtr); - int ImageStreamTaskFunction(); - - int ReadImagesFromCamera(); - void UpdatePublicImageFromCamera(char *imgBuffer, int imgSize); - - virtual void RestartCameraTask(); - - static AxisCamera *_instance; - int m_cameraSocket; - typedef std::set SemSet_t; - SemSet_t m_newImageSemSet; - - char* m_protectedImageBuffer; - int m_protectedImageBufferLength; - int m_protectedImageSize; - MUTEX_ID m_protectedImageSem; - bool m_freshImage; - - Task m_imageStreamTask; - - PCVideoServer *m_videoServer; -}; - -#if JAVA_CAMERA_LIB == 1 -#ifdef __cplusplus -extern "C" { -#endif - void AxisCameraStart(const char *IPAddress); - int AxisCameraGetImage(Image *image); - void AxisCameraDeleteInstance(); - int AxisCameraFreshImage(); - - // Mid-stream gets & writes - void AxisCameraWriteBrightness(int brightness); - int AxisCameraGetBrightness(); - void AxisCameraWriteWhiteBalance(AxisCameraParams::WhiteBalance_t whiteBalance); - AxisCameraParams::WhiteBalance_t AxisCameraGetWhiteBalance(); - void AxisCameraWriteColorLevel(int colorLevel); - int AxisCameraGetColorLevel(); - void AxisCameraWriteExposureControl(AxisCameraParams::Exposure_t exposure); - AxisCameraParams::Exposure_t AxisCameraGetExposureControl(); - void AxisCameraWriteExposurePriority(int exposurePriority); - int AxisCameraGetExposurePriority(); - void AxisCameraWriteMaxFPS(int maxFPS); - int AxisCameraGetMaxFPS(); - - // New-Stream gets & writes - void AxisCameraWriteResolution(AxisCameraParams::Resolution_t resolution); - AxisCameraParams::Resolution_t AxisCameraGetResolution(); - void AxisCameraWriteCompression(int compression); - int AxisCameraGetCompression(); - void AxisCameraWriteRotation(AxisCameraParams::Rotation_t rotation); - AxisCameraParams::Rotation_t AxisCameraGetRotation(); -#ifdef __cplusplus -} -#endif -#endif // JAVA_CAMERA_LIB == 1 - -#endif diff --git a/wpilibc/src/main/include/Vision/AxisCameraParams.h b/wpilibc/src/main/include/Vision/AxisCameraParams.h deleted file mode 100644 index 2986bfc0a9..0000000000 --- a/wpilibc/src/main/include/Vision/AxisCameraParams.h +++ /dev/null @@ -1,91 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __AXIS_CAMERA_PARAMS_H__ -#define __AXIS_CAMERA_PARAMS_H__ - -#include "EnumCameraParameter.h" -#include "ErrorBase.h" -#include "IntCameraParameter.h" -#include "Task.h" -#include "HAL/Semaphore.h" -#include - -/** - * AxisCameraParams class. - * This class handles parameter configuration the Axis 206 Ethernet Camera. - * It starts up a tasks with an independent connection to the camera that monitors - * for changes to parameters and updates the camera. - * It is only separate from AxisCamera to isolate the parameter code from the image streaming code. - */ -class AxisCameraParams : public ErrorBase -{ -public: - typedef enum Exposure_t {kExposure_Automatic, kExposure_Hold, kExposure_FlickerFree50Hz, kExposure_FlickerFree60Hz} Exposure; - typedef enum WhiteBalance_t {kWhiteBalance_Automatic, kWhiteBalance_Hold, kWhiteBalance_FixedOutdoor1, kWhiteBalance_FixedOutdoor2, kWhiteBalance_FixedIndoor, kWhiteBalance_FixedFlourescent1, kWhiteBalance_FixedFlourescent2} WhiteBalance; - typedef enum Resolution_t {kResolution_640x480, kResolution_640x360, kResolution_320x240, kResolution_160x120} Resolution; - typedef enum Rotation_t {kRotation_0, kRotation_180} Rotation; - -protected: - AxisCameraParams(const char* ipAddress); - virtual ~AxisCameraParams(); - -public: - // Mid-stream gets & writes - void WriteBrightness(int); - int GetBrightness(); - void WriteWhiteBalance(WhiteBalance_t whiteBalance); - WhiteBalance_t GetWhiteBalance(); - void WriteColorLevel(int); - int GetColorLevel(); - void WriteExposureControl(Exposure_t); - Exposure_t GetExposureControl(); - void WriteExposurePriority(int); - int GetExposurePriority(); - void WriteMaxFPS(int); - int GetMaxFPS(); - - // New-Stream gets & writes (i.e. require restart) - void WriteResolution(Resolution_t); - Resolution_t GetResolution(); - void WriteCompression(int); - int GetCompression(); - void WriteRotation(Rotation_t); - Rotation_t GetRotation(); - -protected: - virtual void RestartCameraTask() = 0; - int CreateCameraSocket(const char *requestString); - - static int s_ParamTaskFunction(AxisCameraParams* thisPtr); - int ParamTaskFunction(); - - int UpdateCamParam(const char *param); - int ReadCamParams(); - - Task m_paramTask; - uint32_t m_ipAddress; // IPv4 - SEMAPHORE_ID m_paramChangedSem; - SEMAPHORE_ID m_socketPossessionSem; - - //Camera Properties - IntCameraParameter *m_brightnessParam; - IntCameraParameter *m_compressionParam; - IntCameraParameter *m_exposurePriorityParam; - IntCameraParameter *m_colorLevelParam; - IntCameraParameter *m_maxFPSParam; - EnumCameraParameter *m_rotationParam; - EnumCameraParameter *m_resolutionParam; - EnumCameraParameter *m_exposureControlParam; - EnumCameraParameter *m_whiteBalanceParam; - - // A vector to access all properties simply. - typedef std::vector ParameterVector_t; - ParameterVector_t m_parameters; -}; - - -#endif diff --git a/wpilibc/src/main/include/Vision/BinaryImage.h b/wpilibc/src/main/include/Vision/BinaryImage.h deleted file mode 100644 index 23a8557392..0000000000 --- a/wpilibc/src/main/include/Vision/BinaryImage.h +++ /dev/null @@ -1,42 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __BINARY_IMAGE_H__ -#define __BINARY_IMAGE_H__ - -#include "MonoImage.h" -/** - * Included for ParticleAnalysisReport definition - * TODO: Eliminate this dependency! - */ -#include "Vision2009/VisionAPI.h" - -#include -#include -using namespace std; - -class BinaryImage : public MonoImage -{ -public: - BinaryImage(); - virtual ~BinaryImage(); - int GetNumberParticles(); - ParticleAnalysisReport GetParticleAnalysisReport(int particleNumber); - void GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par); - vector* GetOrderedParticleAnalysisReports(); - BinaryImage *RemoveSmallObjects(bool connectivity8, int erosions); - BinaryImage *RemoveLargeObjects(bool connectivity8, int erosions); - BinaryImage *ConvexHull(bool connectivity8); - BinaryImage *ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount); - virtual void Write(const char *fileName); -private: - bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, int *result); - bool ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result); - static double NormalizeFromRange(double position, int range); - static bool CompareParticleSizes(ParticleAnalysisReport particle1, ParticleAnalysisReport particle2); -}; - -#endif diff --git a/wpilibc/src/main/include/Vision/ColorImage.h b/wpilibc/src/main/include/Vision/ColorImage.h deleted file mode 100644 index af71ce96b4..0000000000 --- a/wpilibc/src/main/include/Vision/ColorImage.h +++ /dev/null @@ -1,68 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __COLOR_IMAGE_H__ -#define __COLOR_IMAGE_H__ - -#include "ImageBase.h" -#include "BinaryImage.h" -#include "Threshold.h" - -class ColorImage : public ImageBase -{ -public: - ColorImage(ImageType type); - virtual ~ColorImage(); - BinaryImage *ThresholdRGB(int redLow, int redHigh, int greenLow, int greenHigh, int blueLow, int blueHigh); - BinaryImage *ThresholdHSL(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int luminenceLow, int luminenceHigh); - BinaryImage *ThresholdHSV(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int valueHigh, int valueLow); - BinaryImage *ThresholdHSI(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int intensityLow, int intensityHigh); - BinaryImage *ThresholdRGB(Threshold &threshold); - BinaryImage *ThresholdHSL(Threshold &threshold); - BinaryImage *ThresholdHSV(Threshold &threshold); - BinaryImage *ThresholdHSI(Threshold &threshold); - MonoImage *GetRedPlane(); - MonoImage *GetGreenPlane(); - MonoImage *GetBluePlane(); - MonoImage *GetHSLHuePlane(); - MonoImage *GetHSVHuePlane(); - MonoImage *GetHSIHuePlane(); - MonoImage *GetHSLSaturationPlane(); - MonoImage *GetHSVSaturationPlane(); - MonoImage *GetHSISaturationPlane(); - MonoImage *GetLuminancePlane(); - MonoImage *GetValuePlane(); - MonoImage *GetIntensityPlane(); - void ReplaceRedPlane(MonoImage *plane); - void ReplaceGreenPlane(MonoImage *plane); - void ReplaceBluePlane(MonoImage *plane); - void ReplaceHSLHuePlane(MonoImage *plane); - void ReplaceHSVHuePlane(MonoImage *plane); - void ReplaceHSIHuePlane(MonoImage *plane); - void ReplaceHSLSaturationPlane(MonoImage *plane); - void ReplaceHSVSaturationPlane(MonoImage *plane); - void ReplaceHSISaturationPlane(MonoImage *plane); - void ReplaceLuminancePlane(MonoImage *plane); - void ReplaceValuePlane(MonoImage *plane); - void ReplaceIntensityPlane(MonoImage *plane); - void ColorEqualize(); - void LuminanceEqualize(); - -private: - BinaryImage *ComputeThreshold(ColorMode colorMode, int low1, int high1, int low2, int high2, int low3, int high3); - void Equalize(bool allPlanes); - MonoImage * ExtractColorPlane(ColorMode mode, int planeNumber); - MonoImage * ExtractFirstColorPlane(ColorMode mode); - MonoImage * ExtractSecondColorPlane(ColorMode mode); - MonoImage * ExtractThirdColorPlane(ColorMode mode); - void ReplacePlane(ColorMode mode, MonoImage *plane, int planeNumber); - void ReplaceFirstColorPlane(ColorMode mode, MonoImage *plane); - void ReplaceSecondColorPlane(ColorMode mode, MonoImage *plane); - void ReplaceThirdColorPlane(ColorMode mode, MonoImage *plane); -}; - -#endif - diff --git a/wpilibc/src/main/include/Vision/EnumCameraParameter.h b/wpilibc/src/main/include/Vision/EnumCameraParameter.h deleted file mode 100644 index 543209f5c9..0000000000 --- a/wpilibc/src/main/include/Vision/EnumCameraParameter.h +++ /dev/null @@ -1,28 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __ENUM_CAMERA_PARAMETER_H__ -#define __ENUM_CAMERA_PARAMETER_H__ - -#include "IntCameraParameter.h" - -/** - * Enumerated camera parameter. - * This class represents a camera parameter that takes an enumerated type for a value. - */ -class EnumCameraParameter: public IntCameraParameter -{ -private: - const char *const*m_enumValues; - int m_numChoices; - -public: - EnumCameraParameter(const char *setString, const char *getString, bool requiresRestart, const char *const*choices, int numChoices); - virtual bool CheckChanged(bool &changed, char *param); - virtual void GetParamFromString(const char *string, int stringLength); -}; - -#endif diff --git a/wpilibc/src/main/include/Vision/HSLImage.h b/wpilibc/src/main/include/Vision/HSLImage.h deleted file mode 100644 index fb365adb9e..0000000000 --- a/wpilibc/src/main/include/Vision/HSLImage.h +++ /dev/null @@ -1,24 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __HSL_IMAGE_H__ -#define __HSL_IMAGE_H__ - -#include "ColorImage.h" - -/** - * A color image represented in HSL color space at 3 bytes per pixel. - */ -class HSLImage : public ColorImage -{ -public: - HSLImage(); - HSLImage(const char *fileName); - virtual ~HSLImage(); -}; - -#endif - diff --git a/wpilibc/src/main/include/Vision/ImageBase.h b/wpilibc/src/main/include/Vision/ImageBase.h deleted file mode 100644 index 6a45ec1876..0000000000 --- a/wpilibc/src/main/include/Vision/ImageBase.h +++ /dev/null @@ -1,29 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __IMAGE_BASE_H__ -#define __IMAGE_BASE_H__ - -#include -#include "nivision.h" -#include "ErrorBase.h" - -#define DEFAULT_BORDER_SIZE 3 - -class ImageBase : public ErrorBase -{ -public: - ImageBase(ImageType type); - virtual ~ImageBase(); - virtual void Write(const char *fileName); - int GetHeight(); - int GetWidth(); - Image *GetImaqImage(); -protected: - Image *m_imaqImage; -}; - -#endif diff --git a/wpilibc/src/main/include/Vision/IntCameraParameter.h b/wpilibc/src/main/include/Vision/IntCameraParameter.h deleted file mode 100644 index f4a5abb7d0..0000000000 --- a/wpilibc/src/main/include/Vision/IntCameraParameter.h +++ /dev/null @@ -1,36 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __INT_CAMERA_PARAMETER_H__ -#define __INT_CAMERA_PARAMETER_H__ - -#include "HAL/HAL.h" - -/** - * Integer camera parameter. - * This class represents a camera parameter that takes an integer value. - */ -class IntCameraParameter -{ -protected: - const char *m_setString; - const char *m_getString; - bool m_changed; - bool m_requiresRestart; - int m_value; // parameter value - - int SearchForParam(const char *pattern, const char *searchString, int searchStringLen, char *result); - -public: - IntCameraParameter(const char *setString, const char *getString, bool requiresRestart); - virtual ~IntCameraParameter(){} - int GetValue(); - void SetValue(int value); - virtual bool CheckChanged(bool &changed, char *param); - virtual void GetParamFromString(const char *string, int stringLength); -}; - -#endif diff --git a/wpilibc/src/main/include/Vision/MonoImage.h b/wpilibc/src/main/include/Vision/MonoImage.h deleted file mode 100644 index 277ff3a7e0..0000000000 --- a/wpilibc/src/main/include/Vision/MonoImage.h +++ /dev/null @@ -1,29 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __MONO_IMAGE_H__ -#define __MONO_IMAGE_H__ - -#include "ImageBase.h" - -#include - -using namespace std; - -class MonoImage : public ImageBase -{ -public: - MonoImage(); - virtual ~MonoImage(); - - vector * DetectEllipses(EllipseDescriptor *ellipseDescriptor, - CurveOptions *curveOptions, - ShapeDetectionOptions *shapeDetectionOptions, - ROI *roi); - vector * DetectEllipses(EllipseDescriptor *ellipseDescriptor); -}; - -#endif diff --git a/wpilibc/src/main/include/Vision/PCVideoServer.h b/wpilibc/src/main/include/Vision/PCVideoServer.h deleted file mode 100644 index 869223d5df..0000000000 --- a/wpilibc/src/main/include/Vision/PCVideoServer.h +++ /dev/null @@ -1,39 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __PC_VIDEO_SERVER_H__ -#define __PC_VIDEO_SERVER_H__ - -#include "Task.h" -#include - -/** port for sending video to laptop */ -#define VIDEO_TO_PC_PORT 1180 - -/** - * Class the serves images to the PC. - */ -class PCVideoServer : public ErrorBase { - -public: - PCVideoServer(); - ~PCVideoServer(); - unsigned int Release(); - void Start(); - void Stop(); - -private: - static int s_ServerTask(PCVideoServer *thisPtr); - int ServerTask(); - int StartServerTask(); - - Task m_serverTask; - SEMAPHORE_ID m_newImageSem; - bool m_stopServer; -}; - -#endif - diff --git a/wpilibc/src/main/include/Vision/RGBImage.h b/wpilibc/src/main/include/Vision/RGBImage.h deleted file mode 100644 index a92dc5822a..0000000000 --- a/wpilibc/src/main/include/Vision/RGBImage.h +++ /dev/null @@ -1,23 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __RGB_IMAGE_H__ -#define __RGB_IMAGE_H__ - -#include "ColorImage.h" - -/** - * A color image represented in RGB color space at 3 bytes per pixel. - */ -class RGBImage : public ColorImage -{ -public: - RGBImage(); - RGBImage(const char *fileName); - virtual ~RGBImage(); -}; - -#endif diff --git a/wpilibc/src/main/include/Vision/Threshold.h b/wpilibc/src/main/include/Vision/Threshold.h deleted file mode 100644 index c38d7ca6a6..0000000000 --- a/wpilibc/src/main/include/Vision/Threshold.h +++ /dev/null @@ -1,30 +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. */ -/*----------------------------------------------------------------------------*/ - -#ifndef __THRESHOLD_H__ -#define __THRESHOLD_H__ - -/** - * Color threshold values. - * This object represnts the threshold values for any type of color object - * that is used in a threshhold operation. It simplifies passing values - * around in a program for color detection. - */ -class Threshold -{ -public: - int plane1Low; - int plane1High; - int plane2Low; - int plane2High; - int plane3Low; - int plane3High; - Threshold(int plane1Low, int plane1High, - int plane2Low, int plane2High, - int plane3Low, int plane3High); -}; - -#endif diff --git a/wpilibc/src/main/native/Vision/AxisCamera.cpp b/wpilibc/src/main/native/Vision/AxisCamera.cpp deleted file mode 100644 index 398cd38765..0000000000 --- a/wpilibc/src/main/native/Vision/AxisCamera.cpp +++ /dev/null @@ -1,502 +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 "Vision/AxisCamera.h" - -#include -#include "NetworkCommunication/UsageReporting.h" -#include "HAL/cpp/Synchronized.h" -#include "Vision/PCVideoServer.h" -#include "WPIErrors.h" - -/** Private NI function to decode JPEG */ -IMAQ_FUNC int Priv_ReadJPEGString_C(Image* _image, const unsigned char* _string, uint32_t _stringLength); - -// Max packet without jumbo frames is 1500... add 36 because?? -#define kMaxPacketSize 1536 -#define kImageBufferAllocationIncrement 1000 - -AxisCamera *AxisCamera::_instance = NULL; - -/** - * AxisCamera constructor - */ -AxisCamera::AxisCamera(const char *ipAddress) - : AxisCameraParams(ipAddress) - , m_cameraSocket(ERROR) - , m_protectedImageBuffer(NULL) - , m_protectedImageBufferLength(0) - , m_protectedImageSize(0) - , m_protectedImageSem(NULL) - , m_freshImage(false) - , m_imageStreamTask("cameraTask", (FUNCPTR)s_ImageStreamTaskFunction) - , m_videoServer(NULL) -{ - m_protectedImageSem = initializeMutex(SEMAPHORE_Q_PRIORITY | SEMAPHORE_INVERSION_SAFE | SEMAPHORE_DELETE_SAFE); - -#if JAVA_CAMERA_LIB != 1 - nUsageReporting::report(nUsageReporting::kResourceType_AxisCamera, ipAddress == NULL ? 1 : 2); -#endif - - if (!StatusIsFatal()) - m_imageStreamTask.Start((int)this); -} - -/** - * Destructor - */ -AxisCamera::~AxisCamera() -{ - delete m_videoServer; - m_videoServer = NULL; - - m_imageStreamTask.Stop(); - close(m_cameraSocket); - - SemSet_t::iterator it = m_newImageSemSet.begin(); - SemSet_t::iterator end = m_newImageSemSet.end(); - for (;it != end; it++) - { - deleteSemaphore(*it); - } - m_newImageSemSet.clear(); - - deleteMutex(m_protectedImageSem); -} - -/** - * Get a pointer to the AxisCamera object, if the object does not exist, create it - * To use the camera on port 2 of a cRIO-FRC, pass "192.168.0.90" to the first GetInstance call. - * @return reference to AxisCamera object - */ -AxisCamera &AxisCamera::GetInstance(const char *cameraIP) -{ - if (NULL == _instance) - { - _instance = new AxisCamera(cameraIP); - - _instance->m_videoServer = new PCVideoServer(); - } - - return *_instance; -} - -/** - * Called by Java to delete the camera... how thoughtful - */ -void AxisCamera::DeleteInstance() -{ - delete _instance; - _instance = NULL; -} - -/** - * Return true if the latest image from the camera has not been retrieved by calling GetImage() yet. - * @return true if the image has not been retrieved yet. - */ -bool AxisCamera::IsFreshImage() -{ - return m_freshImage; -} - -/** - * Get the semaphore to be used to synchronize image access with camera acquisition - * - * Call semTake on the returned semaphore to block until a new image is acquired. - * - * The semaphore is owned by the AxisCamera class and will be deleted when the class is destroyed. - * @return A semaphore to notify when new image is received - */ -SEMAPHORE_ID AxisCamera::GetNewImageSem() -{ - SEMAPHORE_ID sem = initializeSemaphore(SEMAPHORE_Q_PRIORITY, SEMAPHORE_EMPTY); - m_newImageSemSet.insert(sem); - return sem; -} - -/** - * Get an image from the camera and store it in the provided image. - * @param image The imaq image to store the result in. This must be an HSL or RGB image - * This function is called by Java. - * @return 1 upon success, zero on a failure - */ -int AxisCamera::GetImage(Image* imaqImage) -{ - if (m_protectedImageBuffer == NULL) - return 0; - Synchronized sync(m_protectedImageSem); - Priv_ReadJPEGString_C(imaqImage, - (unsigned char*)m_protectedImageBuffer, m_protectedImageSize); - m_freshImage = false; - return 1; -} - -#if JAVA_CAMERA_LIB != 1 -/** - * Get an image from the camera and store it in the provided image. - * @param image The image to store the result in. This must be an HSL or RGB image - * @return 1 upon success, zero on a failure - */ -int AxisCamera::GetImage(ColorImage* image) -{ - return GetImage(image->GetImaqImage()); -} - -/** - * Instantiate a new image object and fill it with the latest image from the camera. - * - * The returned pointer is owned by the caller and is their responsibility to delete. - * @return a pointer to an HSLImage object - */ -HSLImage* AxisCamera::GetImage() -{ - HSLImage *image = new HSLImage(); - GetImage(image); - return image; -} -#endif - -/** - * Copy an image into an existing buffer. - * This copies an image into an existing buffer rather than creating a new image - * in memory. That way a new image is only allocated when the image being copied is - * larger than the destination. - * This method is called by the PCVideoServer class. - * @param imageData The destination image. - * @param numBytes The size of the destination image. - * @return 0 if failed (no source image or no memory), 1 if success. - */ -int AxisCamera::CopyJPEG(char **destImage, int &destImageSize, int &destImageBufferSize) -{ - Synchronized sync(m_protectedImageSem); - if (destImage == NULL) - wpi_setWPIErrorWithContext(NullParameter, "destImage must not be NULL"); - - if (m_protectedImageBuffer == NULL || m_protectedImageSize <= 0) - return 0; // if no source image - - if (destImageBufferSize < m_protectedImageSize) // if current destination buffer too small - { - if (*destImage != NULL) delete [] *destImage; - destImageBufferSize = m_protectedImageSize + kImageBufferAllocationIncrement; - *destImage = new char[destImageBufferSize]; - if (*destImage == NULL) return 0; - } - // copy this image into destination buffer - if (*destImage == NULL) - { - wpi_setWPIErrorWithContext(NullParameter, "*destImage must not be NULL"); - } - // TODO: Is this copy realy necessary... perhaps we can simply transmit while holding the protected buffer - memcpy(*destImage, m_protectedImageBuffer, m_protectedImageSize); - destImageSize = m_protectedImageSize; - return 1; -} - -/** - * Static interface that will cause an instantiation if necessary. - * This static stub is directly spawned as a task to read images from the camera. - */ -int AxisCamera::s_ImageStreamTaskFunction(AxisCamera *thisPtr) -{ - return thisPtr->ImageStreamTaskFunction(); -} - -/** - * Task spawned by AxisCamera constructor to receive images from cam - * If setNewImageSem has been called, this function does a semGive on each new image - * Images can be accessed by calling getImage() - */ -int AxisCamera::ImageStreamTaskFunction() -{ - // Loop on trying to setup the camera connection. This happens in a background - // thread so it shouldn't effect the operation of user programs. - while (1) - { - const char *requestString = "GET /mjpg/video.mjpg HTTP/1.1\n\ -User-Agent: HTTPStreamClient\n\ -Connection: Keep-Alive\n\ -Cache-Control: no-cache\n\ -Authorization: Basic RlJDOkZSQw==\n\n"; - takeSemaphore(m_socketPossessionSem, SEMAPHORE_WAIT_FOREVER); - m_cameraSocket = CreateCameraSocket(requestString); - if (m_cameraSocket == ERROR) - { - // Don't hammer the camera if it isn't ready. - giveSemaphore(m_socketPossessionSem); - delayTicks(1000); - } - else - { - ReadImagesFromCamera(); - } - } - return 0; -} - -/** - * This function actually reads the images from the camera. - */ -int AxisCamera::ReadImagesFromCamera() -{ - char *imgBuffer = NULL; - int imgBufferLength = 0; - //Infinite loop, task deletion handled by taskDeleteHook - // Socket cleanup handled by destructor - - // TODO: these recv calls must be non-blocking. Otherwise if the camera - // fails during a read, the code hangs and never retries when the camera comes - // back up. - - int counter = 2; - while (1) - { - char initialReadBuffer[kMaxPacketSize] = ""; - char intermediateBuffer[1]; - char *trailingPtr = initialReadBuffer; - int trailingCounter = 0; - while (counter) - { - // TODO: fix me... this cannot be the most efficient way to approach this, reading one byte at a time. - if(recv(m_cameraSocket, intermediateBuffer, 1, 0) == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to read image header"); - close (m_cameraSocket); - return ERROR; - } - strncat(initialReadBuffer, intermediateBuffer, 1); - // trailingCounter ensures that we start looking for the 4 byte string after - // there is at least 4 bytes total. Kind of obscure. - // look for 2 blank lines (\r\n) - if (NULL != strstr(trailingPtr, "\r\n\r\n")) - { - --counter; - } - if (++trailingCounter >= 4) - { - trailingPtr++; - } - } - counter = 1; - char *contentLength = strstr(initialReadBuffer, "Content-Length: "); - if (contentLength == NULL) - { - wpi_setWPIErrorWithContext(IncompatibleMode, "No content-length token found in packet"); - close(m_cameraSocket); - return ERROR; - } - contentLength = contentLength + 16; // skip past "content length" - int readLength = atol(contentLength); // get the image byte count - - // Make sure buffer is large enough - if (imgBufferLength < readLength) - { - if (imgBuffer) delete[] imgBuffer; - imgBufferLength = readLength + kImageBufferAllocationIncrement; - imgBuffer = new char[imgBufferLength]; - if (imgBuffer == NULL) - { - imgBufferLength = 0; - continue; - } - } - - // Read the image data for "Content-Length" bytes - int bytesRead = 0; - int remaining = readLength; - while(bytesRead < readLength) - { - int bytesThisRecv = recv(m_cameraSocket, &imgBuffer[bytesRead], remaining, 0); - bytesRead += bytesThisRecv; - remaining -= bytesThisRecv; - } - // Update image - UpdatePublicImageFromCamera(imgBuffer, readLength); - if (takeSemaphore(m_paramChangedSem, SEMAPHORE_NO_WAIT) == OK) - { - // params need to be updated: close the video stream; release the camera. - close(m_cameraSocket); - giveSemaphore(m_socketPossessionSem); - return 0; - } - } -} - -/** - * Copy the image from private buffer to shared buffer. - * @param imgBuffer The buffer containing the image - * @param bufLength The length of the image - */ -void AxisCamera::UpdatePublicImageFromCamera(char *imgBuffer, int imgSize) -{ - { - Synchronized sync(m_protectedImageSem); - - // Adjust the buffer size if current destination buffer is too small. - if (m_protectedImageBufferLength < imgSize) - { - if (m_protectedImageBuffer != NULL) delete [] m_protectedImageBuffer; - m_protectedImageBufferLength = imgSize + kImageBufferAllocationIncrement; - m_protectedImageBuffer = new char[m_protectedImageBufferLength]; - if (m_protectedImageBuffer == NULL) - { - m_protectedImageBufferLength = 0; - return; - } - } - - memcpy(m_protectedImageBuffer, imgBuffer, imgSize); - m_protectedImageSize = imgSize; - } - - m_freshImage = true; - // Notify everyone who is interested. - SemSet_t::iterator it = m_newImageSemSet.begin(); - SemSet_t::iterator end = m_newImageSemSet.end(); - for (;it != end; it++) - { - giveSemaphore(*it); - } -} - -/** - * Implement the pure virtual interface so that when parameter changes require a restart, the image task can be bounced. - */ -void AxisCamera::RestartCameraTask() -{ - m_imageStreamTask.Stop(); - m_imageStreamTask.Start((int)this); -} - -#if JAVA_CAMERA_LIB == 1 - -// C bindings used by Java -// These need to stay as is or Java has to change - -void AxisCameraStart(const char *IPAddress) -{ -#ifdef SVN_REV - if (strlen(SVN_REV)) - { - printf("JavaCameraLib was compiled from SVN revision %s\n", SVN_REV); - } - else - { - printf("JavaCameraLib was compiled from a location that is not source controlled.\n"); - } -#else - printf("JavaCameraLib was compiled without -D'SVN_REV=nnnn'\n"); -#endif - AxisCamera::GetInstance(IPAddress); -} - -int AxisCameraGetImage (Image* image) -{ - return AxisCamera::GetInstance().GetImage(image); -} - -void AxisCameraWriteBrightness(int brightness) -{ - AxisCamera::GetInstance().WriteBrightness(brightness); -} - -int AxisCameraGetBrightness() -{ - return AxisCamera::GetInstance().GetBrightness(); -} - -void AxisCameraWriteWhiteBalance(AxisCameraParams::WhiteBalance_t whiteBalance) -{ - AxisCamera::GetInstance().WriteWhiteBalance(whiteBalance); -} - -AxisCameraParams::WhiteBalance_t AxisCameraGetWhiteBalance() -{ - return AxisCamera::GetInstance().GetWhiteBalance(); -} - -void AxisCameraWriteColorLevel(int colorLevel) -{ - AxisCamera::GetInstance().WriteColorLevel(colorLevel); -} - -int AxisCameraGetColorLevel() -{ - return AxisCamera::GetInstance().GetColorLevel(); -} - -void AxisCameraWriteExposureControl(AxisCameraParams::Exposure_t exposure) -{ - AxisCamera::GetInstance().WriteExposureControl(exposure); -} - -AxisCameraParams::Exposure_t AxisCameraGetExposureControl() -{ - return AxisCamera::GetInstance().GetExposureControl(); -} - -void AxisCameraWriteExposurePriority(int exposure) -{ - AxisCamera::GetInstance().WriteExposurePriority(exposure); -} - -int AxisCameraGetExposurePriority() -{ - return AxisCamera::GetInstance().GetExposurePriority(); -} - -void AxisCameraWriteMaxFPS(int maxFPS) -{ - AxisCamera::GetInstance().WriteMaxFPS(maxFPS); -} - -int AxisCameraGetMaxFPS() -{ - return AxisCamera::GetInstance().GetMaxFPS(); -} - -void AxisCameraWriteResolution(AxisCameraParams::Resolution_t resolution) -{ - AxisCamera::GetInstance().WriteResolution(resolution); -} - -AxisCameraParams::Resolution_t AxisCameraGetResolution() -{ - return AxisCamera::GetInstance().GetResolution(); -} - -void AxisCameraWriteCompression(int compression) -{ - AxisCamera::GetInstance().WriteCompression(compression); -} - -int AxisCameraGetCompression() -{ - return AxisCamera::GetInstance().GetCompression(); -} - -void AxisCameraWriteRotation(AxisCameraParams::Rotation_t rotation) -{ - AxisCamera::GetInstance().WriteRotation(rotation); -} - -AxisCameraParams::Rotation_t AxisCameraGetRotation() -{ - return AxisCamera::GetInstance().GetRotation(); -} - -void AxisCameraDeleteInstance() -{ - AxisCamera::DeleteInstance(); -} - -int AxisCameraFreshImage() -{ - return AxisCamera::GetInstance().IsFreshImage(); -} - -#endif // JAVA_CAMERA_LIB == 1 - diff --git a/wpilibc/src/main/native/Vision/AxisCameraParams.cpp b/wpilibc/src/main/native/Vision/AxisCameraParams.cpp deleted file mode 100644 index 9c353fece4..0000000000 --- a/wpilibc/src/main/native/Vision/AxisCameraParams.cpp +++ /dev/null @@ -1,469 +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 "Vision/AxisCameraParams.h" - -#include "Vision/AxisCamera.h" -#include -#include "pcre.h" -#include -#include -#include "HAL/cpp/Synchronized.h" -#include "Timer.h" -#include "Utility.h" -#include "WPIErrors.h" - -#if JAVA_CAMERA_LIB != 1 -#include "DriverStation.h" -#endif - -static const char *const kRotationChoices[] = {"0", "180"}; -static const char *const kResolutionChoices[] = {"640x480", "640x360", "320x240", "160x120"}; -static const char *const kExposureControlChoices[] = { "automatic", "hold", "flickerfree50", "flickerfree60" }; -static const char *const kWhiteBalanceChoices[] = { "auto", "holdwb", "fixed_outdoor1", - "fixed_outdoor2", "fixed_indoor", "fixed_fluor1", "fixed_fluor2" }; - -/** - * AxisCamera constructor - */ -AxisCameraParams::AxisCameraParams(const char* ipAddress) - : m_paramTask("paramTask", (FUNCPTR) s_ParamTaskFunction) - , m_paramChangedSem (NULL) - , m_socketPossessionSem (NULL) - , m_brightnessParam (NULL) - , m_compressionParam (NULL) - , m_exposurePriorityParam (NULL) - , m_colorLevelParam (NULL) - , m_maxFPSParam (NULL) - , m_rotationParam (NULL) - , m_resolutionParam (NULL) - , m_exposureControlParam (NULL) - , m_whiteBalanceParam (NULL) -{ - if (ipAddress == NULL || strlen(ipAddress) == 0) - { -#if JAVA_CAMERA_LIB == 1 - wpi_setWPIErrorWithContext(ParameterOutOfRange, "IP Address must be specified"); - return; -#else - DriverStation *ds = DriverStation::GetInstance(); - ds->WaitForData(); - uint16_t teamNumber = ds->GetTeamNumber(); - char cameraIP[16]; - snprintf(cameraIP, 16, "10.%d.%d.11", teamNumber / 100, teamNumber % 100); - m_ipAddress = inet_addr(cameraIP); -#endif - } - else - { - m_ipAddress = inet_addr((char*)ipAddress); - } - - if (m_ipAddress == (u_long)ERROR) - { - wpi_setErrnoError(); - return; - } - - m_brightnessParam = new IntCameraParameter("ImageSource.I0.Sensor.Brightness=%i", - "root.ImageSource.I0.Sensor.Brightness=(.*)", false); - m_parameters.push_back(m_brightnessParam); - m_colorLevelParam = new IntCameraParameter("ImageSource.I0.Sensor.ColorLevel=%i", - "root.ImageSource.I0.Sensor.ColorLevel=(.*)", false); - m_parameters.push_back(m_colorLevelParam); - m_exposurePriorityParam = new IntCameraParameter("ImageSource.I0.Sensor.exposurePriority=%i", - "root.ImageSource.I0.Sensor.ExposurePriority=(.*)", false); - m_parameters.push_back(m_exposurePriorityParam); - m_compressionParam = new IntCameraParameter("Image.I0.Appearance.Compression=%i", - "root.Image.I0.Appearance.Compression=(.*)", true); - m_parameters.push_back(m_compressionParam); - m_maxFPSParam = new IntCameraParameter("Image.I0.Stream.FPS=%i", - "root.Image.I0.Stream.FPS=(.*)", false); - m_parameters.push_back(m_maxFPSParam); - m_rotationParam = new EnumCameraParameter("Image.I0.Appearance.Rotation=%s", - "root.Image.I0.Appearance.Rotation=(.*)", true, kRotationChoices, sizeof(kRotationChoices)/sizeof(kRotationChoices[0])); - m_parameters.push_back(m_rotationParam); - m_resolutionParam = new EnumCameraParameter("Image.I0.Appearance.Resolution=%s", - "root.Image.I0.Appearance.Resolution=(.*)", true, kResolutionChoices, sizeof(kResolutionChoices)/sizeof(kResolutionChoices[0])); - m_parameters.push_back(m_resolutionParam); - m_exposureControlParam = new EnumCameraParameter("ImageSource.I0.Sensor.Exposure=%s", - "root.ImageSource.I0.Sensor.Exposure=(.*)", false, kExposureControlChoices, sizeof(kExposureControlChoices)/sizeof(kExposureControlChoices[0])); - m_parameters.push_back(m_exposureControlParam); - m_whiteBalanceParam = new EnumCameraParameter("ImageSource.IO.Sensor.WhiteBalance=%s", - "root.ImageSource.I0.Sensor.WhiteBalance=(.*)", false, kWhiteBalanceChoices, sizeof(kWhiteBalanceChoices)/sizeof(kWhiteBalanceChoices[0])); - m_parameters.push_back(m_whiteBalanceParam); - - m_paramChangedSem = initializeSemaphore(SEMAPHORE_Q_PRIORITY, SEMAPHORE_EMPTY); - m_socketPossessionSem = initializeSemaphore(SEMAPHORE_Q_PRIORITY, SEMAPHORE_FULL); - - m_paramTask.Start((int)this); -} - -/** - * Destructor - */ -AxisCameraParams::~AxisCameraParams() -{ - m_paramTask.Stop(); - - deleteSemaphore(m_socketPossessionSem); - deleteSemaphore(m_paramChangedSem); - - delete m_whiteBalanceParam; - delete m_exposureControlParam; - delete m_resolutionParam; - delete m_rotationParam; - delete m_maxFPSParam; - delete m_compressionParam; - delete m_exposurePriorityParam; - delete m_colorLevelParam; - delete m_brightnessParam; -} - -/** - * Static function to start the parameter updating task - */ -int AxisCameraParams::s_ParamTaskFunction(AxisCameraParams* thisPtr) -{ - return thisPtr->ParamTaskFunction(); -} - -/** - * Main loop of the parameter task. - * This loop runs continuously checking parameters from the camera for - * posted changes and updating them if necessary. - */ -// TODO: need to synchronize the actual setting of parameters (the assignment statement) -int AxisCameraParams::ParamTaskFunction() -{ - static bool firstTime = true; - - while (true) - { - takeSemaphore(m_socketPossessionSem, SEMAPHORE_WAIT_FOREVER); - if (firstTime) - { - while (ReadCamParams() == 0); - firstTime = false; - } - bool restartRequired = false; - - ParameterVector_t::iterator it = m_parameters.begin(); - ParameterVector_t::iterator end = m_parameters.end(); - for(; it != end; it++) - { - bool changed = false; - char param[150]; - restartRequired |= (*it)->CheckChanged(changed, param); - if (changed) - { - UpdateCamParam(param); - } - } - if (restartRequired) - { - RestartCameraTask(); - } - giveSemaphore(m_socketPossessionSem); - } - return 0; -} - -/** - * Write the brightness value to the camera. - * @param brightness valid values 0 .. 100 - */ -void AxisCameraParams::WriteBrightness(int brightness) -{ - m_brightnessParam->SetValue(brightness); - giveSemaphore(m_paramChangedSem); -} - -/** - * Get the brightness value. - * @return Brightness value from the camera. - */ -int AxisCameraParams::GetBrightness() -{ - return m_brightnessParam->GetValue(); -} - -/** - * Set the white balance value. - * @param whiteBalance Valid values from the WhiteBalance_t enum. - */ -void AxisCameraParams::WriteWhiteBalance(WhiteBalance_t whiteBalance) -{ - m_whiteBalanceParam->SetValue(whiteBalance); - giveSemaphore(m_paramChangedSem); -} - -/** - * Retrieve the current white balance parameter. - * @return The white balance value. - */ -AxisCameraParams::WhiteBalance_t AxisCameraParams::GetWhiteBalance() -{ - return (WhiteBalance_t) m_whiteBalanceParam->GetValue(); -} - -/** - * Write the color level to the camera. - * @param colorLevel valid values are 0 .. 100 - */ -void AxisCameraParams::WriteColorLevel(int colorLevel) -{ - m_colorLevelParam->SetValue(colorLevel); - giveSemaphore(m_paramChangedSem); -} - -/** - * Retrieve the color level from the camera. - * @Returns the camera color level. - */ -int AxisCameraParams::GetColorLevel() -{ - return m_colorLevelParam->GetValue(); -} - -/** - * Write the exposure control value to the camera. - * @param exposureControl A mode to write in the Exposure_t enum. - */ -void AxisCameraParams::WriteExposureControl(Exposure_t exposureControl) -{ - m_exposureControlParam->SetValue(exposureControl); - giveSemaphore(m_paramChangedSem); -} - -/** - * Get the exposure value from the camera. - * @returns the exposure value from the camera. - */ -AxisCameraParams::Exposure_t AxisCameraParams::GetExposureControl() -{ - return (Exposure_t) m_exposureControlParam->GetValue(); -} - -/** - * Write resolution value to camera. - * @param resolution The camera resolution value to write to the camera. Use the Resolution_t enum. - */ -void AxisCameraParams::WriteResolution(Resolution_t resolution) -{ - m_resolutionParam->SetValue(resolution); - giveSemaphore(m_paramChangedSem); -} - -/** - * Get the resolution value from the camera. - * @returns resultion value for the camera. - */ -AxisCameraParams::Resolution_t AxisCameraParams::GetResolution() -{ - return (Resolution_t) m_resolutionParam->GetValue(); -} - -/** - * Write the exposre priority value to the camera. - * @param exposurePriority Valid values are 0, 50, 100. - * 0 = Prioritize image quality - * 50 = None - * 100 = Prioritize frame rate - */ -void AxisCameraParams::WriteExposurePriority(int exposurePriority) -{ - m_exposurePriorityParam->SetValue(exposurePriority); - giveSemaphore(m_paramChangedSem); -} - -int AxisCameraParams::GetExposurePriority() -{ - return m_exposurePriorityParam->GetValue(); -} - -/** - * Write the rotation value to the camera. - * If you mount your camera upside down, use this to adjust the image for you. - * @param rotation The image from the Rotation_t enum in AxisCameraParams (kRotation_0 or kRotation_180) - */ -void AxisCameraParams::WriteRotation(Rotation_t rotation) -{ - m_rotationParam->SetValue(rotation); - giveSemaphore(m_paramChangedSem); -} - -/** - * Get the rotation value from the camera. - * @return The rotation value from the camera (Rotation_t). - */ -AxisCameraParams::Rotation_t AxisCameraParams::GetRotation() -{ - return (Rotation_t) m_rotationParam->GetValue(); -} - -/** - * Write the compression value to the camera. - * @param compression Values between 0 and 100. - */ - -void AxisCameraParams::WriteCompression(int compression) -{ - m_compressionParam->SetValue(compression); - giveSemaphore(m_paramChangedSem); -} - -/** - * Get the compression value from the camera. - * @return The cached compression value from the camera. - */ -int AxisCameraParams::GetCompression() -{ - return m_compressionParam->GetValue(); -} - -/** - * Write the maximum frames per second that the camera should send - * Write 0 to send as many as possible. - * @param maxFPS The number of frames the camera should send in a second, exposure permitting. - */ -void AxisCameraParams::WriteMaxFPS(int maxFPS) -{ - m_maxFPSParam->SetValue(maxFPS); - giveSemaphore(m_paramChangedSem); -} - -/** - * Get the max number of frames per second that the camera will send - * @return Maximum frames per second. - */ -int AxisCameraParams::GetMaxFPS() -{ - return m_maxFPSParam->GetValue(); -} - -/** - * Update a camera parameter. - * Write a camera parameter to the camera when it has bene changed. - * @param param the string to insert into the http request. - * @returns 0 if it failed, otherwise nonzero. - */ -int AxisCameraParams::UpdateCamParam(const char* param) -{ - const char *requestString = - "GET /axis-cgi/admin/param.cgi?action=update&%s HTTP/1.1\n\ -User-Agent: HTTPStreamClient\n\ -Connection: Keep-Alive\n\ -Cache-Control: no-cache\n\ -Authorization: Basic RlJDOkZSQw==\n\n"; - char completedRequest[1024]; - sprintf(completedRequest, requestString, param); - // Send request - int camSocket = CreateCameraSocket(completedRequest); - if (camSocket == ERROR) - { - printf("UpdateCamParam failed: %s\n", param); - return 0; - } - close(camSocket); - return 1; -} - -/** - * Read the full param list from camera, use regular expressions to find the bits we care about - * assign values to member variables. - */ -int AxisCameraParams::ReadCamParams() -{ - const char * requestString = - "GET /axis-cgi/admin/param.cgi?action=list HTTP/1.1\n\ -User-Agent: HTTPStreamClient\n\ -Connection: Keep-Alive\n\ -Cache-Control: no-cache\n\ -Authorization: Basic RlJDOkZSQw==\n\n"; - - int camSocket = CreateCameraSocket(requestString); - if (camSocket == ERROR) - { - return 0; - } - // Allocate on the heap since it is very large and only needed once - char *readBuffer = new char[27000]; - int totalRead = 0; - while (1) - { - wpi_assert(totalRead < 26000); - int bytesRead = recv(camSocket, &readBuffer[totalRead], 1000, 0); - if (bytesRead == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to read image header"); - close(camSocket); - return 0; - } - else if (bytesRead <= 0) - { - break; - } - totalRead += bytesRead; - } - readBuffer[totalRead] = '\0'; - - ParameterVector_t::iterator it = m_parameters.begin(); - ParameterVector_t::iterator end = m_parameters.end(); - for(; it != end; it++) - { - (*it)->GetParamFromString(readBuffer, totalRead); - } - close(camSocket); - delete [] readBuffer; - return 1; -} - -/* - * Create a socket connected to camera - * Used to create a connection to the camera by both AxisCameraParams and AxisCamera. - * @param requestString The initial request string to send upon successful connection. - * @return ERROR if failed, socket handle if successful. - */ -int AxisCameraParams::CreateCameraSocket(const char *requestString) -{ - int sockAddrSize; - struct sockaddr_in serverAddr; - int camSocket; - /* create socket */ - if ((camSocket = socket(AF_INET, SOCK_STREAM, 0)) == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to create the camera socket"); - return ERROR; - } - - sockAddrSize = sizeof(struct sockaddr_in); - bzero((char *) &serverAddr, sockAddrSize); - serverAddr.sin_family = AF_INET; - serverAddr.sin_len = (u_char) sockAddrSize; - serverAddr.sin_port = htons(80); - - serverAddr.sin_addr.s_addr = m_ipAddress; - - /* connect to server */ - struct timeval connectTimeout; - connectTimeout.tv_sec = 5; - connectTimeout.tv_usec = 0; - if (connectWithTimeout(camSocket, (struct sockaddr *) &serverAddr, sockAddrSize, &connectTimeout) == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to connect to the camera"); - close(camSocket); - return ERROR; - } - int sent = send(camSocket, requestString, strlen(requestString), 0); - if (sent == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to send a request to the camera"); - close(camSocket); - return ERROR; - } - return camSocket; -} diff --git a/wpilibc/src/main/native/Vision/BinaryImage.cpp b/wpilibc/src/main/native/Vision/BinaryImage.cpp deleted file mode 100644 index f4cd1bbae0..0000000000 --- a/wpilibc/src/main/native/Vision/BinaryImage.cpp +++ /dev/null @@ -1,223 +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 "BinaryImage.h" -#include "WPIErrors.h" -#include - -/** Private NI function needed to write to the VxWorks target */ -IMAQ_FUNC int Priv_SetWriteFileAllowed(uint32_t enable); - -BinaryImage::BinaryImage() : MonoImage() -{ -} - -BinaryImage::~BinaryImage() -{ -} - -/** - * Get then number of particles for the image. - * @returns the number of particles found for the image. - */ -int BinaryImage::GetNumberParticles() -{ - int numParticles = 0; - int success = imaqCountParticles(m_imaqImage, 1, &numParticles); - wpi_setImaqErrorWithContext(success, "Error counting particles"); - return numParticles; -} - -/** - * Get a single particle analysis report. - * Get one (of possibly many) particle analysis reports for an image. - * @param particleNumber Which particle analysis report to return. - * @returns the selected particle analysis report - */ -ParticleAnalysisReport BinaryImage::GetParticleAnalysisReport(int particleNumber) -{ - ParticleAnalysisReport par; - GetParticleAnalysisReport(particleNumber, &par); - return par; -} - -/** - * Get a single particle analysis report. - * Get one (of possibly many) particle analysis reports for an image. - * This version could be more efficient when copying many reports. - * @param particleNumber Which particle analysis report to return. - * @param par the selected particle analysis report - */ -void BinaryImage::GetParticleAnalysisReport(int particleNumber, ParticleAnalysisReport *par) -{ - int success; - int numParticles = 0; - - success = imaqGetImageSize(m_imaqImage, &par->imageWidth, &par->imageHeight); - wpi_setImaqErrorWithContext(success, "Error getting image size"); - if (StatusIsFatal()) - return; - - success = imaqCountParticles(m_imaqImage, 1, &numParticles); - wpi_setImaqErrorWithContext(success, "Error counting particles"); - if (StatusIsFatal()) - return; - - if (particleNumber >= numParticles) - { - wpi_setWPIErrorWithContext(ParameterOutOfRange, "particleNumber"); - return; - } - - par->particleIndex = particleNumber; - // Don't bother measuring the rest of the particle if one fails - bool good = ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_X, &par->center_mass_x); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_CENTER_OF_MASS_Y, &par->center_mass_y); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA, &par->particleArea); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_TOP, &par->boundingRect.top); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_LEFT, &par->boundingRect.left); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_HEIGHT, &par->boundingRect.height); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_BOUNDING_RECT_WIDTH, &par->boundingRect.width); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_IMAGE_AREA, &par->particleToImagePercent); - good = good && ParticleMeasurement(particleNumber, IMAQ_MT_AREA_BY_PARTICLE_AND_HOLES_AREA, &par->particleQuality); - - if (good) - { - /* normalized position (-1 to 1) */ - par->center_mass_x_normalized = NormalizeFromRange(par->center_mass_x, par->imageWidth); - par->center_mass_y_normalized = NormalizeFromRange(par->center_mass_y, par->imageHeight); - } -} - - -/** - * Get an ordered vector of particles for the image. - * Create a vector of particle analysis reports sorted by size for an image. - * The vector contains the actual report structures. - * @returns a pointer to the vector of particle analysis reports. The caller must delete the - * vector when finished using it. - */ -vector* BinaryImage::GetOrderedParticleAnalysisReports() -{ - vector* particles = new vector; - int particleCount = GetNumberParticles(); - for(int particleIndex = 0; particleIndex < particleCount; particleIndex++) - { - particles->push_back(GetParticleAnalysisReport(particleIndex)); - } - // TODO: This is pretty inefficient since each compare in the sort copies - // both reports being compared... do it manually instead... while we're - // at it, we should provide a version that allows a preallocated buffer of - // ParticleAnalysisReport structures - sort(particles->begin(), particles->end(), CompareParticleSizes); - return particles; -} - -/** - * Write a binary image to flash. - * Writes the binary image to flash on the cRIO for later inspection. - * @param fileName the name of the image file written to the flash. - */ -void BinaryImage::Write(const char *fileName) -{ - RGBValue colorTable[256]; - Priv_SetWriteFileAllowed(1); - memset(colorTable, 0, sizeof(colorTable)); - colorTable[0].R = 0; - colorTable[1].R = 255; - colorTable[0].G = colorTable[1].G = 0; - colorTable[0].B = colorTable[1].B = 0; - colorTable[0].alpha = colorTable[1].alpha = 0; - imaqWriteFile(m_imaqImage, fileName, colorTable); -} - -/** - * Measure a single parameter for an image. - * Get the measurement for a single parameter about an image by calling the imaqMeasureParticle - * function for the selected parameter. - * @param particleNumber which particle in the set of particles - * @param whatToMeasure the imaq MeasurementType (what to measure) - * @param result the value of the measurement - * @returns false on failure, true on success - */ -bool BinaryImage::ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, int *result) -{ - double resultDouble; - bool success = ParticleMeasurement(particleNumber, whatToMeasure, &resultDouble); - *result = (int)resultDouble; - return success; -} - -/** - * Measure a single parameter for an image. - * Get the measurement for a single parameter about an image by calling the imaqMeasureParticle - * function for the selected parameter. - * @param particleNumber which particle in the set of particles - * @param whatToMeasure the imaq MeasurementType (what to measure) - * @param result the value of the measurement - * @returns true on failure, false on success - */ -bool BinaryImage::ParticleMeasurement(int particleNumber, MeasurementType whatToMeasure, double *result) -{ - int success; - success = imaqMeasureParticle(m_imaqImage, particleNumber, 0, whatToMeasure, result); - wpi_setImaqErrorWithContext(success, "Error measuring particle"); - return !StatusIsFatal(); -} - -//Normalizes to [-1,1] -double BinaryImage::NormalizeFromRange(double position, int range) -{ - return (position * 2.0 / (double)range) - 1.0; -} - -/** - * The compare helper function for sort. - * This function compares two particle analysis reports as a helper for the sort function. - * @param particle1 The first particle to compare - * @param particle2 the second particle to compare - * @returns true if particle1 is greater than particle2 - */ -bool BinaryImage::CompareParticleSizes(ParticleAnalysisReport particle1, ParticleAnalysisReport particle2) -{ - //we want descending sort order - return particle1.particleToImagePercent > particle2.particleToImagePercent; -} - -BinaryImage *BinaryImage::RemoveSmallObjects(bool connectivity8, int erosions) -{ - BinaryImage *result = new BinaryImage(); - int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage, connectivity8, erosions, IMAQ_KEEP_LARGE, NULL); - wpi_setImaqErrorWithContext(success, "Error in RemoveSmallObjects"); - return result; -} - -BinaryImage *BinaryImage::RemoveLargeObjects(bool connectivity8, int erosions) -{ - BinaryImage *result = new BinaryImage(); - int success = imaqSizeFilter(result->GetImaqImage(), m_imaqImage, connectivity8, erosions, IMAQ_KEEP_SMALL, NULL); - wpi_setImaqErrorWithContext(success, "Error in RemoveLargeObjects"); - return result; -} - -BinaryImage *BinaryImage::ConvexHull(bool connectivity8) -{ - BinaryImage *result = new BinaryImage(); - int success = imaqConvexHull(result->GetImaqImage(), m_imaqImage, connectivity8); - wpi_setImaqErrorWithContext(success, "Error in convex hull operation"); - return result; -} - -BinaryImage *BinaryImage::ParticleFilter(ParticleFilterCriteria2 *criteria, int criteriaCount) -{ - BinaryImage *result = new BinaryImage(); - int numParticles; - ParticleFilterOptions2 filterOptions = {0, 0, 0, 1}; - int success = imaqParticleFilter4(result->GetImaqImage(), m_imaqImage, criteria, criteriaCount, &filterOptions, NULL, &numParticles); - wpi_setImaqErrorWithContext(success, "Error in particle filter operation"); - return result; -} - diff --git a/wpilibc/src/main/native/Vision/ColorImage.cpp b/wpilibc/src/main/native/Vision/ColorImage.cpp deleted file mode 100644 index 24c44f493b..0000000000 --- a/wpilibc/src/main/native/Vision/ColorImage.cpp +++ /dev/null @@ -1,465 +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 "ColorImage.h" - -#include "WPIErrors.h" - -ColorImage::ColorImage(ImageType type) : ImageBase(type) -{ -} - -ColorImage::~ColorImage() -{ -} - -/** - * Perform a threshold operation on a ColorImage. - * Perform a threshold operation on a ColorImage using the ColorMode supplied - * as a parameter. - * @param colorMode The type of colorspace this operation should be performed in - * @returns a pointer to a binary image - */ -BinaryImage *ColorImage::ComputeThreshold(ColorMode colorMode, - int low1, int high1, - int low2, int high2, - int low3, int high3) -{ - BinaryImage *result = new BinaryImage(); - Range range1 = {low1, high1}, - range2 = {low2, high2}, - range3 = {low3, high3}; - - int success = imaqColorThreshold(result->GetImaqImage(), m_imaqImage, 1, colorMode, &range1, &range2, &range3); - wpi_setImaqErrorWithContext(success, "ImaqThreshold error"); - return result; -} - -/** - * Perform a threshold in RGB space. - * @param redLow Red low value - * @param redHigh Red high value - * @param greenLow Green low value - * @param greenHigh Green high value - * @param blueLow Blue low value - * @param blueHigh Blue high value - * @returns A pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdRGB(int redLow, int redHigh, int greenLow, int greenHigh, int blueLow, int blueHigh) -{ - return ComputeThreshold(IMAQ_RGB, redLow, redHigh, greenLow, greenHigh, blueLow, blueHigh); -} - -/** - * Perform a threshold in RGB space. - * @param threshold a reference to the Threshold object to use. - * @returns A pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdRGB(Threshold &t) -{ - return ComputeThreshold(IMAQ_RGB, t.plane1Low, t.plane1High, - t.plane2Low, t.plane2High, - t.plane3Low, t.plane3High); -} - -/** - * Perform a threshold in HSL space. - * @param hueLow Low value for hue - * @param hueHigh High value for hue - * @param saturationLow Low value for saturation - * @param saturationHigh High value for saturation - * @param luminenceLow Low value for luminence - * @param luminenceHigh High value for luminence - * @returns a pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdHSL(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int luminenceLow, int luminenceHigh) -{ - return ComputeThreshold(IMAQ_HSL, hueLow, hueHigh, saturationLow, saturationHigh, luminenceLow, luminenceHigh); -} - -/** - * Perform a threshold in HSL space. - * @param threshold a reference to the Threshold object to use. - * @returns A pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdHSL(Threshold &t) -{ - return ComputeThreshold(IMAQ_HSL, t.plane1Low, t.plane1High, - t.plane2Low, t.plane2High, - t.plane3Low, t.plane3High); -} - -/** - * Perform a threshold in HSV space. - * @param hueLow Low value for hue - * @param hueHigh High value for hue - * @param saturationLow Low value for saturation - * @param saturationHigh High value for saturation - * @param valueLow Low value - * @param valueHigh High value - * @returns a pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdHSV(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int valueLow, int valueHigh) -{ - return ComputeThreshold(IMAQ_HSV, hueLow, hueHigh, saturationLow, saturationHigh, valueLow, valueHigh); -} - -/** - * Perform a threshold in HSV space. - * @param threshold a reference to the Threshold object to use. - * @returns A pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdHSV(Threshold &t) -{ - return ComputeThreshold(IMAQ_HSV, t.plane1Low, t.plane1High, - t.plane2Low, t.plane2High, - t.plane3Low, t.plane3High); -} - -/** - * Perform a threshold in HSI space. - * @param hueLow Low value for hue - * @param hueHigh High value for hue - * @param saturationLow Low value for saturation - * @param saturationHigh High value for saturation - * @param valueLow Low intensity - * @param valueHigh High intensity - * @returns a pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdHSI(int hueLow, int hueHigh, int saturationLow, int saturationHigh, int intensityLow, int intensityHigh) -{ - return ComputeThreshold(IMAQ_HSI, hueLow, hueHigh, saturationLow, saturationHigh, intensityLow, intensityHigh); -} - -/** - * Perform a threshold in HSI space. - * @param threshold a reference to the Threshold object to use. - * @returns A pointer to a BinaryImage that represents the result of the threshold operation. - */ -BinaryImage *ColorImage::ThresholdHSI(Threshold &t) -{ - return ComputeThreshold(IMAQ_HSI, t.plane1Low, t.plane1High, - t.plane2Low, t.plane2High, - t.plane3Low, t.plane3High); -} - -/** - * Extract a color plane from the image - * @param mode The ColorMode to use for the plane extraction - * @param planeNumber Which plane is to be extracted - * @returns A pointer to a MonoImage that represents the extracted plane. - */ -MonoImage *ColorImage::ExtractColorPlane(ColorMode mode, int planeNumber) -{ - MonoImage *result = new MonoImage(); - if (m_imaqImage == NULL) - wpi_setWPIError(NullParameter); - int success = imaqExtractColorPlanes(m_imaqImage, - mode, - (planeNumber == 1) ? result->GetImaqImage() : NULL, - (planeNumber == 2) ? result->GetImaqImage() : NULL, - (planeNumber == 3) ? result->GetImaqImage() : NULL); - wpi_setImaqErrorWithContext(success, "Imaq ExtractColorPlanes failed"); - return result; -} - -/* - * Extract the first color plane for an image. - * @param mode The color mode in which to operate - * @returns a pointer to a MonoImage that is the extracted plane. - */ -MonoImage *ColorImage::ExtractFirstColorPlane(ColorMode mode) -{ - return ExtractColorPlane(mode, 1); -} - -/* - * Extract the second color plane for an image. - * @param mode The color mode in which to operate - * @returns a pointer to a MonoImage that is the extracted plane. - */ -MonoImage *ColorImage::ExtractSecondColorPlane(ColorMode mode) -{ - return ExtractColorPlane(mode, 2); -} - -/* - * Extract the third color plane for an image. - * @param mode The color mode in which to operate - * @returns a pointer to a MonoImage that is the extracted plane. - */ -MonoImage *ColorImage::ExtractThirdColorPlane(ColorMode mode) -{ - return ExtractColorPlane(mode, 3); -} - -/* - * Extract the red plane from an RGB image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetRedPlane() -{ - return ExtractFirstColorPlane(IMAQ_RGB); -} - -/* - * Extract the green plane from an RGB image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetGreenPlane() -{ - return ExtractSecondColorPlane(IMAQ_RGB); -} - -/* - * Extract the blue plane from an RGB image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetBluePlane() -{ - return ExtractThirdColorPlane(IMAQ_RGB); -} - -/* - * Extract the Hue plane from an HSL image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetHSLHuePlane() -{ - return ExtractFirstColorPlane(IMAQ_HSL); -} - -/* - * Extract the Hue plane from an HSV image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetHSVHuePlane() -{ - return ExtractFirstColorPlane(IMAQ_HSV); -} - -/* - * Extract the Hue plane from an HSI image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetHSIHuePlane() -{ - return ExtractFirstColorPlane(IMAQ_HSI); -} - -/* - * Extract the Luminance plane from an HSL image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetLuminancePlane() -{ - return ExtractThirdColorPlane(IMAQ_HSL); -} - -/* - * Extract the Value plane from an HSV image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetValuePlane() -{ - return ExtractThirdColorPlane(IMAQ_HSV); -} - -/* - * Extract the Intensity plane from an HSI image. - * @returns a pointer to a MonoImage that is the extraced plane. - */ -MonoImage *ColorImage::GetIntensityPlane() -{ - return ExtractThirdColorPlane(IMAQ_HSI); -} - -/** - * Replace a plane in the ColorImage with a MonoImage - * Replaces a single plane in the image with a MonoImage - * @param mode The ColorMode in which to operate - * @param plane The pointer to the replacement plane as a MonoImage - * @param planeNumber The plane number (1, 2, 3) to replace - */ -void ColorImage::ReplacePlane(ColorMode mode, MonoImage *plane, int planeNumber) { - int success = imaqReplaceColorPlanes(m_imaqImage, - (const Image*) m_imaqImage, - mode, - (planeNumber == 1) ? plane->GetImaqImage() : NULL, - (planeNumber == 2) ? plane->GetImaqImage() : NULL, - (planeNumber == 3) ? plane->GetImaqImage() : NULL); - wpi_setImaqErrorWithContext(success, "Imaq ReplaceColorPlanes failed"); -} - -/** - * Replace the first color plane with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceFirstColorPlane(ColorMode mode, MonoImage *plane) -{ - ReplacePlane(mode, plane, 1); -} - -/** - * Replace the second color plane with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceSecondColorPlane(ColorMode mode, MonoImage *plane) -{ - ReplacePlane(mode, plane, 2); -} - -/** - * Replace the third color plane with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceThirdColorPlane(ColorMode mode, MonoImage *plane) -{ - ReplacePlane(mode, plane, 3); -} - -/** - * Replace the red color plane with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceRedPlane(MonoImage *plane) -{ - ReplaceFirstColorPlane(IMAQ_RGB, plane); -} - -/** - * Replace the green color plane with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceGreenPlane(MonoImage *plane) -{ - ReplaceSecondColorPlane(IMAQ_RGB, plane); -} - -/** - * Replace the blue color plane with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceBluePlane(MonoImage *plane) -{ - ReplaceThirdColorPlane(IMAQ_RGB, plane); -} - - -/** - * Replace the Hue color plane in a HSL image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceHSLHuePlane(MonoImage *plane) -{ - return ReplaceFirstColorPlane(IMAQ_HSL, plane); -} - -/** - * Replace the Hue color plane in a HSV image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceHSVHuePlane(MonoImage *plane) -{ - return ReplaceFirstColorPlane(IMAQ_HSV, plane); -} - -/** - * Replace the first Hue plane in a HSI image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceHSIHuePlane(MonoImage *plane) -{ - return ReplaceFirstColorPlane(IMAQ_HSI, plane); -} - -/** - * Replace the Saturation color plane in an HSL image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceHSLSaturationPlane(MonoImage *plane) -{ - return ReplaceSecondColorPlane(IMAQ_HSL, plane); -} - -/** - * Replace the Saturation color plane in a HSV image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceHSVSaturationPlane(MonoImage *plane) -{ - return ReplaceSecondColorPlane(IMAQ_HSV, plane); -} - -/** - * Replace the Saturation color plane in a HSI image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceHSISaturationPlane(MonoImage *plane) -{ - return ReplaceSecondColorPlane(IMAQ_HSI, plane); -} - -/** - * Replace the Luminance color plane in an HSL image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceLuminancePlane(MonoImage *plane) -{ - return ReplaceThirdColorPlane(IMAQ_HSL, plane); -} - -/** - * Replace the Value color plane in an HSV with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceValuePlane(MonoImage *plane) -{ - return ReplaceThirdColorPlane(IMAQ_HSV, plane); -} - -/** - * Replace the Intensity color plane in a HSI image with a MonoImage. - * @param mode The color mode in which to operate. - * @param plane A pointer to a MonoImage that will replace the specified color plane. - */ -void ColorImage::ReplaceIntensityPlane(MonoImage *plane) -{ - return ReplaceThirdColorPlane(IMAQ_HSI, plane); -} - -//TODO: frcColorEqualize(Image* dest, const Image* source, int colorEqualization) needs to be modified -//The colorEqualization parameter is discarded and is set to TRUE in the call to imaqColorEqualize. -void ColorImage::Equalize(bool allPlanes) -{ - // Note that this call uses NI-defined TRUE and FALSE - int success = imaqColorEqualize(m_imaqImage, (const Image*) m_imaqImage, (allPlanes) ? TRUE : FALSE); - wpi_setImaqErrorWithContext(success, "Imaq ColorEqualize error"); -} - -void ColorImage::ColorEqualize() -{ - Equalize(true); -} - -void ColorImage::LuminanceEqualize() -{ - Equalize(false); -} diff --git a/wpilibc/src/main/native/Vision/EnumCameraParameter.cpp b/wpilibc/src/main/native/Vision/EnumCameraParameter.cpp deleted file mode 100644 index 3801836fbb..0000000000 --- a/wpilibc/src/main/native/Vision/EnumCameraParameter.cpp +++ /dev/null @@ -1,67 +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 "EnumCameraParameter.h" -#include -#include - -/** - * Constructor for an enumeration camera parameter. - * Enumeration camera parameters have lists of value choices and strings that go - * with them. There are also C++ enumerations to go along with them. - * @param setString The string for an HTTP request to set the value. - * @param getString The string for an HTTP request to get the value. - * @param choices An array of strings of the parameter choices set in the http strings. - * @param numChoices The number of choices in the enumeration set. - */ -EnumCameraParameter::EnumCameraParameter(const char *setString, const char *getString, bool requiresRestart, - const char *const*choices, int numChoices) - : IntCameraParameter(setString, getString, requiresRestart) -{ - m_enumValues = choices; - m_numChoices = numChoices; -} - -/* - * Check if an enumeration camera parameter has changed. - * Check if the parameter has changed and update the camera if it has. This is called - * from a loop in the parameter checker task. - * @returns true if the camera needs to restart - */ -bool EnumCameraParameter::CheckChanged(bool &changed, char *param) -{ - changed = m_changed; - if (m_changed) - { - m_changed = false; - sprintf(param, m_setString, m_enumValues[m_value]); - return m_requiresRestart; - } - return false; -} - -/** - * Extract the parameter value from a string. - * Extract the parameter value from the camera status message. - * @param string The string returned from the camera. - * @param length The length of the string from the camera. - */ -void EnumCameraParameter::GetParamFromString(const char *string, int stringLength) -{ - char resultString[50]; - if (SearchForParam(m_getString, string, stringLength, resultString) < 0) return; - for (int i = 0; i < m_numChoices; i++) - { - if (strcmp(resultString, m_enumValues[i]) == 0) - { - if (!m_changed) // don't change parameter that's been set in code - { - m_value = i; - } - } - } -} - diff --git a/wpilibc/src/main/native/Vision/HSLImage.cpp b/wpilibc/src/main/native/Vision/HSLImage.cpp deleted file mode 100644 index fec283ac4f..0000000000 --- a/wpilibc/src/main/native/Vision/HSLImage.cpp +++ /dev/null @@ -1,28 +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 "HSLImage.h" - -/** - * Create a new image that uses the Hue, Saturation, and Luminance planes. - */ -HSLImage::HSLImage() : ColorImage(IMAQ_IMAGE_HSL) -{ -} - -/** - * Create a new image by loading a file. - * @param fileName The path of the file to load. - */ -HSLImage::HSLImage(const char *fileName) : ColorImage(IMAQ_IMAGE_HSL) -{ - int success = imaqReadFile(m_imaqImage, fileName, NULL, NULL); - wpi_setImaqErrorWithContext(success, "Imaq ReadFile error"); -} - -HSLImage::~HSLImage() -{ -} diff --git a/wpilibc/src/main/native/Vision/ImageBase.cpp b/wpilibc/src/main/native/Vision/ImageBase.cpp deleted file mode 100644 index 769d2bcbe0..0000000000 --- a/wpilibc/src/main/native/Vision/ImageBase.cpp +++ /dev/null @@ -1,77 +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 "ImageBase.h" -#include "nivision.h" - -/** Private NI function needed to write to the VxWorks target */ -IMAQ_FUNC int Priv_SetWriteFileAllowed(uint32_t enable); - -/** - * Create a new instance of an ImageBase. - * Imagebase is the base of all the other image classes. The constructor - * creates any type of image and stores the pointer to it in the class. - * @param type The type of image to create - */ -ImageBase::ImageBase(ImageType type) -{ - m_imaqImage = imaqCreateImage(type, DEFAULT_BORDER_SIZE); -} - -/** - * Frees memory associated with an ImageBase. - * Destructor frees the imaq image allocated with the class. - */ -ImageBase::~ImageBase() -{ - if(m_imaqImage) - imaqDispose(m_imaqImage); -} - -/** - * Writes an image to a file with the given filename. - * Write the image to a file in the flash on the cRIO. - * @param fileName The name of the file to write - */ -void ImageBase::Write(const char *fileName) -{ - Priv_SetWriteFileAllowed(1); - int success = imaqWriteFile(m_imaqImage, fileName, NULL); - wpi_setImaqErrorWithContext(success, "Imaq Image writeFile error"); -} - -/** - * Gets the height of an image. - * @return The height of the image in pixels. - */ -int ImageBase::GetHeight() -{ - int height; - imaqGetImageSize(m_imaqImage, NULL, &height); - return height; -} - -/** - * Gets the width of an image. - * @return The width of the image in pixels. - */ -int ImageBase::GetWidth() -{ - int width; - imaqGetImageSize(m_imaqImage, &width, NULL); - return width; -} - -/** - * Access the internal IMAQ Image data structure. - * - * @return A pointer to the internal IMAQ Image data structure. - */ -Image *ImageBase::GetImaqImage() -{ - return m_imaqImage; -} - diff --git a/wpilibc/src/main/native/Vision/IntCameraParameter.cpp b/wpilibc/src/main/native/Vision/IntCameraParameter.cpp deleted file mode 100644 index af7ff2cd23..0000000000 --- a/wpilibc/src/main/native/Vision/IntCameraParameter.cpp +++ /dev/null @@ -1,111 +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 "IntCameraParameter.h" -#include "pcre.h" -#include -#include - -/** - * Constructor for an integer camera parameter. - * @param setString The string to set a value in the HTTP request - * @param getString The string to retrieve a value in the HTTP request - */ -IntCameraParameter::IntCameraParameter(const char *setString, const char *getString, bool requiresRestart) -{ - m_changed = false; - m_value = 0; - m_setString = setString; - m_getString = getString; - m_requiresRestart = requiresRestart; -} - -/** - * Get a value for a camera parameter. - * @returns The camera parameter cached valued. - */ -int IntCameraParameter::GetValue() -{ - return m_value; -} - -/** - * Set a value for a camera parameter. - * Mark the value for change. The value will be updated in the parameter - * change loop. - */ -void IntCameraParameter::SetValue(int value) -{ - m_value = value; - m_changed = true; -} - -/** - * Check if a parameter has changed and update. - * Check if a parameter has changed and send the update string if it - * has changed. This is called from the loop in the parameter task loop. - * @returns true if the camera needs to restart - */ -bool IntCameraParameter::CheckChanged(bool &changed, char *param) -{ - changed = m_changed; - if (m_changed) - { - sprintf(param, m_setString, m_value); - m_changed = false; - return m_requiresRestart; - } - return false; -} - -/** - * Get a parameter value from the string. - * Get a parameter value from the camera status string. If it has been changed - * been changed by the program, then don't update it. Program values have - * precedence over those written in the camera. - */ -void IntCameraParameter::GetParamFromString(const char *string, int stringLength) -{ - char resultString[150]; - if (SearchForParam(m_getString, string, stringLength, resultString) >= 0) - { - if (!m_changed) m_value = atoi(resultString); - } -} - -/** - * @param pattern: the regular expression - * @param searchString the text to search - * @param searchStringLen the length of searchString - * @param result buffer to put resulting text into, must be pre-allocated - */ -int IntCameraParameter::SearchForParam(const char *pattern, const char *searchString, int searchStringLen, char *result) -{ - int vectorLen = 10; - int resultVector[vectorLen]; - const char *error; - int erroffset; - pcre *compiledPattern = pcre_compile( - pattern, //"root.Image.I0.Appearance.Resolution=(.*)", - PCRE_CASELESS, - &error, // for error message - &erroffset, // for error offset - NULL); // use default character tables - int rc; - rc = pcre_exec(compiledPattern, - NULL, - searchString, - searchStringLen, - 0, - 0, - resultVector, //locations of submatches - vectorLen); //size of ovector - int length = resultVector[3] - resultVector[2]; - memcpy(result, &searchString[resultVector[2]], length); - result[length] = '\0'; - return rc; -} - diff --git a/wpilibc/src/main/native/Vision/MonoImage.cpp b/wpilibc/src/main/native/Vision/MonoImage.cpp deleted file mode 100644 index f1e0022ea1..0000000000 --- a/wpilibc/src/main/native/Vision/MonoImage.cpp +++ /dev/null @@ -1,53 +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 "MonoImage.h" -#include "nivision.h" - -MonoImage::MonoImage() : ImageBase(IMAQ_IMAGE_U8) -{ -} - -MonoImage::~MonoImage() -{ -} - -/** - * Look for ellipses in an image. - * Given some input parameters, look for any number of ellipses in an image. - * @param ellipseDescriptor Ellipse descriptor - * @param curveOptions Curve options - * @param shapeDetectionOptions Shape detection options - * @param roi Region of Interest - * @returns a vector of EllipseMatch structures (0 length vector on no match) - */ -vector * MonoImage::DetectEllipses( - EllipseDescriptor *ellipseDescriptor, CurveOptions *curveOptions, - ShapeDetectionOptions *shapeDetectionOptions, ROI *roi) -{ - int numberOfMatches; - EllipseMatch *e = imaqDetectEllipses(m_imaqImage, ellipseDescriptor, - curveOptions, shapeDetectionOptions, roi, &numberOfMatches); - vector *ellipses = new vector; - if (e == NULL) - { - return ellipses; - } - for (int i = 0; i < numberOfMatches; i++) - { - ellipses->push_back(e[i]); - } - imaqDispose(e); - return ellipses; -} - -vector * MonoImage::DetectEllipses( - EllipseDescriptor *ellipseDescriptor) -{ - vector *ellipses = DetectEllipses(ellipseDescriptor, NULL, - NULL, NULL); - return ellipses; -} diff --git a/wpilibc/src/main/native/Vision/PCVideoServer.cpp b/wpilibc/src/main/native/Vision/PCVideoServer.cpp deleted file mode 100644 index 9437a7505f..0000000000 --- a/wpilibc/src/main/native/Vision/PCVideoServer.cpp +++ /dev/null @@ -1,283 +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 "HAL/HAL.h" - -#include "PCVideoServer.h" - -#include -#include -#include -#include -#include -#include - -#include "NetworkCommunication/UsageReporting.h" -#include "Task.h" -#include "Timer.h" -#include "Vision/AxisCamera.h" -#include "WPIErrors.h" - -/** - * @brief Implements an object that automatically does a close on a - * camera socket on destruction. - */ -class ScopedSocket { -public: - ScopedSocket(int camSock) - : m_camSock(camSock) - { - } - - ~ScopedSocket() { - if (m_camSock != ERROR) { - close(m_camSock); - } - } - // Cast to int allows you to pass this to any function that - // takes the socket as an int. - operator int() const { - return m_camSock; - } - -private: - int m_camSock; -}; - -//============================================================================ -// PCVideoServer -//============================================================================ - -/** - * @brief Constructor. - */ -PCVideoServer::PCVideoServer() - : m_serverTask("PCVideoServer", (FUNCPTR)s_ServerTask) - , m_newImageSem (NULL) - , m_stopServer (false) -{ - AxisCamera &cam = AxisCamera::GetInstance(); - m_newImageSem = cam.GetNewImageSem(); - if (!cam.StatusIsFatal()) - { - StartServerTask(); - } - else - { - CloneError(&cam); - } -} - -/** - * @brief Destructor. - * Stop serving images and destroy this class. - */ -PCVideoServer::~PCVideoServer() -{ - // Stop the images to PC server. - Stop(); - // Clear the error so that you can use this object to make a connection to - // the VIDEO_TO_PC_PORT to stop the ImageToPCServer if it is waiting to - // accept connections from a PC. - ClearError(); - // Open a socket. - int camSock = socket(AF_INET, SOCK_STREAM, 0); - if (camSock == ERROR) - { - wpi_setErrnoError(); - return; - } - ScopedSocket scopedCamSock(camSock); - // If successful - if (!StatusIsFatal()) - { - // Create a connection to the localhost. - struct sockaddr_in selfAddr; - int sockAddrSize = sizeof(selfAddr); - bzero ((char *) &selfAddr, sockAddrSize); - selfAddr.sin_family = AF_INET; - selfAddr.sin_len = (u_char) sockAddrSize; - selfAddr.sin_port = htons (VIDEO_TO_PC_PORT); - - if (( (int)(selfAddr.sin_addr.s_addr = inet_addr (const_cast("localhost")) ) != ERROR) || - ( (int)(selfAddr.sin_addr.s_addr = hostGetByName (const_cast("localhost")) ) != ERROR)) - { - struct timeval connectTimeout; - connectTimeout.tv_sec = 1; - connectTimeout.tv_usec = 0; - connectWithTimeout(camSock, (struct sockaddr *) &selfAddr, sockAddrSize, &connectTimeout); - } - } -} - -/** - * Start the task that is responsible for sending images to the PC. - */ -int PCVideoServer::StartServerTask() -{ - if (StatusIsFatal()) - { - return -1; - } - int id = 0; - m_stopServer = false; - // Check for prior copy of running task - int oldId = taskNameToId((char*)m_serverTask.GetName()); - if(oldId != ERROR) - { - // TODO: Report error. You are in a bad state. - taskDelete(oldId); - } - - // spawn video server task - // this is done to ensure that the task is spawned with the - // floating point context save parameter. - bool started = m_serverTask.Start((int)this); - - id = m_serverTask.GetID(); - - if (!started) - { - wpi_setWPIError(TaskError); - return id; - } - delayTicks(1); - return id; -} - -/** - * @brief Start sending images to the PC. - */ -void PCVideoServer::Start() -{ - StartServerTask(); -} - -/** - * @brief Stop sending images to the PC. - */ -void PCVideoServer::Stop() -{ - m_stopServer = true; -} - -/** - * Static stub for kicking off the server task - */ -int PCVideoServer::s_ServerTask(PCVideoServer *thisPtr) -{ - return thisPtr->ServerTask(); -} - -/** - * @brief Initialize the socket and serve images to the PC. - * This is the task that serves images to the PC in a loop. This runs - * as a separate task. - */ -int PCVideoServer::ServerTask() -{ - /* Setup to PC sockets */ - struct sockaddr_in serverAddr; - int sockAddrSize = sizeof(serverAddr); - int pcSock = ERROR; - bzero ((char *) &serverAddr, sockAddrSize); - serverAddr.sin_len = (u_char) sockAddrSize; - serverAddr.sin_family = AF_INET; - serverAddr.sin_port = htons (VIDEO_TO_PC_PORT); - serverAddr.sin_addr.s_addr = htonl (INADDR_ANY); - - int success; - while (true) - { - taskSafe(); - // Create the socket. - if ((pcSock = socket (AF_INET, SOCK_STREAM, 0)) == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to create the PCVideoServer socket"); - continue; - } - // Set the TCP socket so that it can be reused if it is in the wait state. - int reuseAddr = 1; - setsockopt(pcSock, SOL_SOCKET, SO_REUSEADDR, reinterpret_cast(&reuseAddr), sizeof(reuseAddr)); - // Bind socket to local address. - if (bind (pcSock, (struct sockaddr *) &serverAddr, sockAddrSize) == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to bind the PCVideoServer port"); - close (pcSock); - continue; - } - // Create queue for client connection requests. - if (listen (pcSock, 1) == ERROR) - { - wpi_setErrnoErrorWithContext("Failed to listen on the PCVideoServer port"); - close (pcSock); - continue; - } - - struct sockaddr_in clientAddr; - int clientAddrSize; - int newPCSock = accept (pcSock, reinterpret_cast(&clientAddr), &clientAddrSize); - if (newPCSock == ERROR) - { - close(pcSock); - continue; - } - //TODO: check camera error - - // Report usage when there is actually a connection. - nUsageReporting::report(nUsageReporting::kResourceType_PCVideoServer, 0); - - int numBytes = 0; - int imageDataSize = 0; - char* imageData = NULL; - - while(!m_stopServer) - { - success = takeSemaphore(m_newImageSem, 1000); - if (success == ERROR) - { - // If the semTake timed out, there are no new images from the camera. - continue; - } - success = AxisCamera::GetInstance().CopyJPEG(&imageData, numBytes, imageDataSize); - if (!success) - { - // No point in running too fast - - Wait(1.0); - // If camera is not initialzed you will get failure and - // the timestamp is invalid. Reset this value and try again. - continue; - } - - // Write header to PC - static const char header[4]={1,0,0,0}; - int headerSend = write(newPCSock, const_cast(header), 4); - - // Write image length to PC - int lengthSend = write(newPCSock, reinterpret_cast(&numBytes), 4); - - // Write image to PC - int sent = write (newPCSock, imageData, numBytes); - - // The PC probably closed connection. Get out of here - // and try listening again. - if (headerSend == ERROR || lengthSend == ERROR || sent == ERROR) - { - break; - } - } - // Clean up - delete [] imageData; - close (newPCSock); - newPCSock = ERROR; - close (pcSock); - pcSock = ERROR; - taskUnsafe(); - Wait(0.1); - } - return (OK); -} - diff --git a/wpilibc/src/main/native/Vision/RGBImage.cpp b/wpilibc/src/main/native/Vision/RGBImage.cpp deleted file mode 100644 index a5386a0929..0000000000 --- a/wpilibc/src/main/native/Vision/RGBImage.cpp +++ /dev/null @@ -1,28 +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 "RGBImage.h" - -/** - * Create a new image that uses Red, Green, and Blue planes. - */ -RGBImage::RGBImage() : ColorImage(IMAQ_IMAGE_RGB) -{ -} - -/** - * Create a new image by loading a file. - * @param fileName The path of the file to load. - */ -RGBImage::RGBImage(const char *fileName) : ColorImage(IMAQ_IMAGE_RGB) -{ - int success = imaqReadFile(m_imaqImage, fileName, NULL, NULL); - wpi_setImaqErrorWithContext(success, "Imaq ReadFile error"); -} - -RGBImage::~RGBImage() -{ -} diff --git a/wpilibc/src/main/native/Vision/Threshold.cpp b/wpilibc/src/main/native/Vision/Threshold.cpp deleted file mode 100644 index 8d428e4a39..0000000000 --- a/wpilibc/src/main/native/Vision/Threshold.cpp +++ /dev/null @@ -1,18 +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 "Threshold.h" - -Threshold::Threshold(int new_plane1Low, int new_plane1High, int new_plane2Low, - int new_plane2High, int new_plane3Low, int new_plane3High) -{ - plane1Low = new_plane1Low; - plane1High = new_plane1High; - plane2Low = new_plane2Low; - plane2High = new_plane2High; - plane3Low = new_plane3Low; - plane3High = new_plane3High; -} diff --git a/wpilibc/src/main/scripts/CopyWPILibToUpdateDirectory.cmd b/wpilibc/src/main/scripts/CopyWPILibToUpdateDirectory.cmd deleted file mode 100644 index 7e0f220391..0000000000 --- a/wpilibc/src/main/scripts/CopyWPILibToUpdateDirectory.cmd +++ /dev/null @@ -1,83 +0,0 @@ -rem cd C:\WindRiver\workspace\WorkbenchUpdate -cd ..\..\WorkbenchUpdate - - -mkdir vxworks-6.3\target\h\WPILib\Buttons -mkdir vxworks-6.3\target\h\WPILib\CAN -mkdir vxworks-6.3\target\h\WPILib\ChipObject -mkdir vxworks-6.3\target\h\WPILib\CInterfaces -mkdir vxworks-6.3\target\h\WPILib\Commands -mkdir vxworks-6.3\target\h\WPILib\NetworkCommunication -mkdir vxworks-6.3\target\h\WPILib\SmartDashboard -mkdir vxworks-6.3\target\h\WPILib\visa -mkdir vxworks-6.3\target\h\WPILib\Vision -mkdir vxworks-6.3\target\h\WPILib\Vision2009 - -mkdir vxworks-6.3\target\h\WPILib\LiveWindow -mkdir vxworks-6.3\target\h\WPILib\networktables -mkdir vxworks-6.3\target\h\WPILib\tables -mkdir vxworks-6.3\target\h\WPILib\networktables2 -mkdir vxworks-6.3\target\h\WPILib\networktables2\client -mkdir vxworks-6.3\target\h\WPILib\networktables2\connection -mkdir vxworks-6.3\target\h\WPILib\networktables2\server -mkdir vxworks-6.3\target\h\WPILib\networktables2\stream -mkdir vxworks-6.3\target\h\WPILib\networktables2\thread -mkdir vxworks-6.3\target\h\WPILib\networktables2\type -mkdir vxworks-6.3\target\h\WPILib\networktables2\util - - -del vxworks-6.3\target\h\WPIlib\*.h -del vxworks-6.3\target\h\WPIlib\Buttons\*.h -del vxworks-6.3\target\h\WPIlib\CAN\*.h -del vxworks-6.3\target\h\WPIlib\ChipObject\*.h -del vxworks-6.3\target\h\WPIlib\CInterfaces\*.h -del vxworks-6.3\target\h\WPIlib\Commands\*.h -del vxworks-6.3\target\h\WPIlib\NetworkCommunication\*.h -del vxworks-6.3\target\h\WPIlib\SmartDashboard\*.h -del vxworks-6.3\target\h\WPIlib\visa\*.h -del vxworks-6.3\target\h\WPIlib\Vision\*.h -del vxworks-6.3\target\h\WPIlib\Vision2009\*.h - -del vxworks-6.3\target\h\WPIlib\LiveWindow\*.h -del vxworks-6.3\target\h\WPIlib\networktables\*.h -del vxworks-6.3\target\h\WPIlib\tables\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\client\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\connection\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\server\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\stream\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\thread\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\type\*.h -del vxworks-6.3\target\h\WPIlib\networktables2\util\*.h - -del vxworks-6.3\target\lib\WPILib.a - - -copy C:\WindRiver\workspace\WPILib\*.h vxworks-6.3\target\h\WPILib -copy C:\WindRiver\workspace\WPILib\Buttons\*.h vxworks-6.3\target\h\WPILib\Buttons -copy C:\WindRiver\workspace\WPILib\CAN\*.h vxworks-6.3\target\h\WPILib\CAN -copy C:\WindRiver\workspace\WPILib\ChipObject\*.h vxworks-6.3\target\h\WPILib\ChipObject -copy C:\WindRiver\workspace\WPILib\CInterfaces\*.h vxworks-6.3\target\h\WPILib\CInterfaces -copy C:\WindRiver\workspace\WPILib\Commands\*.h vxworks-6.3\target\h\WPILib\Commands -copy C:\WindRiver\workspace\WPILib\NetworkCommunication\*.h vxworks-6.3\target\h\WPILib\NetworkCommunication -copy C:\WindRiver\workspace\WPILib\SmartDashboard\*.h vxworks-6.3\target\h\WPILib\SmartDashboard -copy C:\WindRiver\workspace\WPILib\visa\*.h vxworks-6.3\target\h\WPILib\visa -copy C:\WindRiver\workspace\WPILib\Vision\*.h vxworks-6.3\target\h\WPILib\Vision -copy C:\WindRiver\workspace\WPILib\Vision2009\*.h vxworks-6.3\target\h\WPILib\Vision2009 - -copy C:\WindRiver\workspace\WPILib\LiveWindow\*.h vxworks-6.3\target\h\WPILib\LiveWindow -copy C:\WindRiver\workspace\WPILib\networktables\*.h vxworks-6.3\target\h\WPILib\networktables -copy C:\WindRiver\workspace\WPILib\tables\*.h vxworks-6.3\target\h\WPILib\tables -copy C:\WindRiver\workspace\WPILib\networktables2\*.h vxworks-6.3\target\h\WPILib\networktables2 -copy C:\WindRiver\workspace\WPILib\networktables2\client\*.h vxworks-6.3\target\h\WPILib\networktables2\client -copy C:\WindRiver\workspace\WPILib\networktables2\connection\*.h vxworks-6.3\target\h\WPILib\networktables2\connection -copy C:\WindRiver\workspace\WPILib\networktables2\server\*.h vxworks-6.3\target\h\WPILib\networktables2\server -copy C:\WindRiver\workspace\WPILib\networktables2\stream\*.h vxworks-6.3\target\h\WPILib\networktables2\stream -copy C:\WindRiver\workspace\WPILib\networktables2\thread\*.h vxworks-6.3\target\h\WPILib\networktables2\thread -copy C:\WindRiver\workspace\WPILib\networktables2\type\*.h vxworks-6.3\target\h\WPILib\networktables2\type -copy C:\WindRiver\workspace\WPILib\networktables2\util\*.h vxworks-6.3\target\h\WPILib\networktables2\util - - -copy C:\WindRiver\workspace\WPILib\PPC603gnu\WPILib\Debug\WPILib.a vxworks-6.3\target\lib - -cd C:\WindRiver\workspace\WPILib\Scripts diff --git a/wpilibc/src/main/scripts/updateBuiltInLibrary.cmd b/wpilibc/src/main/scripts/updateBuiltInLibrary.cmd deleted file mode 100644 index ebbbcffc8c..0000000000 --- a/wpilibc/src/main/scripts/updateBuiltInLibrary.cmd +++ /dev/null @@ -1,61 +0,0 @@ -cd C:\WindRiver\vxworks-6.3\target - -rd /s /q h\WPILib - -mkdir h\WPILib -mkdir h\WPILib\Buttons -mkdir h\WPILib\CAN -mkdir h\WPILib\ChipObject -mkdir h\WPILib\CInterfaces -mkdir h\WPILib\Commands -mkdir h\WPILib\NetworkCommunication -mkdir h\WPILib\SmartDashboard -mkdir h\WPILib\visa -mkdir h\WPILib\Vision -mkdir h\WPILib\Vision2009 - -mkdir h\WPILib\LiveWindow -mkdir h\WPILib\networktables -mkdir h\WPILib\tables -mkdir h\WPILib\networktables2 -mkdir h\WPILib\networktables2\client -mkdir h\WPILib\networktables2\connection -mkdir h\WPILib\networktables2\server -mkdir h\WPILib\networktables2\stream -mkdir h\WPILib\networktables2\thread -mkdir h\WPILib\networktables2\type -mkdir h\WPILib\networktables2\util - - - -copy c:\WindRiver\workspace\WPILib\*.h h\WPILib -copy c:\WindRiver\workspace\WPILib\Buttons\*.h h\WPILib\Buttons -copy c:\WindRiver\workspace\WPILib\CAN\*.h h\WPILib\CAN -copy c:\WindRiver\workspace\WPILib\ChipObject\*.h h\WPILib\ChipObject -copy C:\WindRiver\workspace\WPILib\CInterfaces\*.h h\WPILib\CInterfaces -copy C:\WindRiver\workspace\WPILib\Commands\*.h h\WPILib\Commands -copy C:\WindRiver\workspace\WPILib\NetworkCommunication\*.h h\WPILib\NetworkCommunication -copy C:\WindRiver\workspace\WPILib\SmartDashboard\*.h h\WPILib\SmartDashboard -copy c:\WindRiver\workspace\WPILib\visa\*.h h\WPILib\visa -copy c:\WindRiver\workspace\WPILib\Vision\*.h h\WPILib\Vision -copy c:\WindRiver\workspace\WPILib\Vision2009\*.h h\WPILib\Vision2009 - -copy C:\WindRiver\workspace\WPILib\LiveWindow\*.h h\WPILib\LiveWindow -copy C:\WindRiver\workspace\WPILib\networktables\*.h h\WPILib\networktables -copy C:\WindRiver\workspace\WPILib\tables\*.h h\WPILib\tables -copy C:\WindRiver\workspace\WPILib\networktables2\*.h h\WPILib\networktables2 -copy C:\WindRiver\workspace\WPILib\networktables2\client\*.h h\WPILib\networktables2\client -copy C:\WindRiver\workspace\WPILib\networktables2\connection\*.h h\WPILib\networktables2\connection -copy C:\WindRiver\workspace\WPILib\networktables2\server\*.h h\WPILib\networktables2\server -copy C:\WindRiver\workspace\WPILib\networktables2\stream\*.h h\WPILib\networktables2\stream -copy C:\WindRiver\workspace\WPILib\networktables2\thread\*.h h\WPILib\networktables2\thread -copy C:\WindRiver\workspace\WPILib\networktables2\type\*.h h\WPILib\networktables2\type -copy C:\WindRiver\workspace\WPILib\networktables2\util\*.h h\WPILib\networktables2\util - - - -copy C:\WindRiver\workspace\WPILib\PPC603gnu\WPILib\Debug\WPILib.a lib - -rem copy c:\WindRiver\workspace\WorkbenchUpdate\frc_20*.zip c:\WindRiver\WPILib\cRIO_Images - -cd \WindRiver\workspace\WPILib\Scripts diff --git a/wpilibj/wpilibJava/.gitignore b/wpilibj/wpilibJava/.gitignore new file mode 100644 index 0000000000..535c157308 --- /dev/null +++ b/wpilibj/wpilibJava/.gitignore @@ -0,0 +1,2 @@ +*~ +target/ \ No newline at end of file diff --git a/wpilibj/wpilibJavaFinal/.gitignore b/wpilibj/wpilibJavaFinal/.gitignore new file mode 100644 index 0000000000..535c157308 --- /dev/null +++ b/wpilibj/wpilibJavaFinal/.gitignore @@ -0,0 +1,2 @@ +*~ +target/ \ No newline at end of file diff --git a/wpilibj/wpilibJavaFinal/pom.xml b/wpilibj/wpilibJavaFinal/pom.xml index b7f02a7a22..e44991c850 100644 --- a/wpilibj/wpilibJavaFinal/pom.xml +++ b/wpilibj/wpilibJavaFinal/pom.xml @@ -37,7 +37,7 @@ edu.wpi.first.wpilibj wpilibJavaJNI 0.1.0-SNAPSHOT - so + jar @@ -78,7 +78,7 @@ edu.wpi.first.wpilibj wpilibJavaJNI 0.1.0-SNAPSHOT - so + jar libwpilibJavaJNI.so ${project.build.directory}/classes/linux-arm diff --git a/wpilibj/wpilibJavaJNI/.gitignore b/wpilibj/wpilibJavaJNI/.gitignore new file mode 100644 index 0000000000..535c157308 --- /dev/null +++ b/wpilibj/wpilibJavaJNI/.gitignore @@ -0,0 +1,2 @@ +*~ +target/ \ No newline at end of file diff --git a/wpilibj/wpilibJavaJNI/CMakeLists.txt b/wpilibj/wpilibJavaJNI/CMakeLists.txt new file mode 100644 index 0000000000..444ec087ae --- /dev/null +++ b/wpilibj/wpilibJavaJNI/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 2.8) +project(WPILibJavaJNI) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wextra") +SET(CMAKE_SKIP_BUILD_RPATH TRUE) +file(GLOB_RECURSE NI_LIBS ../../ni-libraries/*.so) +get_filename_component(HAL_API_INCLUDES ../../hal/include REALPATH) +## depends on libFRC_NetComm, halAthena Hal incl, wpilibJava (jar) +# this file requires embeddedJDKHome to be set +# all the h files must be generated, in target/include + +file(GLOB_RECURSE SRC_FILES lib/*.cpp) +include_directories(target/include ${embeddedJDKHome}/include ${embeddedJDKHome}/include/linux ${HAL_API_INCLUDES}) +add_library(wpilibJavaJNI SHARED ${SRC_FILES}) +find_library(HAL_LIB libHALAthena.so target/lib) +add_library(HALAthena UNKNOWN IMPORTED) +set_property(TARGET HALAthena PROPERTY IMPORTED_LOCATION ${HAL_LIB}) +target_link_libraries(wpilibJavaJNI HALAthena ${NI_LIBS}) +INSTALL(TARGETS wpilibJavaJNI LIBRARY DESTINATION target) +# lib/ c m gcc_s ld-linux +# usr/lib stdc++ +# FRC_NetworkCommunication NiFpgaLv RoboRIO_FRC_ChipObject + diff --git a/wpilibj/wpilibJavaJNI/src/main/native/AnalogJNI.cpp b/wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/AnalogJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/CANJNI.cpp b/wpilibj/wpilibJavaJNI/lib/CANJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/CANJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/CANJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/CounterJNI.cpp b/wpilibj/wpilibJavaJNI/lib/CounterJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/CounterJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/CounterJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/DIOJNI.cpp b/wpilibj/wpilibJavaJNI/lib/DIOJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/DIOJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/DIOJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/EncoderJNI.cpp b/wpilibj/wpilibJavaJNI/lib/EncoderJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/EncoderJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/EncoderJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/FRCNetworkCommunicationsLibrary.cpp b/wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/FRCNetworkCommunicationsLibrary.cpp rename to wpilibj/wpilibJavaJNI/lib/FRCNetworkCommunicationsLibrary.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/HALUtil.cpp b/wpilibj/wpilibJavaJNI/lib/HALUtil.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/HALUtil.cpp rename to wpilibj/wpilibJavaJNI/lib/HALUtil.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/I2CJNI.cpp b/wpilibj/wpilibJavaJNI/lib/I2CJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/I2CJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/I2CJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/InterruptJNI.cpp b/wpilibj/wpilibJavaJNI/lib/InterruptJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/InterruptJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/InterruptJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/JNIWrapper.cpp b/wpilibj/wpilibJavaJNI/lib/JNIWrapper.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/JNIWrapper.cpp rename to wpilibj/wpilibJavaJNI/lib/JNIWrapper.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/PWMJNI.cpp b/wpilibj/wpilibJavaJNI/lib/PWMJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/PWMJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/PWMJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/RelayJNI.cpp b/wpilibj/wpilibJavaJNI/lib/RelayJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/RelayJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/RelayJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/src/main/native/SPIJNI.cpp b/wpilibj/wpilibJavaJNI/lib/SPIJNI.cpp similarity index 100% rename from wpilibj/wpilibJavaJNI/src/main/native/SPIJNI.cpp rename to wpilibj/wpilibJavaJNI/lib/SPIJNI.cpp diff --git a/wpilibj/wpilibJavaJNI/pom.xml b/wpilibj/wpilibJavaJNI/pom.xml index e69b093e62..94c829d612 100644 --- a/wpilibj/wpilibJavaJNI/pom.xml +++ b/wpilibj/wpilibJavaJNI/pom.xml @@ -1,143 +1,228 @@ - - 4.0.0 - wpilibJavaJNI - edu.wpi.first.wpilibj - 0.1.0-SNAPSHOT - so - - - edu.wpi.first.wpilib.templates.athena - shared-library - 0.1.0-SNAPSHOT - ../../maven-utilities/athena/shared-library/pom.xml - - - - - com.ni.first.libraries - libFRC_NetworkCommunication - so - 0.1.0-SNAPSHOT - - - edu.wpi.first.wpilib.hal - libHALAthena - 0.1.0-SNAPSHOT - a - - - edu.wpi.first.wpilib.hal - include - 0.1.0-SNAPSHOT - inczip - - - edu.wpi.first.wpilibj - wpilibJava - 0.1.0-SNAPSHOT - jar - - - - + + 4.0.0 + wpilibJavaJNI + edu.wpi.first.wpilibj + 0.1.0-SNAPSHOT + + + edu.wpi.first.wpilib.cmake + cpp-root + 1.0.0 + jar + + + edu.wpi.first.wpilibj + wpilibJava + 0.1.0-SNAPSHOT + jar + + + - + - - - ${user.home}${file.separator}jdk-linux-arm-vfp-sflt${file.separator}jdk1.7.0_45 - ${embeddedJDKHome}${file.separator}include - - - - - - org.apache.maven.plugins - maven-enforcer-plugin - 1.3.1 - - - enforce-property - - enforce - - - - - - ${embeddedJDKIncludePath} - - A copy of the 'Linux ARM v6/v7 Soft Float ABI' JDK must be extracted to '${embeddedJDKHome}' and + + ${user.home}${file.separator}jdk-linux-arm-vfp-sflt${file.separator}jdk1.7.0_45 + Unix Makefiles + ${embeddedJDKHome}${file.separator}include + + + + + org.apache.maven.plugins + maven-enforcer-plugin + 1.3.1 + + + enforce-property + + enforce + + + + + + ${embeddedJDKIncludePath} + + A copy of the 'Linux ARM v6/v7 Soft Float ABI' JDK must be extracted to '${embeddedJDKHome}' and the folder '${embeddedJDKIncludePath}' must exist to build this module. You must use Java 7 u45. This JDK may be downloaded from http://www.oracle.com/technetwork/java/javase/downloads/java-archive-downloads-javase7-521261.html#jdk-7u45-oth-JPR. To override this default location, specify a value for the 'embeddedJDKHome' property at the command line, like 'mvn -DembeddedJDKHome=path/to/jdk' - - - true - - - - - - org.codehaus.mojo - native-maven-plugin - 1.0-alpha-7 - true - - linux - ${embeddedJDKIncludePath} - - - src/main/native - - **/*.cpp - - - - - - - javah - generate-sources + + + true + + + + + + org.codehaus.mojo + native-maven-plugin + 1.0-alpha-7 + true - - - edu.wpi.first.wpilibj.can.CANJNI - edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary - edu.wpi.first.wpilibj.hal.HALUtil - edu.wpi.first.wpilibj.hal.JNIWrapper - edu.wpi.first.wpilibj.hal.AnalogJNI - edu.wpi.first.wpilibj.hal.CounterJNI - edu.wpi.first.wpilibj.hal.DIOJNI - edu.wpi.first.wpilibj.hal.EncoderJNI - edu.wpi.first.wpilibj.hal.I2CJNI - edu.wpi.first.wpilibj.hal.InterruptJNI - edu.wpi.first.wpilibj.hal.PWMJNI - edu.wpi.first.wpilibj.hal.RelayJNI - edu.wpi.first.wpilibj.hal.SPIJNI - - - - + + edu.wpi.first.wpilibj.can.CANJNI + edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary + edu.wpi.first.wpilibj.hal.HALUtil + edu.wpi.first.wpilibj.hal.JNIWrapper + edu.wpi.first.wpilibj.hal.AnalogJNI + edu.wpi.first.wpilibj.hal.CounterJNI + edu.wpi.first.wpilibj.hal.DIOJNI + edu.wpi.first.wpilibj.hal.EncoderJNI + edu.wpi.first.wpilibj.hal.I2CJNI + edu.wpi.first.wpilibj.hal.InterruptJNI + edu.wpi.first.wpilibj.hal.PWMJNI + edu.wpi.first.wpilibj.hal.RelayJNI + edu.wpi.first.wpilibj.hal.SPIJNI + + + + - linux - ${project.build.directory}/jni/include - default - true + linux + ${project.build.directory}/include + default + true + + + javah + + + + + + + com.googlecode.cmake-maven-project + cmake-maven-plugin + 2.8.11-b4 + + + cmake + generate-resources + + generate + + + + + + + + + 1 + + + + + cmake2 + generate-resources + + compile + + + install + + + + + . + ${project.build.directory}/cmake + ${project.build.directory}/cmake + ${cmakeGenerator} + release - - javah - - - - - - - + + + org.apache.maven.plugins + maven-dependency-plugin + 2.8 + + + + fetch-cpp-zip-dependencies + process-sources + + copy-dependencies + + + + + edu.wpi.first.wpilib.cmake + cpp-root + 1.0.0 + jar + cpp-root.jar + + + ${project.build.directory} + false + true + false + + + + + + org.apache.maven.plugins + maven-antrun-plugin + 1.7 + + + + set-version-info + + run + + process-sources + + + + + + + + + + + + + + + + + true + + + + + unzip-cpp-includes + compile + + run + + + + + + + + + + +