CMake Changes

This is the changes made by Patrick Plenefisch converting the native
code to use CMake and the CMake Maven Plugin, as opposed to the
native Maven plugin. This is to allow for compatibility with newer
versions of the GCC toolchain. All the cpp sources were moved from
maven style directories to cpp style directories for CMake.

Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593

hal/lib/Athena/NetworkCommunication/AICalibration.h

@@ -0,0 +1,19 @@
+
+#ifndef __AICalibration_h__
+#define __AICalibration_h__
+
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+	uint32_t FRC_NetworkCommunication_nAICalibration_getLSBWeight(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
+	int32_t FRC_NetworkCommunication_nAICalibration_getOffset(const uint32_t aiSystemIndex, const uint32_t channel, int32_t *status);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __AICalibration_h__

hal/lib/Athena/NetworkCommunication/CANInterfacePlugin.h

@@ -0,0 +1,61 @@
+// CANInterfacePlugin.h
+//
+//  Defines the API for building a CAN Interface Plugin to support
+//    PWM-cable-free CAN motor control on FRC robots.  This allows you
+//    to connect any CAN interface to the secure Jaguar CAN driver.
+//
+
+#ifndef __CANInterfacePlugin_h__
+#define __CANInterfacePlugin_h__
+
+#include <stdint.h>
+
+#define CAN_IS_FRAME_REMOTE 0x80000000
+#define CAN_MESSAGE_ID_MASK 0x1FFFFFFF
+
+class CANInterfacePlugin
+{
+public:
+	CANInterfacePlugin() {}
+	virtual ~CANInterfacePlugin() {}
+
+	/**
+	 * This entry-point of the CANInterfacePlugin is passed a message that the driver needs to send to
+	 * a device on the CAN bus.
+	 * 
+	 * This function may be called from multiple contexts and must therefore be reentrant.
+	 * 
+	 * @param messageID The 29-bit CAN message ID in the lsbs.  The msb can indicate a remote frame.
+	 * @param data A pointer to a buffer containing between 0 and 8 bytes to send with the message.  May be NULL if dataSize is 0.
+	 * @param dataSize The number of bytes to send with the message.
+	 * @return Return any error code.  On success return 0.
+	 */
+	virtual int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize) = 0;
+
+	/**
+	 * This entry-point of the CANInterfacePlugin is passed buffers which should be populated with
+	 * any received messages from devices on the CAN bus.
+	 * 
+	 * This function is always called by a single task in the Jaguar driver, so it need not be reentrant.
+	 * 
+	 * This function is expected to block for some period of time waiting for a message from the CAN bus.
+	 * It may timeout periodically (returning non-zero to indicate no message was populated) to allow for
+	 * shutdown and unloading of the plugin.
+	 * 
+	 * @param messageID A reference to be populated with a received 29-bit CAN message ID in the lsbs.
+	 * @param data A pointer to a buffer of 8 bytes to be populated with data received with the message.
+	 * @param dataSize A reference to be populated with the size of the data received (0 - 8 bytes).
+	 * @return This should return 0 if a message was populated, non-0 if no message was not populated.
+	 */
+	virtual int32_t receiveMessage(uint32_t &messageID, uint8_t *data, uint8_t &dataSize) = 0;
+};
+
+/**
+ * This function allows you to register a CANInterfacePlugin to provide access a CAN bus.
+ * 
+ * @param interface A pointer to an object that inherits from CANInterfacePlugin and implements
+ * the pure virtual interface.  If NULL, unregister the current plugin.
+ */
+void FRC_NetworkCommunication_JaguarCANDriver_registerInterface(CANInterfacePlugin* interface);
+
+#endif // __CANInterfacePlugin_h__

hal/lib/Athena/NetworkCommunication/FRCComm.h

@@ -0,0 +1,201 @@
+/*************************************************************
+ * 					NOTICE
+ * 
+ * 	These are the only externally exposed functions to the
+ *   NetworkCommunication library
+ * 
+ * This is an implementation of FRC Spec for Comm Protocol
+ * Revision 4.5, June 30, 2008
+ *
+ * Copyright (c) National Instruments 2008.  All Rights Reserved.
+ * 
+ *************************************************************/
+
+#ifndef __FRC_COMM_H__
+#define __FRC_COMM_H__
+
+#ifdef SIMULATION
+#include <vxWorks_compat.h>
+#ifdef USE_THRIFT
+#define EXPORT_FUNC
+#else
+#define EXPORT_FUNC __declspec(dllexport) __cdecl
+#endif
+#else
+#if defined(__vxworks)
+#include <vxWorks.h>
+#define EXPORT_FUNC
+#else
+#include <stdint.h>
+#include <pthread.h>
+#define EXPORT_FUNC
+#endif
+#endif
+
+// Commandeer some bytes at the end for advanced I/O feedback.
+#define IO_CONFIG_DATA_SIZE 32
+#define SYS_STATUS_DATA_SIZE 44
+#define USER_STATUS_DATA_SIZE (984 - IO_CONFIG_DATA_SIZE - SYS_STATUS_DATA_SIZE)
+#define USER_DS_LCD_DATA_SIZE 128
+
+struct FRCCommonControlData{
+	uint16_t packetIndex;
+	union {
+		uint8_t control;
+#ifndef __vxworks
+		struct {
+			uint8_t checkVersions :1;
+			uint8_t test :1;
+			uint8_t resync : 1;
+			uint8_t fmsAttached:1;
+			uint8_t autonomous : 1;
+			uint8_t enabled : 1;
+			uint8_t notEStop : 1;
+			uint8_t reset : 1;
+		};
+#else
+		struct {
+			uint8_t reset : 1;
+			uint8_t notEStop : 1;
+			uint8_t enabled : 1;
+			uint8_t autonomous : 1;
+			uint8_t fmsAttached:1;
+			uint8_t resync : 1;
+			uint8_t test :1;
+			uint8_t checkVersions :1;
+		};
+#endif
+	};
+	uint8_t dsDigitalIn;
+	uint16_t teamID;
+
+	char dsID_Alliance;
+	char dsID_Position;
+
+	union {
+		int8_t stick0Axes[6];
+		struct {
+			int8_t stick0Axis1;
+			int8_t stick0Axis2;
+			int8_t stick0Axis3;
+			int8_t stick0Axis4;
+			int8_t stick0Axis5;
+			int8_t stick0Axis6;
+		};
+	};
+	uint16_t stick0Buttons;		// Left-most 4 bits are unused
+
+	union {
+		int8_t stick1Axes[6];
+		struct {
+			int8_t stick1Axis1;
+			int8_t stick1Axis2;
+			int8_t stick1Axis3;
+			int8_t stick1Axis4;
+			int8_t stick1Axis5;
+			int8_t stick1Axis6;
+		};
+	};
+	uint16_t stick1Buttons;		// Left-most 4 bits are unused
+
+	union {
+		int8_t stick2Axes[6];
+		struct {
+			int8_t stick2Axis1;
+			int8_t stick2Axis2;
+			int8_t stick2Axis3;
+			int8_t stick2Axis4;
+			int8_t stick2Axis5;
+			int8_t stick2Axis6;
+		};
+	};
+	uint16_t stick2Buttons;		// Left-most 4 bits are unused
+
+	union {
+		int8_t stick3Axes[6];
+		struct {
+			int8_t stick3Axis1;
+			int8_t stick3Axis2;
+			int8_t stick3Axis3;
+			int8_t stick3Axis4;
+			int8_t stick3Axis5;
+			int8_t stick3Axis6;
+		};
+	};
+	uint16_t stick3Buttons;		// Left-most 4 bits are unused
+
+	//Analog inputs are 10 bit right-justified
+	uint16_t analog1;
+	uint16_t analog2;
+	uint16_t analog3;
+	uint16_t analog4;
+
+	uint64_t cRIOChecksum;
+	uint32_t FPGAChecksum0;
+	uint32_t FPGAChecksum1;
+	uint32_t FPGAChecksum2;
+	uint32_t FPGAChecksum3;
+
+	char versionData[8];
+};
+
+#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
+#define kFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
+#define kFRC_NetworkCommunication_DynamicType_Kinect_Header 19
+#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra1 20
+#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices1 21
+#define kFRC_NetworkCommunication_DynamicType_Kinect_Extra2 22
+#define kFRC_NetworkCommunication_DynamicType_Kinect_Vertices2 23
+#define kFRC_NetworkCommunication_DynamicType_Kinect_Joystick 24
+#define kFRC_NetworkCommunication_DynamicType_Kinect_Custom 25
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+#ifndef SIMULATION
+	void EXPORT_FUNC getFPGAHardwareVersion(uint16_t *fpgaVersion, uint32_t *fpgaRevision);
+#endif
+	int EXPORT_FUNC getCommonControlData(struct FRCCommonControlData *data, int wait_ms);
+	int EXPORT_FUNC getRecentCommonControlData(struct FRCCommonControlData *commonData, int wait_ms);
+	int EXPORT_FUNC getRecentStatusData(uint8_t *batteryInt, uint8_t *batteryDec, uint8_t *dsDigitalOut, int wait_ms);
+	int EXPORT_FUNC getDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
+	int EXPORT_FUNC setStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
+			const char *userDataHigh, int userDataHighLength,
+			const char *userDataLow, int userDataLowLength, int wait_ms);
+	int EXPORT_FUNC setStatusDataFloatAsInt(int battery, uint8_t dsDigitalOut, uint8_t updateNumber,
+			const char *userDataHigh, int userDataHighLength,
+			const char *userDataLow, int userDataLowLength, int wait_ms);
+	int EXPORT_FUNC setErrorData(const char *errors, int errorsLength, int wait_ms);
+	int EXPORT_FUNC setUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
+	int EXPORT_FUNC overrideIOConfig(const char *ioConfig, int wait_ms);
+	
+#ifdef SIMULATION
+	void EXPORT_FUNC setNewDataSem(HANDLE);
+#else
+# if defined (__vxworks)
+	void EXPORT_FUNC setNewDataSem(SEM_ID);
+	void EXPORT_FUNC setResyncSem(SEM_ID);
+# else
+	void EXPORT_FUNC setNewDataSem(pthread_mutex_t *);
+	void EXPORT_FUNC setResyncSem(pthread_mutex_t *);
+# endif
+	void EXPORT_FUNC signalResyncActionDone(void);
+#endif
+
+	// this uint32_t is really a LVRefNum
+	void EXPORT_FUNC setNewDataOccurRef(uint32_t refnum);
+#ifndef SIMULATION
+	void EXPORT_FUNC setResyncOccurRef(uint32_t refnum);
+#endif
+
+	void EXPORT_FUNC FRC_NetworkCommunication_getVersionString(char *version);
+	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramStarting(void);
+	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramDisabled(void);
+	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramAutonomous(void);
+	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTeleop(void);
+	void EXPORT_FUNC FRC_NetworkCommunication_observeUserProgramTest(void);
+#ifdef __cplusplus
+}
+#endif
+
+#endif

hal/lib/Athena/NetworkCommunication/JaguarCANDriver.h

@@ -0,0 +1,56 @@
+// JaguarCANDriver.h
+//
+//  Defines the API for building a CAN Interface Plugin to support
+//    PWM-cable-free CAN motor control on FRC robots.  This allows you
+//    to connect any CAN interface to the secure Jaguar CAN driver.
+//
+
+#ifndef __JaguarCANDriver_h__
+#define __JaguarCANDriver_h__
+
+#if defined(__vxworks)
+#include <vxWorks.h>
+#else
+#include <stdint.h>
+#include <pthread.h>
+#endif
+#ifdef USE_THRIFT
+#include "NetCommRPCComm.h"
+#include <vector>
+#endif
+namespace nJaguarCANDriver
+{
+	void sendMessage_wrapper(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
+	void receiveMessage_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
+	int32_t receiveMessageStart_wrapper(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
+#if defined (__vxworks)
+	int32_t receiveMessageStart_sem_wrapper(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
+#else
+	int32_t receiveMessageStart_mutex_wrapper(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
+#endif
+	void receiveMessageComplete_wrapper(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
+#ifdef USE_THRIFT
+	void checkEvent_CAN(std::vector< CANEvent >& events);
+#endif
+}
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+	void FRC_NetworkCommunication_JaguarCANDriver_sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize, int32_t *status);
+	void FRC_NetworkCommunication_JaguarCANDriver_receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, uint32_t timeoutMs, int32_t *status);
+	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart(uint32_t messageID, uint32_t occurRefNum, uint32_t timeoutMs, int32_t *status);
+#if defined (__vxworks)
+	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_sem(uint32_t messageID, uint32_t semaphoreID, uint32_t timeoutMs, int32_t *status);
+#else
+	int32_t FRC_NetworkCommunication_JaguarCANDriver_receiveMessageStart_mutex(uint32_t messageID, pthread_mutex_t *mutex, uint32_t timeoutMs, int32_t *status);
+#endif
+	void FRC_NetworkCommunication_JaguarCANDriver_receiveMessageComplete(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, int32_t *status);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __JaguarCANDriver_h__

hal/lib/Athena/NetworkCommunication/LoadOut.h

@@ -0,0 +1,52 @@
+
+#ifndef __LoadOut_h__
+#define __LoadOut_h__
+
+#ifdef SIMULATION
+#include <vxWorks_compat.h>
+#define EXPORT_FUNC __declspec(dllexport) __cdecl
+#elif defined (__vxworks)
+#include <vxWorks.h>
+#define EXPORT_FUNC
+#else
+#include <stdint.h>
+#define EXPORT_FUNC
+#endif
+
+#define kMaxModuleNumber 2
+namespace nLoadOut
+{
+    typedef enum {
+        kModuleType_Unknown = 0x00,
+        kModuleType_Analog = 0x01,
+        kModuleType_Digital = 0x02,
+        kModuleType_Solenoid = 0x03,
+    } tModuleType;
+    bool EXPORT_FUNC getModulePresence(tModuleType moduleType, uint8_t moduleNumber);
+    typedef enum {
+        kTargetClass_Unknown = 0x00,
+        kTargetClass_FRC1 = 0x10,
+        kTargetClass_FRC2 = 0x20,
+        kTargetClass_FRC3 = 0x30,
+        kTargetClass_RoboRIO = 0x40,
+        kTargetClass_FRC2_Analog = kTargetClass_FRC2 | kModuleType_Analog,
+        kTargetClass_FRC2_Digital = kTargetClass_FRC2 | kModuleType_Digital,
+        kTargetClass_FRC2_Solenoid = kTargetClass_FRC2 | kModuleType_Solenoid,
+        kTargetClass_FamilyMask = 0xF0,
+        kTargetClass_ModuleMask = 0x0F,
+    } tTargetClass;
+    tTargetClass EXPORT_FUNC getTargetClass();
+}
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getModulePresence(uint32_t moduleType, uint8_t moduleNumber);
+    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nLoadOut_getTargetClass();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __LoadOut_h__

hal/lib/Athena/NetworkCommunication/UsageReporting.h

@@ -0,0 +1,139 @@
+
+#ifndef __UsageReporting_h__
+#define __UsageReporting_h__
+
+#ifdef SIMULATION
+#include <vxWorks_compat.h>
+#define EXPORT_FUNC __declspec(dllexport) __cdecl
+#elif defined (__vxworks)
+#include <vxWorks.h>
+#define EXPORT_FUNC
+#else
+#include <stdint.h>
+#include <stdlib.h>
+#define EXPORT_FUNC
+#endif
+
+#define kUsageReporting_version 1
+
+namespace nUsageReporting
+{
+    typedef enum
+    {
+        kResourceType_Controller,
+        kResourceType_Module,
+        kResourceType_Language,
+        kResourceType_CANPlugin,
+        kResourceType_Accelerometer,
+        kResourceType_ADXL345,
+        kResourceType_AnalogChannel,
+        kResourceType_AnalogTrigger,
+        kResourceType_AnalogTriggerOutput,
+        kResourceType_CANJaguar,
+        kResourceType_Compressor,
+        kResourceType_Counter,
+        kResourceType_Dashboard,
+        kResourceType_DigitalInput,
+        kResourceType_DigitalOutput,
+        kResourceType_DriverStationCIO,
+        kResourceType_DriverStationEIO,
+        kResourceType_DriverStationLCD,
+        kResourceType_Encoder,
+        kResourceType_GearTooth,
+        kResourceType_Gyro,
+        kResourceType_I2C,
+        kResourceType_Framework,
+        kResourceType_Jaguar,
+        kResourceType_Joystick,
+        kResourceType_Kinect,
+        kResourceType_KinectStick,
+        kResourceType_PIDController,
+        kResourceType_Preferences,
+        kResourceType_PWM,
+        kResourceType_Relay,
+        kResourceType_RobotDrive,
+        kResourceType_SerialPort,
+        kResourceType_Servo,
+        kResourceType_Solenoid,
+        kResourceType_SPI,
+        kResourceType_Task,
+        kResourceType_Ultrasonic,
+        kResourceType_Victor,
+        kResourceType_Button,
+        kResourceType_Command,
+        kResourceType_AxisCamera,
+        kResourceType_PCVideoServer,
+        kResourceType_SmartDashboard,
+        kResourceType_Talon,
+        kResourceType_HiTechnicColorSensor,
+        kResourceType_HiTechnicAccel,
+        kResourceType_HiTechnicCompass,
+		kResourceType_SRF08,
+    } tResourceType;
+
+    typedef enum
+    {
+        kLanguage_LabVIEW = 1,
+        kLanguage_CPlusPlus = 2,
+        kLanguage_Java = 3,
+        kLanguage_Python = 4,
+
+        kCANPlugin_BlackJagBridge = 1,
+        kCANPlugin_2CAN = 2,
+
+        kFramework_Iterative = 1,
+        kFramework_Simple = 2,
+
+        kRobotDrive_ArcadeStandard = 1,
+        kRobotDrive_ArcadeButtonSpin = 2,
+        kRobotDrive_ArcadeRatioCurve = 3,
+        kRobotDrive_Tank = 4,
+        kRobotDrive_MecanumPolar = 5,
+        kRobotDrive_MecanumCartesian = 6,
+
+        kDriverStationCIO_Analog = 1,
+        kDriverStationCIO_DigitalIn = 2,
+        kDriverStationCIO_DigitalOut = 3,
+
+        kDriverStationEIO_Acceleration = 1,
+        kDriverStationEIO_AnalogIn = 2,
+        kDriverStationEIO_AnalogOut = 3,
+        kDriverStationEIO_Button = 4,
+        kDriverStationEIO_LED = 5,
+        kDriverStationEIO_DigitalIn = 6,
+        kDriverStationEIO_DigitalOut = 7,
+        kDriverStationEIO_FixedDigitalOut = 8,
+        kDriverStationEIO_PWM = 9,
+        kDriverStationEIO_Encoder = 10,
+        kDriverStationEIO_TouchSlider = 11,
+
+        kADXL345_SPI = 1,
+        kADXL345_I2C = 2,
+
+        kCommand_Scheduler = 1,
+
+        kSmartDashboard_Instance = 1,
+    } tInstances;
+
+    /**
+     * Report the usage of a resource of interest.
+     * 
+     * @param resource one of the values in the tResourceType above (max value 51).
+     * @param instanceNumber an index that identifies the resource instance.
+     * @param context an optional additional context number for some cases (such as module number).  Set to 0 to omit.
+     * @param feature a string to be included describing features in use on a specific resource.  Setting the same resource more than once allows you to change the feature string.
+     */
+    uint32_t EXPORT_FUNC report(tResourceType resource, uint8_t instanceNumber, uint8_t context = 0, const char *feature = NULL);
+}
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+    uint32_t EXPORT_FUNC FRC_NetworkCommunication_nUsageReporting_report(uint8_t resource, uint8_t instanceNumber, uint8_t context, const char *feature);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __UsageReporting_h__