WPILib Reorganization

This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.

The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.

Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878

wpilibc/simulation/include/simulation/MainNode.h

@@ -0,0 +1,49 @@
+
+#ifndef _SIM_MAIN_NODE_H
+#define _SIM_MAIN_NODE_H
+
+#include "simulation/gz_msgs/msgs.h"
+#include <gazebo/transport/transport.hh>
+#include <gazebo/gazebo_client.hh>
+
+using namespace gazebo;
+
+class MainNode {
+public:
+	static MainNode* GetInstance() {
+		static MainNode instance;
+		return &instance;
+	}
+
+	template<typename M>
+	static transport::PublisherPtr Advertise(const std::string &topic,
+                                             unsigned int _queueLimit = 10,
+                                             bool _latch = false) {
+		return GetInstance()->main->Advertise<M>(topic, _queueLimit, _latch);
+	}
+
+	template<typename M, typename T>
+	static transport::SubscriberPtr Subscribe(const std::string &topic,
+                            void(T::*fp)(const boost::shared_ptr<M const> &), T *obj,
+                            bool _latching = false) {
+		return GetInstance()->main->Subscribe(topic, fp, obj, _latching);
+	}
+
+	template<typename M>
+	static transport::SubscriberPtr Subscribe(const std::string &topic,
+                            void(*fp)(const boost::shared_ptr<M const> &),
+                            bool _latching = false) {
+		return GetInstance()->main->Subscribe(topic, fp, _latching);
+	}
+
+	transport::NodePtr main;
+private:
+	MainNode() {
+		gazebo::client::setup();
+		main = transport::NodePtr(new transport::Node());
+		main->Init("frc");
+		gazebo::transport::run();
+	}
+};
+
+#endif

wpilibc/simulation/include/simulation/SimContinuousOutput.h

@@ -0,0 +1,41 @@
+
+
+#ifndef _SIM_SPEED_CONTROLLER_H
+#define _SIM_SPEED_CONTROLLER_H
+
+#ifdef _WIN32
+  // Ensure that Winsock2.h is included before Windows.h, which can get
+  // pulled in by anybody (e.g., Boost).
+  #include <Winsock2.h>
+#endif
+
+#include <gazebo/transport/transport.hh>
+#include "SpeedController.h"
+
+using namespace gazebo;
+
+class SimContinuousOutput {
+private:
+	transport::PublisherPtr pub;
+	float speed;
+
+public:
+	SimContinuousOutput(std::string topic);
+
+	/**
+	 * Set the output value.
+	 *
+	 * The value is set using a range of -1.0 to 1.0, appropriately
+	 * scaling the value.
+	 *
+	 * @param value The value between -1.0 and 1.0 to set.
+	 */
+	void Set(float value);
+
+	/**
+	 * @return The most recently set value.
+	 */
+	float Get();
+};
+
+#endif

wpilibc/simulation/include/simulation/SimDigitalInput.h

@@ -0,0 +1,26 @@
+
+
+#ifndef _SIM_DIGITAL_INPUT_H
+#define _SIM_DIGITAL_INPUT_H
+
+#include "simulation/gz_msgs/msgs.h"
+#include <gazebo/transport/transport.hh>
+
+using namespace gazebo;
+
+class SimDigitalInput {
+public:
+	SimDigitalInput(std::string topic);
+
+	/**
+	 * @return The value of the potentiometer.
+	 */
+	bool Get();
+
+private:
+	bool value;
+    transport::SubscriberPtr sub;
+    void callback(const msgs::ConstBoolPtr &msg);
+};
+
+#endif

wpilibc/simulation/include/simulation/SimEncoder.h

@@ -0,0 +1,32 @@
+
+
+#ifndef _SIM_ENCODER_H
+#define _SIM_ENCODER_H
+
+#include "simulation/gz_msgs/msgs.h"
+#include <gazebo/transport/transport.hh>
+#include <gazebo/common/Time.hh>
+
+using namespace gazebo;
+
+class SimEncoder {
+public:
+	SimEncoder(std::string topic);
+
+	void Reset();
+	void Start();
+	void Stop();
+	double GetPosition();
+	double GetVelocity();
+
+private:
+	void sendCommand(std::string cmd);
+
+	double position, velocity;
+	transport::SubscriberPtr posSub, velSub;
+	transport::PublisherPtr commandPub;
+	void positionCallback(const msgs::ConstFloat64Ptr &msg);
+	void velocityCallback(const msgs::ConstFloat64Ptr &msg);
+};
+
+#endif

wpilibc/simulation/include/simulation/SimFloatInput.h

@@ -0,0 +1,26 @@
+
+
+#ifndef _SIM_FLOAT_INPUT_H
+#define _SIM_FLOAT_INPUT_H
+
+#include "simulation/gz_msgs/msgs.h"
+#include <gazebo/transport/transport.hh>
+
+using namespace gazebo;
+
+class SimFloatInput {
+public:
+	SimFloatInput(std::string topic);
+
+	/**
+	 * @return The value of the potentiometer.
+	 */
+	double Get();
+
+private:
+	double value;
+    transport::SubscriberPtr sub;
+    void callback(const msgs::ConstFloat64Ptr &msg);
+};
+
+#endif

wpilibc/simulation/include/simulation/SimGyro.h

@@ -0,0 +1,29 @@
+
+
+#ifndef _SIM_GYRO_H
+#define _SIM_GYRO_H
+
+#include "simulation/gz_msgs/msgs.h"
+#include <gazebo/transport/transport.hh>
+
+using namespace gazebo;
+
+class SimGyro {
+public:
+	SimGyro(std::string topic);
+
+    void Reset();
+    double GetAngle();
+    double GetVelocity();
+
+private:
+    void sendCommand(std::string cmd);
+
+    double position, velocity;
+    transport::SubscriberPtr posSub, velSub;
+    transport::PublisherPtr commandPub;
+    void positionCallback(const msgs::ConstFloat64Ptr &msg);
+    void velocityCallback(const msgs::ConstFloat64Ptr &msg);
+};
+
+#endif

wpilibc/simulation/include/simulation/simTime.h

@@ -0,0 +1,18 @@
+#pragma once
+
+
+#ifdef _WIN32
+  // Ensure that Winsock2.h is included before Windows.h, which can get
+  // pulled in by anybody (e.g., Boost).
+  #include <Winsock2.h>
+#endif
+
+#include "simulation/SimFloatInput.h"
+
+#include <condition_variable>
+#include <mutex>
+
+namespace wpilib { namespace internal {
+    extern double simTime;
+    extern void time_callback(const msgs::ConstFloat64Ptr &msg);
+}}