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

wpilibcIntegrationTests/src/AnalogLoopTest.cpp

@@ -0,0 +1,128 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014. 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 the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include <AnalogInput.h>
+#include <AnalogOutput.h>
+#include <AnalogTrigger.h>
+#include <Counter.h>
+#include <Timer.h>
+#include "gtest/gtest.h"
+#include "TestBench.h"
+
+static const double kDelayTime = 0.01;
+
+/**
+ * A fixture with an analog input and an analog output wired together
+ */
+class AnalogLoopTest : public testing::Test {
+ protected:
+  AnalogInput *m_input;
+  AnalogOutput *m_output;
+
+  virtual void SetUp() override {
+    m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel);
+    m_output = new AnalogOutput(TestBench::kAnalogOutputChannel);
+  }
+
+  virtual void TearDown() override {
+    delete m_input;
+    delete m_output;
+  }
+};
+
+/**
+ * Test analog inputs and outputs by setting one and making sure the other
+ * matches.
+ */
+TEST_F(AnalogLoopTest, AnalogInputWorks) {
+  // Set the output voltage and check if the input measures the same voltage
+  for (int i = 0; i < 50; i++) {
+    m_output->SetVoltage(i / 10.0f);
+
+    Wait(kDelayTime);
+
+    EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f);
+  }
+}
+
+/**
+ * Test if we can use an analog trigger to  check if the output is within a
+ * range correctly.
+ */
+TEST_F(AnalogLoopTest, AnalogTriggerWorks) {
+  AnalogTrigger trigger(m_input);
+  trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+  m_output->SetVoltage(1.0f);
+  Wait(kDelayTime);
+
+  EXPECT_FALSE(trigger.GetInWindow())
+      << "Analog trigger is in the window (2V, 3V)";
+  EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
+
+  m_output->SetVoltage(2.5f);
+  Wait(kDelayTime);
+
+  EXPECT_TRUE(trigger.GetInWindow())
+      << "Analog trigger is not in the window (2V, 3V)";
+  EXPECT_FALSE(trigger.GetTriggerState()) << "Analog trigger is on";
+
+  m_output->SetVoltage(4.0f);
+  Wait(kDelayTime);
+
+  EXPECT_FALSE(trigger.GetInWindow())
+      << "Analog trigger is in the window (2V, 3V)";
+  EXPECT_TRUE(trigger.GetTriggerState()) << "Analog trigger is not on";
+}
+
+/**
+ * Test if we can count the right number of ticks from an analog trigger with
+ * a counter.
+ */
+TEST_F(AnalogLoopTest, AnalogTriggerCounterWorks) {
+  AnalogTrigger trigger(m_input);
+  trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+  Counter counter(trigger);
+
+  // Turn the analog output low and high 50 times
+  for (int i = 0; i < 50; i++) {
+    m_output->SetVoltage(1.0);
+    Wait(kDelayTime);
+    m_output->SetVoltage(4.0);
+    Wait(kDelayTime);
+  }
+
+  // The counter should be 50
+  EXPECT_EQ(50, counter.Get())
+      << "Analog trigger counter did not count 50 ticks";
+}
+
+static void InterruptHandler(uint32_t interruptAssertedMask, void *param) {
+  *(int *)param = 12345;
+}
+
+TEST_F(AnalogLoopTest, AsynchronusInterruptWorks) {
+  int param = 0;
+  AnalogTrigger trigger(m_input);
+  trigger.SetLimitsVoltage(2.0f, 3.0f);
+
+  // Given an interrupt handler that sets an int to 12345
+  std::shared_ptr<AnalogTriggerOutput> triggerOutput = trigger.CreateOutput(kState);
+  triggerOutput->RequestInterrupts(InterruptHandler, &param);
+  triggerOutput->EnableInterrupts();
+
+  // If the analog output moves from below to above the window
+  m_output->SetVoltage(0.0);
+  Wait(kDelayTime);
+  m_output->SetVoltage(5.0);
+  triggerOutput->CancelInterrupts();
+
+  // Then the int should be 12345
+  Wait(kDelayTime);
+  EXPECT_EQ(12345, param) << "The interrupt did not run.";
+}