Get halsim_gazebo building again (#1201)

simulation/halsim_gazebo/src/main/native/cpp/main.cpp

@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <iostream>
+
+#include <HAL/Ports.h>
+
+#include "GazeboAnalogIn.h"
+#include "GazeboDIO.h"
+#include "GazeboEncoder.h"
+#include "GazeboPCM.h"
+#include "GazeboPWM.h"
+#include "HALSimGazebo.h"
+
+/* Currently, robots never terminate, so we keep a single static object
+   to access Gazebo with and it is never properly released or cleaned up. */
+static HALSimGazebo halsim;
+
+extern "C" {
+int HALSIM_InitExtension(void) {
+  std::cout << "Gazebo Simulator Initializing." << std::endl;
+
+  if (!halsim.node.Connect()) {
+    std::cerr << "Error: unable to connect to Gazebo.  Is it running?."
+              << std::endl;
+    return -1;
+  }
+  std::cout << "Gazebo Simulator Connected." << std::endl;
+
+  for (int i = 0; i < HALSimGazebo::kPWMCount; i++)
+    halsim.pwms[i] = new GazeboPWM(i, &halsim);
+
+  for (int i = 0; i < HALSimGazebo::kPCMCount; i++)
+    halsim.pcms[i] = new GazeboPCM(0, i, &halsim);
+  GazeboPCM_SetPressureSwitch(0, true);
+
+  for (int i = 0; i < HALSimGazebo::kEncoderCount; i++)
+    halsim.encoders[i] = new GazeboEncoder(i, &halsim);
+
+  int analog_in_count = HAL_GetNumAnalogInputs();
+  for (int i = 0; i < analog_in_count; i++)
+    halsim.analog_inputs.push_back(new GazeboAnalogIn(i, &halsim));
+
+  int dio_count = HAL_GetNumDigitalChannels();
+  for (int i = 0; i < dio_count; i++)
+    halsim.dios.push_back(new GazeboDIO(i, &halsim));
+
+  return 0;
+}
+}  // extern "C"