Get halsim_gazebo building again (#1201)

simulation/halsim_gazebo/src/main/native/include/GazeboAnalogIn.h

@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HALSimGazebo.h"
+#include "simulation/gz_msgs/msgs.h"
+
+class GazeboAnalogIn {
+ public:
+  GazeboAnalogIn(int index, HALSimGazebo* halsim);
+  void SetInitialized(bool value) { m_initialized = value; }
+  bool IsInitialized(void) { return m_initialized; }
+  void Listen(void);
+
+ private:
+  HALSimGazebo* m_halsim;
+  int m_index;
+  bool m_initialized;
+  void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+  gazebo::transport::SubscriberPtr m_sub;
+};

simulation/halsim_gazebo/src/main/native/include/GazeboDIO.h

@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HALSimGazebo.h"
+#include "simulation/gz_msgs/msgs.h"
+
+class GazeboDIO {
+ public:
+  GazeboDIO(int index, HALSimGazebo* halsim);
+  void SetInitialized(bool value) { m_initialized = value; }
+  bool IsInitialized(void) { return m_initialized; }
+  void Listen(void);
+
+ private:
+  HALSimGazebo* m_halsim;
+  int m_index;
+  bool m_initialized;
+  void Callback(const gazebo::msgs::ConstBoolPtr& msg);
+  gazebo::transport::SubscriberPtr m_sub;
+};

simulation/halsim_gazebo/src/main/native/include/GazeboEncoder.h

@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HALSimGazebo.h"
+#include "simulation/gz_msgs/msgs.h"
+
+class GazeboEncoder {
+ public:
+  GazeboEncoder(int index, HALSimGazebo* halsim);
+  void SetInitialized(bool value) { m_initialized = value; }
+  bool IsInitialized(void) { return m_initialized; }
+  void SetReverse(bool value) { m_reverse = value; }
+  void Control(const char* command);
+  void Listen(void);
+
+ private:
+  HALSimGazebo* m_halsim;
+  int m_index;
+  bool m_initialized;
+  bool m_reverse;
+
+  void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+  gazebo::transport::PublisherPtr m_pub;
+  gazebo::transport::SubscriberPtr m_sub;
+};

simulation/halsim_gazebo/src/main/native/include/GazeboNode.h

@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <string>
+
+#include <gazebo/gazebo_client.hh>
+#include <gazebo/transport/transport.hh>
+
+class GazeboNode {
+ public:
+  bool Connect();
+
+  template <typename M>
+  gazebo::transport::PublisherPtr Advertise(const std::string& topic,
+                                            int queueLimit = 10,
+                                            bool latch = false) {
+    return main->Advertise<M>(topic, queueLimit, latch);
+  }
+
+  template <typename M, typename T>
+  gazebo::transport::SubscriberPtr Subscribe(
+      const std::string& topic,
+      void (T::*fp)(const boost::shared_ptr<M const>&), T* obj,
+      bool latching = false) {
+    return main->Subscribe(topic, fp, obj, latching);
+  }
+
+  template <typename M>
+  gazebo::transport::SubscriberPtr Subscribe(
+      const std::string& topic, void (*fp)(const boost::shared_ptr<M const>&),
+      bool latching = false) {
+    return main->Subscribe(topic, fp, latching);
+  }
+
+ private:
+  gazebo::transport::NodePtr main;
+};

simulation/halsim_gazebo/src/main/native/include/GazeboPCM.h

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HALSimGazebo.h"
+
+class GazeboPCM {
+ public:
+  GazeboPCM(int index, int channel, HALSimGazebo* halsim);
+  void Publish(bool value);
+  void SetInitialized(bool value) { m_initialized = value; }
+  bool IsInitialized(void) { return m_initialized; }
+
+ private:
+  HALSimGazebo* m_halsim;
+  int m_index;
+  int m_channel;
+
+  bool m_initialized;
+
+  gazebo::transport::PublisherPtr m_pub;
+};
+
+void GazeboPCM_SetPressureSwitch(int index, bool value);

simulation/halsim_gazebo/src/main/native/include/GazeboPWM.h

@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HALSimGazebo.h"
+
+class GazeboPWM {
+ public:
+  GazeboPWM(int port, HALSimGazebo* halsim);
+  void SetInitialized(bool value) { m_initialized = value; }
+  bool IsInitialized(void) { return m_initialized; }
+  void Publish(double value);
+
+ private:
+  HALSimGazebo* m_halsim;
+  gazebo::transport::PublisherPtr m_pub;
+  bool m_initialized;
+  int m_port;
+};

simulation/halsim_gazebo/src/main/native/include/HALSimGazebo.h

@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <vector>
+
+#include "GazeboNode.h"
+
+class GazeboPWM;
+class GazeboPCM;
+class GazeboEncoder;
+class GazeboAnalogIn;
+class GazeboDIO;
+
+class HALSimGazebo {
+ public:
+  static const int kPWMCount = 20;
+  static const int kPCMCount = 8;
+  static const int kEncoderCount = 8;
+
+  GazeboNode node;
+  GazeboPWM* pwms[kPWMCount];
+  GazeboPCM* pcms[kPCMCount];
+  GazeboEncoder* encoders[kEncoderCount];
+  std::vector<GazeboAnalogIn*> analog_inputs;
+  std::vector<GazeboDIO*> dios;
+};