New 2018 and later build setup (#1001)

wpilibcIntegrationTests/src/main/native/cpp/mockds/MockDS.cpp

@@ -0,0 +1,90 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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 "MockDS.h"
+
+#include <stdint.h>
+
+#include <HAL/cpp/fpga_clock.h>
+#include <llvm/SmallString.h>
+#include <llvm/SmallVector.h>
+#include <llvm/raw_ostream.h>
+#include <support/Logger.h>
+
+#include "udpsockets/UDPClient.h"
+
+static void LoggerFunc(unsigned int level, const char* file, unsigned int line,
+                       const char* msg) {
+  llvm::SmallString<128> buf;
+  llvm::raw_svector_ostream oss(buf);
+  if (level == 20) {
+    oss << "DS: " << msg << '\n';
+    llvm::errs() << oss.str();
+    return;
+  }
+
+  llvm::StringRef levelmsg;
+  if (level >= 50)
+    levelmsg = "CRITICAL: ";
+  else if (level >= 40)
+    levelmsg = "ERROR: ";
+  else if (level >= 30)
+    levelmsg = "WARNING: ";
+  else
+    return;
+  oss << "DS: " << levelmsg << msg << " (" << file << ':' << line << ")\n";
+  llvm::errs() << oss.str();
+}
+
+static void generateEnabledDsPacket(llvm::SmallVectorImpl<uint8_t>& data,
+                                    uint16_t sendCount) {
+  data.clear();
+  data.push_back(sendCount >> 8);
+  data.push_back(sendCount);
+  data.push_back(0x01);  // general data tag
+  data.push_back(0x04);  // teleop enabled
+  data.push_back(0x10);  // normal data request
+  data.push_back(0x00);  // red 1 station
+}
+
+using namespace frc;
+
+void MockDS::start() {
+  if (m_active) return;
+  m_active = true;
+  m_thread = std::thread([&]() {
+    wpi::Logger logger(LoggerFunc);
+    wpi::UDPClient client(logger);
+    client.start();
+    auto timeout_time = hal::fpga_clock::now();
+    int initCount = 0;
+    uint16_t sendCount = 0;
+    llvm::SmallVector<uint8_t, 8> data;
+    while (m_active) {
+      // Keep 20ms intervals, and increase time to next interval
+      auto current = hal::fpga_clock::now();
+      while (timeout_time <= current) {
+        timeout_time += std::chrono::milliseconds(20);
+      }
+      std::this_thread::sleep_until(timeout_time);
+      generateEnabledDsPacket(data, sendCount++);
+      // ~10 disabled packets are required to make the robot actually enable
+      // 1 is definitely not enough.
+      if (initCount < 10) {
+        initCount++;
+        data[3] = 0;
+      }
+      client.send(data, "127.0.0.1", 1110);
+    }
+    client.shutdown();
+  });
+}
+
+void MockDS::stop() {
+  m_active = false;
+  if (m_thread.joinable()) m_thread.join();
+}

wpilibcIntegrationTests/src/main/native/cpp/mockds/MockDS.h

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 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 <atomic>
+#include <thread>
+
+namespace frc {
+class MockDS {
+ public:
+  MockDS() = default;
+  ~MockDS() { stop(); }
+  MockDS(const MockDS& other) = delete;
+  MockDS& operator=(const MockDS& other) = delete;
+
+  void start();
+  void stop();
+
+ private:
+  std::thread m_thread;
+  std::atomic_bool m_active{false};
+};
+}  // namespace frc