Initial commit of the WPILib simulation support in an alpha quality state.

Fixes to deal with the switch to .hpp files in the HAL and other misc problems due to rebasing.

Added Omar's changes to the compressor interface

Fixes to make C++ plugin compile on linux.

Added import of the WPILibSim code from the graduate class. It shows up as wpilibJavaSim to follow the convention set by wpilibJava, wpilibJavaJNI and wpilibJavaFinal.

Fixed wpilibJavaSim artifactId to mirror the new convention.

Modified the build of the java plugin to pull in the simulation dependencies.

Added stacktrace printing.

Fixed support for creating projects.

Added support for the isReal() and isSimulation() methods along with the AnalogPotentiometer object to support simulating GearsBot.

Added support for a "WPILib Simulate" button.

Added GearsBot to the built in examples.

Added support for specifying the world file during project creation and switched the default from BluntObjectBot to GearsBot.

Removed unused import.

Added file browser for world files.

Added support for debugging in simulation.

Change simulate icon to be a Gazebo icon.

Switched over to the gazebo messaging system.

Updated location of default world file.

Reverted cmake change.

Fixed bug in WPILibJSim, added better logging and cleaned up code.

Made the frc_gazebo_plugin build using raw cmake instead of catkin, breaking the final ROS dependencies.

Added installation to frc_gazebo_plugin Makefile.

Fixed running of simulation to actually use frcsim.

Initial commit of simulation library for C++. Has the minimal subset of features necessary for having a Simple Robot run in teleoperated mode.

Added notes for generating protobuf messages.

Import of the debuild process into the main repository.

Moved frc_gazebo_plugin under simulation and removed the gazebo folder.

Updated the gazebo plugin to remove excessive printing and limit motor signal to [-1,1].

Updated WPILibJSim to support latching messages and to sleep for 20ms in iterative robot.

Reduced delay between starting frcsim and the users program to 1 second.

Updated GearsBot example.

Fixed a few minor issues for demoable state.

Added simulator support for Victors, Jaguars and Talons.

Added NetworkTables, SmartDashboard and LiveWindow to the simulator.

Added AnalogPotentiometer for simulation.

Added support for simulating encoders.

Added simulation support for Gyro.

Added IterativeRobot, Fixed Timers, Notifiers, PIDControllers and other minor fixes + cleanup.

Added RobotDrive support to simulation.

Separated out JavaGazebo so that SimDS will be able to reuse it.

Separated out SimDS into its own application..

Fixes so that the SimDS is distributed and runs properly for Java with the eclipse plugins.

Added DriverStation support to WPILibCSim

Cleanup of DriverStation, WaitUntilCommand and AnalogPotentiometer for WPILibCSim.

Cleanup of includes for WPILibCSim

Added AnalogPotentiometer to the real WPILibC.

Added AnalogPotentiometer to the real WPILibC.

Added GearsBot example to C++ eclipse plugin.

WPILibCSim fixes to work with launching from the plugin.

Package libwpilibsim in a deb file.

Added includes to plugin distribution.

Added support for external-limit-switches to Gazebo, Java and C++.

Added support for Gazebo Rangefinders and Analog channels to read their values in C++ and Java.

Added support for internal limit switches.

Updated GearsBot programs to use limit switches + range finders.

Added disabling of motors when robot is disabled to more closely mimic the real robot.

Fixes to deal with the switch to .hpp files in the HAL and other misc problems due to rebasing.

Change-Id: I624c5f4d0f28282616a7c92083575bf68adcdce2

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/SimulateLaunchShortcut.java

@@ -0,0 +1,137 @@
+package edu.wpi.first.wpilib.plugins.cpp.launching;
+
+import java.io.File;
+import java.lang.reflect.Method;
+import java.util.Vector;
+
+import org.eclipse.core.internal.resources.Resource;
+import org.eclipse.core.resources.IFile;
+import org.eclipse.core.resources.IProject;
+import org.eclipse.debug.core.ILaunch;
+import org.eclipse.debug.core.ILaunchManager;
+import org.eclipse.debug.ui.IDebugUIConstants;
+import org.eclipse.debug.ui.ILaunchShortcut;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.jface.viewers.StructuredSelection;
+import org.eclipse.ui.IEditorPart;
+import org.eclipse.ui.IFileEditorInput;
+import org.eclipse.ui.PlatformUI;
+
+import edu.wpi.first.wpilib.plugins.core.launching.AntLauncher;
+
+/**
+ * Launch shortcut base functionality, common for deploying to the robot.
+ * Retrieves the project the operation is being called on, and runs the correct
+ * ant targets based on polymorphically determined data values
+ * 
+ * @author Ryan O'Meara
+ * @author Alex Henning
+ */
+@SuppressWarnings("restriction")
+public class SimulateLaunchShortcut implements ILaunchShortcut {
+	//Class constants - used to delineate types for launch shortcuts
+	public static final String DEPLOY_TYPE = "edu.wpi.first.wpilib.plugins.core.deploy";
+	private static final String ANT_SERVER_THREAD_NAME = "Ant Build Server Connection";
+	
+	private static ILaunch lastDeploy = null;
+	
+	/**
+	 * Returns the launch type of the shortcut that was used, one of the constants
+	 * defined in BaseLaunchShortcut
+	 * @return Launch shortcut type
+	 */
+	public String getLaunchType() {return DEPLOY_TYPE;}
+	
+	@Override
+	public void launch(ISelection selection, String mode) {
+		//Extract resource from selection
+		StructuredSelection sel = (StructuredSelection)selection;
+		IProject activeProject = null;
+		if (sel.getFirstElement() instanceof IProject) {
+			activeProject = (IProject) sel.getFirstElement();
+		} else {
+			return;
+		}
+        
+        //Run config using project found in extracted resource, with indicated mode
+        runConfig(activeProject, mode);
+	}
+
+	@Override
+	public void launch(IEditorPart editor, String mode) {
+		//Extract resource from editor
+		if(editor  != null){
+		    IFileEditorInput input = (IFileEditorInput)editor.getEditorInput();
+		    IFile file = input.getFile();
+		    IProject activeProject = file.getProject();
+		    
+		    //If editor existed, run config using extracted resource in indicated mode
+		    runConfig(activeProject, mode);
+		}else{
+			System.err.println("editor was null");
+		}
+
+	}
+	
+	/**
+	 * Runs the ant script using the correct target for the indicated mode (deploy to cRIO or just compile)
+	 * @param activeProj The project that the script will be run on/from
+	 * @param mode The mode it will be run in (ILaunchManager.RUN_MODE or ILaunchManager.DEBUG_MODE)
+	 */
+	public void runConfig(IProject activeProj, String mode){
+		String targets = "simulate";
+		    
+		if(mode.equals(ILaunchManager.RUN_MODE)){
+			if(getLaunchType().equals(DEPLOY_TYPE)){
+				targets = "simulate";
+			}
+		} else if ((mode.equals(ILaunchManager.DEBUG_MODE))&&(getLaunchType().equals(DEPLOY_TYPE))) {
+			targets = "debug-simulate";
+			try{
+				PlatformUI.getWorkbench().showPerspective(IDebugUIConstants.ID_DEBUG_PERSPECTIVE, 
+					PlatformUI.getWorkbench().getActiveWorkbenchWindow());
+				
+			}catch(Exception e){}
+		}
+		
+		if((lastDeploy != null)&&(!lastDeploy.isTerminated())){
+			System.out.println("Last deploy running");
+			//Find the server connection thread and kill it
+			Vector<ThreadGroup> threadGroups = new Vector<ThreadGroup>();
+	        ThreadGroup root = Thread.currentThread().getThreadGroup().getParent();
+	        while (root.getParent() != null) {root = root.getParent();}
+	        threadGroups.add(root);
+	        ThreadGroup threadGroup = threadGroups.remove(0);
+	        int numThreads = threadGroup.activeCount();
+	        Thread[] threads = new Thread[numThreads*100];
+            numThreads = threadGroup.enumerate(threads, true);
+            
+            for(Thread current: threads){
+            	if(current != null){
+            		if(current.getName().equals(ANT_SERVER_THREAD_NAME)){
+            			try{
+            				//Manually end thread and then try terminating launch
+            				Method stopMethod = current.getClass().getMethod("stop");
+            				stopMethod.invoke(current);
+            				lastDeploy.terminate();
+            				break;
+            			}catch(Exception e){e.printStackTrace();}
+            		}
+            	}
+            }
+            
+            System.out.println("Waiting");
+            try{wait(1000);}catch(Exception e){}
+               
+		}
+		
+		System.out.println("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
+		System.out.println("Targets: " + targets + ", Mode: " + mode);
+		lastDeploy = AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), targets, null, mode);
+		
+		try {
+			activeProj.refreshLocal(Resource.DEPTH_INFINITE, null);
+		} catch (Exception e) {}
+	}
+}
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/examples/ExampleCPPWizard.java

@@ -34,7 +34,7 @@ public class ExampleCPPWizard extends ExampleWizard {
     	WPILibCore.getDefault().saveGlobalProperties(props);
     	
 		final String projectName = detailsPage.getProjectName();
-		ProjectCreationUtils.createProject(new WPIRobotCPPProjectCreator(projectName, ex));
+		ProjectCreationUtils.createProject(new WPIRobotCPPProjectCreator(projectName, ex, detailsPage.getWorld()));
 	}
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/newproject/NewCPPWizard.java

@@ -72,11 +72,12 @@ public class NewCPPWizard extends Wizard implements INewWizard {
 		final String projectName = page.getProjectName();
 		final String teamNumber = TeamNumberPage.getTeamNumberFromPage(teamNumberPage);
 		final ProjectType projectType = page.getProjectType();
+		final String worldName = page.getWorld();
 		System.out.println("Project: "+projectName+" Project Type: "+projectType);
 		IRunnableWithProgress op = new IRunnableWithProgress() {
 			public void run(IProgressMonitor monitor) throws InvocationTargetException {
 				try {
-					doFinish(projectName, teamNumber, projectType, monitor);
+					doFinish(projectName, teamNumber, projectType, worldName, monitor);
 				} catch (CoreException e) {
 					throw new InvocationTargetException(e);
 				} finally {
@@ -102,11 +103,11 @@ public class NewCPPWizard extends Wizard implements INewWizard {
 	 * the editor on the newly created file.
 	 */
 
-	private void doFinish(String projectName, String teamNumber, ProjectType projectType, IProgressMonitor monitor) throws CoreException {
+	private void doFinish(String projectName, String teamNumber, ProjectType projectType, String worldName, IProgressMonitor monitor) throws CoreException {
     	Properties props = WPILibCore.getDefault().getProjectProperties(null);
     	props.setProperty("team-number", teamNumber);
     	WPILibCore.getDefault().saveGlobalProperties(props);
-		ProjectCreationUtils.createProject(new WPIRobotCPPProjectCreator(projectName, projectType));
+		ProjectCreationUtils.createProject(new WPIRobotCPPProjectCreator(projectName, projectType, worldName));
 	}
 
 	/**

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/newproject/WPIRobotCPPProjectCreator.java

@@ -22,10 +22,12 @@ import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
 public class WPIRobotCPPProjectCreator implements IProjectCreator {
 	String projectName;
 	ProjectType projectType;
+	private String worldName;
 	
-	public WPIRobotCPPProjectCreator(String projectName, ProjectType projectType) {
+	public WPIRobotCPPProjectCreator(String projectName, ProjectType projectType, String worldName) {
 		this.projectName = projectName;
 		this.projectType = projectType;
+		this.worldName = worldName;
 	}
 
 	@Override
@@ -44,6 +46,7 @@ public class WPIRobotCPPProjectCreator implements IProjectCreator {
 		vals.put("$project", projectName);
 		vals.put("$toolchain", WPILibCPPPlugin.getDefault().getToolchain());
 		vals.put("$cpp-location", WPILibCPPPlugin.getDefault().getCPPDir());
+		vals.put("$world", worldName);
 		return vals;
 	}
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml

@@ -147,4 +147,28 @@ ${md5.hal} usr/local/frc/lib/libHALAthena.so</echo>
 	     trust="true"
 	     command="chmod a+x debug*program; ${deploy.debug.command}"/>
   </target>
+
+  <!-- Simulation support -->
+  <target name="simulate">
+    <parallel>
+      <sequential>
+	    <echo>[simulate] Running Gazebo.</echo>
+	    <exec executable="frcsim">
+	      <arg value="${simulation.world.file}"/>
+	    </exec>
+      </sequential>
+      <sequential>
+        <sleep seconds="5"/>
+	    <echo>[simulate] Running DriverStation.</echo>
+	    <java jar="${sim.tools}/SimDS.jar" fork="true">
+          <jvmarg value="-Djava.library.path=${sim.lib}" />
+        </java>
+      </sequential>
+      <sequential>
+        <sleep seconds="5"/>
+	    <echo>[simulate] Running Code.</echo>
+	    <exec executable="${sim.exe}"></exec>
+      </sequential>
+    </parallel>
+  </target>
 </project>