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

Browse Source 
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
This commit is contained in:
Alex Henning
2014-06-12 11:02:26 -07:00
committed by thomasclark
parent d5a509c7e7
commit cb56c9a144
425 changed files with 38450 additions and 335 deletions
Download Patch File Download Diff File Expand all files Collapse all files

62
simulation/JavaGazebo/pom.xml Normal file
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@@ -0,0 +1,62 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<groupId>org.gazebosim</groupId>
<artifactId>JavaGazebo</artifactId>
<packaging>jar</packaging>
<version>0.1.0-SNAPSHOT</version>
<profiles>
<profile>
<id>docline-java8-disable</id>
<activation>
<jdk>[1.8,</jdk>
</activation>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-javadoc-plugin</artifactId>
<configuration>
<additionalparam>-Xdoclint:none</additionalparam>
</configuration>
</plugin>
</plugins>
</build>
</profile>
</profiles>
<dependencies>
<dependency>
<groupId>com.google.protobuf</groupId>
<artifactId>protobuf-java</artifactId>
<version>2.5.0</version>
</dependency>
<!-- TODO: Add unit tests -->
<!-- <dependency> -->
<!-- <groupId>junit</groupId> -->
<!-- <artifactId>junit</artifactId> -->
<!-- <version>4.11</version> -->
<!-- </dependency> -->
</dependencies>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-compiler-plugin</artifactId>
<version>3.1</version>
<configuration>
<source>1.7</source>
<target>1.7</target>
</configuration>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-source-plugin</artifactId>
</plugin>
</plugins>
</build>
</project>

453
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzBool.java Normal file
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@@ -0,0 +1,453 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: frc_gazebo_plugin/msgs/bool.proto
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645
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzDriverStation.java Normal file
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@@ -0,0 +1,645 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: frc_gazebo_plugin/msgs/driver-station.proto
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670
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzJoystick.java Normal file
View File

@@ -0,0 +1,670 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: frc_gazebo_plugin/msgs/joystick.proto
package gazebo.msgs;
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int getAxesCount();
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*/
double getAxes(int index);
// repeated bool buttons = 2;
/**
* <code>repeated bool buttons = 2;</code>
*/
java.util.List<java.lang.Boolean> getButtonsList();
/**
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int getButtonsCount();
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boolean getButtons(int index);
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input.popLimit(limit);
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// repeated double axes = 1;
public static final int AXES_FIELD_NUMBER = 1;
private java.util.List<java.lang.Double> axes_;
/**
* <code>repeated double axes = 1;</code>
*/
public java.util.List<java.lang.Double>
getAxesList() {
return axes_;
}
/**
* <code>repeated double axes = 1;</code>
*/
public int getAxesCount() {
return axes_.size();
}
/**
* <code>repeated double axes = 1;</code>
*/
public double getAxes(int index) {
return axes_.get(index);
}
// repeated bool buttons = 2;
public static final int BUTTONS_FIELD_NUMBER = 2;
private java.util.List<java.lang.Boolean> buttons_;
/**
* <code>repeated bool buttons = 2;</code>
*/
public java.util.List<java.lang.Boolean>
getButtonsList() {
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}
/**
* <code>repeated bool buttons = 2;</code>
*/
public int getButtonsCount() {
return buttons_.size();
}
/**
* <code>repeated bool buttons = 2;</code>
*/
public boolean getButtons(int index) {
return buttons_.get(index);
}
private void initFields() {
axes_ = java.util.Collections.emptyList();
buttons_ = java.util.Collections.emptyList();
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public final boolean isInitialized() {
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for (int i = 0; i < buttons_.size(); i++) {
output.writeBool(2, buttons_.get(i));
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getUnknownFields().writeTo(output);
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{
int dataSize = 0;
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size += 1 * getAxesList().size();
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size += 1 * getButtonsList().size();
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public static gazebo.msgs.GzJoystick.Joystick parseFrom(
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return PARSER.parseFrom(data);
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com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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return PARSER.parseFrom(data, extensionRegistry);
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byte[] data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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public static gazebo.msgs.GzJoystick.Joystick parseDelimitedFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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return PARSER.parseDelimitedFrom(input, extensionRegistry);
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public static gazebo.msgs.GzJoystick.Joystick parseFrom(
com.google.protobuf.CodedInputStream input)
throws java.io.IOException {
return PARSER.parseFrom(input);
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com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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public static Builder newBuilder(gazebo.msgs.GzJoystick.Joystick prototype) {
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protected Builder newBuilderForType(
com.google.protobuf.GeneratedMessage.BuilderParent parent) {
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* Protobuf type {@code gazebo.msgs.Joystick}
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public static final class Builder extends
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public Builder clear() {
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axes_ = java.util.Collections.emptyList();
bitField0_ = (bitField0_ & ~0x00000001);
buttons_ = java.util.Collections.emptyList();
bitField0_ = (bitField0_ & ~0x00000002);
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result.buttons_ = buttons_;
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if (other == gazebo.msgs.GzJoystick.Joystick.getDefaultInstance()) return this;
if (!other.axes_.isEmpty()) {
if (axes_.isEmpty()) {
axes_ = other.axes_;
bitField0_ = (bitField0_ & ~0x00000001);
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ensureAxesIsMutable();
axes_.addAll(other.axes_);
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onChanged();
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if (!other.buttons_.isEmpty()) {
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private int bitField0_;
// repeated double axes = 1;
private java.util.List<java.lang.Double> axes_ = java.util.Collections.emptyList();
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getAxesList() {
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/**
* <code>repeated double axes = 1;</code>
*/
public int getAxesCount() {
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/**
* <code>repeated double axes = 1;</code>
*/
public double getAxes(int index) {
return axes_.get(index);
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* <code>repeated double axes = 1;</code>
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ensureAxesIsMutable();
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onChanged();
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* <code>repeated double axes = 1;</code>
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onChanged();
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* <code>repeated double axes = 1;</code>
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* <code>repeated double axes = 1;</code>
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public Builder clearAxes() {
axes_ = java.util.Collections.emptyList();
bitField0_ = (bitField0_ & ~0x00000001);
onChanged();
return this;
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// repeated bool buttons = 2;
private java.util.List<java.lang.Boolean> buttons_ = java.util.Collections.emptyList();
private void ensureButtonsIsMutable() {
if (!((bitField0_ & 0x00000002) == 0x00000002)) {
buttons_ = new java.util.ArrayList<java.lang.Boolean>(buttons_);
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* <code>repeated bool buttons = 2;</code>
*/
public java.util.List<java.lang.Boolean>
getButtonsList() {
return java.util.Collections.unmodifiableList(buttons_);
}
/**
* <code>repeated bool buttons = 2;</code>
*/
public int getButtonsCount() {
return buttons_.size();
}
/**
* <code>repeated bool buttons = 2;</code>
*/
public boolean getButtons(int index) {
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}
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* <code>repeated bool buttons = 2;</code>
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int index, boolean value) {
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buttons_.set(index, value);
onChanged();
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*/
public Builder addButtons(boolean value) {
ensureButtonsIsMutable();
buttons_.add(value);
onChanged();
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/**
* <code>repeated bool buttons = 2;</code>
*/
public Builder addAllButtons(
java.lang.Iterable<? extends java.lang.Boolean> values) {
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super.addAll(values, buttons_);
onChanged();
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/**
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buttons_ = java.util.Collections.emptyList();
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// @@protoc_insertion_point(builder_scope:gazebo.msgs.Joystick)
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831
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzPacket.java Normal file
View File

@@ -0,0 +1,831 @@
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package gazebo.msgs;
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// required string type = 2;
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protected java.lang.Object writeReplace()
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public static gazebo.msgs.GzPacket.Packet parseFrom(
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}
public static gazebo.msgs.GzPacket.Packet parseFrom(
com.google.protobuf.ByteString data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
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public static gazebo.msgs.GzPacket.Packet parseFrom(byte[] data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
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public static gazebo.msgs.GzPacket.Packet parseFrom(
byte[] data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
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public static gazebo.msgs.GzPacket.Packet parseFrom(java.io.InputStream input)
throws java.io.IOException {
return PARSER.parseFrom(input);
}
public static gazebo.msgs.GzPacket.Packet parseFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return PARSER.parseFrom(input, extensionRegistry);
}
public static gazebo.msgs.GzPacket.Packet parseDelimitedFrom(java.io.InputStream input)
throws java.io.IOException {
return PARSER.parseDelimitedFrom(input);
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java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return PARSER.parseDelimitedFrom(input, extensionRegistry);
}
public static gazebo.msgs.GzPacket.Packet parseFrom(
com.google.protobuf.CodedInputStream input)
throws java.io.IOException {
return PARSER.parseFrom(input);
}
public static gazebo.msgs.GzPacket.Packet parseFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return PARSER.parseFrom(input, extensionRegistry);
}
public static Builder newBuilder() { return Builder.create(); }
public Builder newBuilderForType() { return newBuilder(); }
public static Builder newBuilder(gazebo.msgs.GzPacket.Packet prototype) {
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@java.lang.Override
protected Builder newBuilderForType(
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getDescriptor() {
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maybeForceBuilderInitialization();
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getDescriptorForType() {
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return gazebo.msgs.GzPacket.Packet.getDefaultInstance();
}
public gazebo.msgs.GzPacket.Packet build() {
gazebo.msgs.GzPacket.Packet result = buildPartial();
if (!result.isInitialized()) {
throw newUninitializedMessageException(result);
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return result;
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public gazebo.msgs.GzPacket.Packet buildPartial() {
gazebo.msgs.GzPacket.Packet result = new gazebo.msgs.GzPacket.Packet(this);
int from_bitField0_ = bitField0_;
int to_bitField0_ = 0;
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result.bitField0_ = to_bitField0_;
onBuilt();
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public Builder mergeFrom(com.google.protobuf.Message other) {
if (other instanceof gazebo.msgs.GzPacket.Packet) {
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super.mergeFrom(other);
return this;
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public Builder mergeFrom(gazebo.msgs.GzPacket.Packet other) {
if (other == gazebo.msgs.GzPacket.Packet.getDefaultInstance()) return this;
if (other.hasStamp()) {
mergeStamp(other.getStamp());
}
if (other.hasType()) {
bitField0_ |= 0x00000002;
type_ = other.type_;
onChanged();
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setSerializedData(other.getSerializedData());
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this.mergeUnknownFields(other.getUnknownFields());
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public final boolean isInitialized() {
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if (!hasType()) {
return false;
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return false;
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return true;
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public Builder mergeFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
gazebo.msgs.GzPacket.Packet parsedMessage = null;
try {
parsedMessage = PARSER.parsePartialFrom(input, extensionRegistry);
} catch (com.google.protobuf.InvalidProtocolBufferException e) {
parsedMessage = (gazebo.msgs.GzPacket.Packet) e.getUnfinishedMessage();
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if (parsedMessage != null) {
mergeFrom(parsedMessage);
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}
return this;
}
private int bitField0_;
// required .gazebo.msgs.Time stamp = 1;
private gazebo.msgs.GzTime.Time stamp_ = gazebo.msgs.GzTime.Time.getDefaultInstance();
private com.google.protobuf.SingleFieldBuilder<
gazebo.msgs.GzTime.Time, gazebo.msgs.GzTime.Time.Builder, gazebo.msgs.GzTime.TimeOrBuilder> stampBuilder_;
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public boolean hasStamp() {
return ((bitField0_ & 0x00000001) == 0x00000001);
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public gazebo.msgs.GzTime.Time getStamp() {
if (stampBuilder_ == null) {
return stamp_;
} else {
return stampBuilder_.getMessage();
}
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public Builder setStamp(gazebo.msgs.GzTime.Time value) {
if (stampBuilder_ == null) {
if (value == null) {
throw new NullPointerException();
}
stamp_ = value;
onChanged();
} else {
stampBuilder_.setMessage(value);
}
bitField0_ |= 0x00000001;
return this;
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public Builder setStamp(
gazebo.msgs.GzTime.Time.Builder builderForValue) {
if (stampBuilder_ == null) {
stamp_ = builderForValue.build();
onChanged();
} else {
stampBuilder_.setMessage(builderForValue.build());
}
bitField0_ |= 0x00000001;
return this;
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public Builder mergeStamp(gazebo.msgs.GzTime.Time value) {
if (stampBuilder_ == null) {
if (((bitField0_ & 0x00000001) == 0x00000001) &&
stamp_ != gazebo.msgs.GzTime.Time.getDefaultInstance()) {
stamp_ =
gazebo.msgs.GzTime.Time.newBuilder(stamp_).mergeFrom(value).buildPartial();
} else {
stamp_ = value;
}
onChanged();
} else {
stampBuilder_.mergeFrom(value);
}
bitField0_ |= 0x00000001;
return this;
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public Builder clearStamp() {
if (stampBuilder_ == null) {
stamp_ = gazebo.msgs.GzTime.Time.getDefaultInstance();
onChanged();
} else {
stampBuilder_.clear();
}
bitField0_ = (bitField0_ & ~0x00000001);
return this;
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public gazebo.msgs.GzTime.Time.Builder getStampBuilder() {
bitField0_ |= 0x00000001;
onChanged();
return getStampFieldBuilder().getBuilder();
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public gazebo.msgs.GzTime.TimeOrBuilder getStampOrBuilder() {
if (stampBuilder_ != null) {
return stampBuilder_.getMessageOrBuilder();
} else {
return stamp_;
}
}
/**
* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
private com.google.protobuf.SingleFieldBuilder<
gazebo.msgs.GzTime.Time, gazebo.msgs.GzTime.Time.Builder, gazebo.msgs.GzTime.TimeOrBuilder>
getStampFieldBuilder() {
if (stampBuilder_ == null) {
stampBuilder_ = new com.google.protobuf.SingleFieldBuilder<
gazebo.msgs.GzTime.Time, gazebo.msgs.GzTime.Time.Builder, gazebo.msgs.GzTime.TimeOrBuilder>(
stamp_,
getParentForChildren(),
isClean());
stamp_ = null;
}
return stampBuilder_;
}
// required string type = 2;
private java.lang.Object type_ = "";
/**
* <code>required string type = 2;</code>
*/
public boolean hasType() {
return ((bitField0_ & 0x00000002) == 0x00000002);
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/**
* <code>required string type = 2;</code>
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java.lang.Object ref = type_;
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java.lang.String s = ((com.google.protobuf.ByteString) ref)
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type_ = s;
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* <code>required string type = 2;</code>
*/
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getTypeBytes() {
java.lang.Object ref = type_;
if (ref instanceof String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
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type_ = b;
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* <code>required string type = 2;</code>
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public Builder setType(
java.lang.String value) {
if (value == null) {
throw new NullPointerException();
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bitField0_ |= 0x00000002;
type_ = value;
onChanged();
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/**
* <code>required string type = 2;</code>
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public Builder clearType() {
bitField0_ = (bitField0_ & ~0x00000002);
type_ = getDefaultInstance().getType();
onChanged();
return this;
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/**
* <code>required string type = 2;</code>
*/
public Builder setTypeBytes(
com.google.protobuf.ByteString value) {
if (value == null) {
throw new NullPointerException();
}
bitField0_ |= 0x00000002;
type_ = value;
onChanged();
return this;
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// required bytes serialized_data = 3;
private com.google.protobuf.ByteString serializedData_ = com.google.protobuf.ByteString.EMPTY;
/**
* <code>required bytes serialized_data = 3;</code>
*/
public boolean hasSerializedData() {
return ((bitField0_ & 0x00000004) == 0x00000004);
}
/**
* <code>required bytes serialized_data = 3;</code>
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return serializedData_;
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/**
* <code>required bytes serialized_data = 3;</code>
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public Builder setSerializedData(com.google.protobuf.ByteString value) {
if (value == null) {
throw new NullPointerException();
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bitField0_ |= 0x00000004;
serializedData_ = value;
onChanged();
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/**
* <code>required bytes serialized_data = 3;</code>
*/
public Builder clearSerializedData() {
bitField0_ = (bitField0_ & ~0x00000004);
serializedData_ = getDefaultInstance().getSerializedData();
onChanged();
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}
// @@protoc_insertion_point(builder_scope:gazebo.msgs.Packet)
}
static {
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}

947
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzPublish.java Normal file
View File

@@ -0,0 +1,947 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: gazebo/src/msgs/publish.proto
package gazebo.msgs;
public final class GzPublish {
private GzPublish() {}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistry registry) {
}
public interface PublishOrBuilder
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// required string topic = 1;
/**
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boolean hasTopic();
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java.lang.String getTopic();
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com.google.protobuf.ByteString
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boolean hasMsgType();
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java.lang.String getMsgType();
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com.google.protobuf.ByteString
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// required string host = 3;
/**
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*/
java.lang.String getHost();
/**
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com.google.protobuf.ByteString
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// required uint32 port = 4;
/**
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*/
boolean hasPort();
/**
* <code>required uint32 port = 4;</code>
*/
int getPort();
}
/**
* Protobuf type {@code gazebo.msgs.Publish}
*/
public static final class Publish extends
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// Use Publish.newBuilder() to construct.
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public Publish getDefaultInstanceForType() {
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}
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public final com.google.protobuf.UnknownFieldSet
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private Publish(
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topic_ = input.readBytes();
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case 18: {
bitField0_ |= 0x00000002;
msgType_ = input.readBytes();
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case 26: {
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protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
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public static com.google.protobuf.Parser<Publish> PARSER =
new com.google.protobuf.AbstractParser<Publish>() {
public Publish parsePartialFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return new Publish(input, extensionRegistry);
}
};
@java.lang.Override
public com.google.protobuf.Parser<Publish> getParserForType() {
return PARSER;
}
private int bitField0_;
// required string topic = 1;
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private java.lang.Object topic_;
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* <code>required string topic = 1;</code>
*/
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/**
* <code>required string topic = 1;</code>
*/
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java.lang.Object ref = topic_;
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return (java.lang.String) ref;
} else {
com.google.protobuf.ByteString bs =
(com.google.protobuf.ByteString) ref;
java.lang.String s = bs.toStringUtf8();
if (bs.isValidUtf8()) {
topic_ = s;
}
return s;
}
}
/**
* <code>required string topic = 1;</code>
*/
public com.google.protobuf.ByteString
getTopicBytes() {
java.lang.Object ref = topic_;
if (ref instanceof java.lang.String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
(java.lang.String) ref);
topic_ = b;
return b;
} else {
return (com.google.protobuf.ByteString) ref;
}
}
// required string msg_type = 2;
public static final int MSG_TYPE_FIELD_NUMBER = 2;
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/**
* <code>required string msg_type = 2;</code>
*/
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}
/**
* <code>required string msg_type = 2;</code>
*/
public java.lang.String getMsgType() {
java.lang.Object ref = msgType_;
if (ref instanceof java.lang.String) {
return (java.lang.String) ref;
} else {
com.google.protobuf.ByteString bs =
(com.google.protobuf.ByteString) ref;
java.lang.String s = bs.toStringUtf8();
if (bs.isValidUtf8()) {
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* <code>required string msg_type = 2;</code>
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getMsgTypeBytes() {
java.lang.Object ref = msgType_;
if (ref instanceof java.lang.String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
(java.lang.String) ref);
msgType_ = b;
return b;
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* <code>required string host = 3;</code>
*/
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* <code>required string host = 3;</code>
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java.lang.Object ref = host_;
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return (java.lang.String) ref;
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com.google.protobuf.ByteString bs =
(com.google.protobuf.ByteString) ref;
java.lang.String s = bs.toStringUtf8();
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host_ = s;
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getHostBytes() {
java.lang.Object ref = host_;
if (ref instanceof java.lang.String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
(java.lang.String) ref);
host_ = b;
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return (com.google.protobuf.ByteString) ref;
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*/
public boolean hasPort() {
return ((bitField0_ & 0x00000008) == 0x00000008);
}
/**
* <code>required uint32 port = 4;</code>
*/
public int getPort() {
return port_;
}
private void initFields() {
topic_ = "";
msgType_ = "";
host_ = "";
port_ = 0;
}
private byte memoizedIsInitialized = -1;
public final boolean isInitialized() {
byte isInitialized = memoizedIsInitialized;
if (isInitialized != -1) return isInitialized == 1;
if (!hasTopic()) {
memoizedIsInitialized = 0;
return false;
}
if (!hasMsgType()) {
memoizedIsInitialized = 0;
return false;
}
if (!hasHost()) {
memoizedIsInitialized = 0;
return false;
}
if (!hasPort()) {
memoizedIsInitialized = 0;
return false;
}
memoizedIsInitialized = 1;
return true;
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public void writeTo(com.google.protobuf.CodedOutputStream output)
throws java.io.IOException {
getSerializedSize();
if (((bitField0_ & 0x00000001) == 0x00000001)) {
output.writeBytes(1, getTopicBytes());
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if (((bitField0_ & 0x00000002) == 0x00000002)) {
output.writeBytes(2, getMsgTypeBytes());
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if (((bitField0_ & 0x00000004) == 0x00000004)) {
output.writeBytes(3, getHostBytes());
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if (((bitField0_ & 0x00000008) == 0x00000008)) {
output.writeUInt32(4, port_);
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getUnknownFields().writeTo(output);
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if (((bitField0_ & 0x00000001) == 0x00000001)) {
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@java.lang.Override
protected java.lang.Object writeReplace()
throws java.io.ObjectStreamException {
return super.writeReplace();
}
public static gazebo.msgs.GzPublish.Publish parseFrom(
com.google.protobuf.ByteString data)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data);
}
public static gazebo.msgs.GzPublish.Publish parseFrom(
com.google.protobuf.ByteString data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
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throws com.google.protobuf.InvalidProtocolBufferException {
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byte[] data,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return PARSER.parseFrom(data, extensionRegistry);
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throws java.io.IOException {
return PARSER.parseFrom(input);
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public static gazebo.msgs.GzPublish.Publish parseFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return PARSER.parseFrom(input, extensionRegistry);
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return PARSER.parseDelimitedFrom(input);
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public static gazebo.msgs.GzPublish.Publish parseDelimitedFrom(
java.io.InputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return PARSER.parseDelimitedFrom(input, extensionRegistry);
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public static gazebo.msgs.GzPublish.Publish parseFrom(
com.google.protobuf.CodedInputStream input)
throws java.io.IOException {
return PARSER.parseFrom(input);
}
public static gazebo.msgs.GzPublish.Publish parseFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
return PARSER.parseFrom(input, extensionRegistry);
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public static Builder newBuilder() { return Builder.create(); }
public Builder newBuilderForType() { return newBuilder(); }
public static Builder newBuilder(gazebo.msgs.GzPublish.Publish prototype) {
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@java.lang.Override
protected Builder newBuilderForType(
com.google.protobuf.GeneratedMessage.BuilderParent parent) {
Builder builder = new Builder(parent);
return builder;
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/**
* Protobuf type {@code gazebo.msgs.Publish}
*/
public static final class Builder extends
com.google.protobuf.GeneratedMessage.Builder<Builder>
implements gazebo.msgs.GzPublish.PublishOrBuilder {
public static final com.google.protobuf.Descriptors.Descriptor
getDescriptor() {
return gazebo.msgs.GzPublish.internal_static_gazebo_msgs_Publish_descriptor;
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internalGetFieldAccessorTable() {
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private Builder(
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public Builder clear() {
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topic_ = "";
bitField0_ = (bitField0_ & ~0x00000001);
msgType_ = "";
bitField0_ = (bitField0_ & ~0x00000002);
host_ = "";
bitField0_ = (bitField0_ & ~0x00000004);
port_ = 0;
bitField0_ = (bitField0_ & ~0x00000008);
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public com.google.protobuf.Descriptors.Descriptor
getDescriptorForType() {
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return gazebo.msgs.GzPublish.Publish.getDefaultInstance();
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public gazebo.msgs.GzPublish.Publish build() {
gazebo.msgs.GzPublish.Publish result = buildPartial();
if (!result.isInitialized()) {
throw newUninitializedMessageException(result);
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public gazebo.msgs.GzPublish.Publish buildPartial() {
gazebo.msgs.GzPublish.Publish result = new gazebo.msgs.GzPublish.Publish(this);
int from_bitField0_ = bitField0_;
int to_bitField0_ = 0;
if (((from_bitField0_ & 0x00000001) == 0x00000001)) {
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result.topic_ = topic_;
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result.host_ = host_;
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onBuilt();
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public Builder mergeFrom(com.google.protobuf.Message other) {
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public Builder mergeFrom(gazebo.msgs.GzPublish.Publish other) {
if (other == gazebo.msgs.GzPublish.Publish.getDefaultInstance()) return this;
if (other.hasTopic()) {
bitField0_ |= 0x00000001;
topic_ = other.topic_;
onChanged();
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if (other.hasMsgType()) {
bitField0_ |= 0x00000002;
msgType_ = other.msgType_;
onChanged();
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if (other.hasHost()) {
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host_ = other.host_;
onChanged();
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setPort(other.getPort());
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this.mergeUnknownFields(other.getUnknownFields());
return this;
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public final boolean isInitialized() {
if (!hasTopic()) {
return false;
}
if (!hasMsgType()) {
return false;
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if (!hasHost()) {
return false;
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if (!hasPort()) {
return false;
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}
public Builder mergeFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws java.io.IOException {
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private int bitField0_;
// required string topic = 1;
private java.lang.Object topic_ = "";
/**
* <code>required string topic = 1;</code>
*/
public boolean hasTopic() {
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/**
* <code>required string topic = 1;</code>
*/
public java.lang.String getTopic() {
java.lang.Object ref = topic_;
if (!(ref instanceof java.lang.String)) {
java.lang.String s = ((com.google.protobuf.ByteString) ref)
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topic_ = s;
return s;
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/**
* <code>required string topic = 1;</code>
*/
public com.google.protobuf.ByteString
getTopicBytes() {
java.lang.Object ref = topic_;
if (ref instanceof String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
(java.lang.String) ref);
topic_ = b;
return b;
} else {
return (com.google.protobuf.ByteString) ref;
}
}
/**
* <code>required string topic = 1;</code>
*/
public Builder setTopic(
java.lang.String value) {
if (value == null) {
throw new NullPointerException();
}
bitField0_ |= 0x00000001;
topic_ = value;
onChanged();
return this;
}
/**
* <code>required string topic = 1;</code>
*/
public Builder clearTopic() {
bitField0_ = (bitField0_ & ~0x00000001);
topic_ = getDefaultInstance().getTopic();
onChanged();
return this;
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/**
* <code>required string topic = 1;</code>
*/
public Builder setTopicBytes(
com.google.protobuf.ByteString value) {
if (value == null) {
throw new NullPointerException();
}
bitField0_ |= 0x00000001;
topic_ = value;
onChanged();
return this;
}
// required string msg_type = 2;
private java.lang.Object msgType_ = "";
/**
* <code>required string msg_type = 2;</code>
*/
public boolean hasMsgType() {
return ((bitField0_ & 0x00000002) == 0x00000002);
}
/**
* <code>required string msg_type = 2;</code>
*/
public java.lang.String getMsgType() {
java.lang.Object ref = msgType_;
if (!(ref instanceof java.lang.String)) {
java.lang.String s = ((com.google.protobuf.ByteString) ref)
.toStringUtf8();
msgType_ = s;
return s;
} else {
return (java.lang.String) ref;
}
}
/**
* <code>required string msg_type = 2;</code>
*/
public com.google.protobuf.ByteString
getMsgTypeBytes() {
java.lang.Object ref = msgType_;
if (ref instanceof String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
(java.lang.String) ref);
msgType_ = b;
return b;
} else {
return (com.google.protobuf.ByteString) ref;
}
}
/**
* <code>required string msg_type = 2;</code>
*/
public Builder setMsgType(
java.lang.String value) {
if (value == null) {
throw new NullPointerException();
}
bitField0_ |= 0x00000002;
msgType_ = value;
onChanged();
return this;
}
/**
* <code>required string msg_type = 2;</code>
*/
public Builder clearMsgType() {
bitField0_ = (bitField0_ & ~0x00000002);
msgType_ = getDefaultInstance().getMsgType();
onChanged();
return this;
}
/**
* <code>required string msg_type = 2;</code>
*/
public Builder setMsgTypeBytes(
com.google.protobuf.ByteString value) {
if (value == null) {
throw new NullPointerException();
}
bitField0_ |= 0x00000002;
msgType_ = value;
onChanged();
return this;
}
// required string host = 3;
private java.lang.Object host_ = "";
/**
* <code>required string host = 3;</code>
*/
public boolean hasHost() {
return ((bitField0_ & 0x00000004) == 0x00000004);
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/**
* <code>required string host = 3;</code>
*/
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java.lang.String s = ((com.google.protobuf.ByteString) ref)
.toStringUtf8();
host_ = s;
return s;
} else {
return (java.lang.String) ref;
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/**
* <code>required string host = 3;</code>
*/
public com.google.protobuf.ByteString
getHostBytes() {
java.lang.Object ref = host_;
if (ref instanceof String) {
com.google.protobuf.ByteString b =
com.google.protobuf.ByteString.copyFromUtf8(
(java.lang.String) ref);
host_ = b;
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/**
* <code>required string host = 3;</code>
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public Builder setHost(
java.lang.String value) {
if (value == null) {
throw new NullPointerException();
}
bitField0_ |= 0x00000004;
host_ = value;
onChanged();
return this;
}
/**
* <code>required string host = 3;</code>
*/
public Builder clearHost() {
bitField0_ = (bitField0_ & ~0x00000004);
host_ = getDefaultInstance().getHost();
onChanged();
return this;
}
/**
* <code>required string host = 3;</code>
*/
public Builder setHostBytes(
com.google.protobuf.ByteString value) {
if (value == null) {
throw new NullPointerException();
}
bitField0_ |= 0x00000004;
host_ = value;
onChanged();
return this;
}
// required uint32 port = 4;
private int port_ ;
/**
* <code>required uint32 port = 4;</code>
*/
public boolean hasPort() {
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*/
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onChanged();
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/**
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*/
public Builder clearPort() {
bitField0_ = (bitField0_ & ~0x00000008);
port_ = 0;
onChanged();
return this;
}
// @@protoc_insertion_point(builder_scope:gazebo.msgs.Publish)
}
static {
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737
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzPublishers.java Normal file
View File

@@ -0,0 +1,737 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
// source: publishers.proto
package gazebo.msgs;
public final class GzPublishers {
private GzPublishers() {}
public static void registerAllExtensions(
com.google.protobuf.ExtensionRegistry registry) {
}
public interface PublishersOrBuilder
extends com.google.protobuf.MessageOrBuilder {
// repeated .gazebo.msgs.Publish publisher = 1;
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
java.util.List<gazebo.msgs.GzPublish.Publish>
getPublisherList();
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
gazebo.msgs.GzPublish.Publish getPublisher(int index);
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
int getPublisherCount();
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
java.util.List<? extends gazebo.msgs.GzPublish.PublishOrBuilder>
getPublisherOrBuilderList();
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
gazebo.msgs.GzPublish.PublishOrBuilder getPublisherOrBuilder(
int index);
}
/**
* Protobuf type {@code gazebo.msgs.Publishers}
*/
public static final class Publishers extends
com.google.protobuf.GeneratedMessage
implements PublishersOrBuilder {
// Use Publishers.newBuilder() to construct.
private Publishers(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
super(builder);
this.unknownFields = builder.getUnknownFields();
}
private Publishers(boolean noInit) { this.unknownFields = com.google.protobuf.UnknownFieldSet.getDefaultInstance(); }
private static final Publishers defaultInstance;
public static Publishers getDefaultInstance() {
return defaultInstance;
}
public Publishers getDefaultInstanceForType() {
return defaultInstance;
}
private final com.google.protobuf.UnknownFieldSet unknownFields;
@java.lang.Override
public final com.google.protobuf.UnknownFieldSet
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private Publishers(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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int mutable_bitField0_ = 0;
com.google.protobuf.UnknownFieldSet.Builder unknownFields =
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done = true;
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case 10: {
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mutable_bitField0_ |= 0x00000001;
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publisher_.add(input.readMessage(gazebo.msgs.GzPublish.Publish.PARSER, extensionRegistry));
break;
}
}
}
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getDescriptor() {
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// repeated .gazebo.msgs.Publish publisher = 1;
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private java.util.List<gazebo.msgs.GzPublish.Publish> publisher_;
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*/
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getPublisherOrBuilderList() {
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* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
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com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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private int bitField0_;
// repeated .gazebo.msgs.Publish publisher = 1;
private java.util.List<gazebo.msgs.GzPublish.Publish> publisher_ =
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*/
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return java.util.Collections.unmodifiableList(publisher_);
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* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
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*/
public Builder setPublisher(
int index, gazebo.msgs.GzPublish.Publish value) {
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onChanged();
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publisherBuilder_.setMessage(index, value);
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return this;
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/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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int index, gazebo.msgs.GzPublish.Publish.Builder builderForValue) {
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ensurePublisherIsMutable();
publisher_.set(index, builderForValue.build());
onChanged();
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publisherBuilder_.setMessage(index, builderForValue.build());
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return this;
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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throw new NullPointerException();
}
ensurePublisherIsMutable();
publisher_.add(value);
onChanged();
} else {
publisherBuilder_.addMessage(value);
}
return this;
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
public Builder addPublisher(
int index, gazebo.msgs.GzPublish.Publish value) {
if (publisherBuilder_ == null) {
if (value == null) {
throw new NullPointerException();
}
ensurePublisherIsMutable();
publisher_.add(index, value);
onChanged();
} else {
publisherBuilder_.addMessage(index, value);
}
return this;
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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gazebo.msgs.GzPublish.Publish.Builder builderForValue) {
if (publisherBuilder_ == null) {
ensurePublisherIsMutable();
publisher_.add(builderForValue.build());
onChanged();
} else {
publisherBuilder_.addMessage(builderForValue.build());
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return this;
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/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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int index, gazebo.msgs.GzPublish.Publish.Builder builderForValue) {
if (publisherBuilder_ == null) {
ensurePublisherIsMutable();
publisher_.add(index, builderForValue.build());
onChanged();
} else {
publisherBuilder_.addMessage(index, builderForValue.build());
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return this;
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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java.lang.Iterable<? extends gazebo.msgs.GzPublish.Publish> values) {
if (publisherBuilder_ == null) {
ensurePublisherIsMutable();
super.addAll(values, publisher_);
onChanged();
} else {
publisherBuilder_.addAllMessages(values);
}
return this;
}
/**
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*/
public Builder clearPublisher() {
if (publisherBuilder_ == null) {
publisher_ = java.util.Collections.emptyList();
bitField0_ = (bitField0_ & ~0x00000001);
onChanged();
} else {
publisherBuilder_.clear();
}
return this;
}
/**
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*/
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if (publisherBuilder_ == null) {
ensurePublisherIsMutable();
publisher_.remove(index);
onChanged();
} else {
publisherBuilder_.remove(index);
}
return this;
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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int index) {
return getPublisherFieldBuilder().getBuilder(index);
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/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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return publisher_.get(index); } else {
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/**
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return getPublisherFieldBuilder().addBuilder(
gazebo.msgs.GzPublish.Publish.getDefaultInstance());
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// @@protoc_insertion_point(builder_scope:gazebo.msgs.Publishers)
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simulation/JavaGazebo/src/main/java/gazebo/msgs/GzTime.java Normal file
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@@ -0,0 +1,542 @@
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546
simulation/JavaGazebo/src/main/java/gazebo/msgs/StringV.java Normal file
View File

@@ -0,0 +1,546 @@
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135
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Connection.java Normal file
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@@ -0,0 +1,135 @@
package org.gazebosim.transport;
import gazebo.msgs.GzPacket.Packet;
import gazebo.msgs.GzTime.Time;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.net.ServerSocket;
import java.net.Socket;
import java.net.UnknownHostException;
import java.util.logging.Logger;
import com.google.protobuf.ByteString;
import com.google.protobuf.Message;
/**
* Manages a Gazebo protocol connection.
*
* This can connect to either the Gazebo server, or to a data
* publisher. Additionally, it can act as the TCP client, or as a
* server. In either case, it provides methods to read and write
* structured data on the socket.
*/
public class Connection {
private static int HEADER_SIZE = 8;
public String host;
public int port;
private Socket socket;
private ServerSocket ssocket;
private InputStream is;
private OutputStream os;
private static final Logger LOG = Logger.getLogger("Gazebo Transport");
public Connection() {
}
public void connect(String host, int port) throws UnknownHostException, IOException {
this.host = host;
this.port = port;
socket = new Socket(host, port);
is = socket.getInputStream();
os = socket.getOutputStream();
}
public void serve(final ServerCallback cb) throws IOException {
ssocket = new ServerSocket(0);
host = ssocket.getInetAddress().getHostAddress(); // TODO: get globally addressable name.
port = ssocket.getLocalPort();
new Thread(new Runnable() {
@Override public void run() {
LOG.config("Listening on "+host+":"+port);
while (true) {
Connection conn = new Connection();
try {
conn.socket = ssocket.accept();
conn.is = conn.socket.getInputStream();
conn.os = conn.socket.getOutputStream();
LOG.info("Handling connect from "+conn.socket.getInetAddress());
cb.handle(conn);
} catch (IOException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
}).start();
}
public void close() throws IOException {
LOG.info("Closing connection");
if (socket != null) {
socket.close();
socket = null;
}
if (ssocket != null) {
ssocket.close();
ssocket = null;
}
}
public byte[] rawRead() throws IOException {
synchronized (is) {
// Figure out the message size
byte[] buff= new byte[HEADER_SIZE];
int n = is.read(buff);
if (n != HEADER_SIZE) {
LOG.severe("Only read "+n+" bytes instead of 8 for header.");
return null;
}
int size = Integer.parseInt(new String(buff), 16);
// Read in the actual message
buff = new byte[size];
n = is.read(buff);
if (n != size) {
throw new IOException("Failed to read whole message");
}
return buff;
}
}
public Packet read() throws IOException {
byte[] buff = rawRead();
if (buff == null) {
return null;
}
return Packet.parseFrom(buff);
}
public void write(Message msg) throws IOException {
ByteString data = msg.toByteString();
ByteString header = ByteString.copyFromUtf8(String.format("%08X", data.size()));
ByteString bytes = header.concat(data);
synchronized (os) {
os.write(bytes.toByteArray());
}
}
public void writePacket(String name, Message req) throws IOException {
long ms = System.currentTimeMillis();
Time t = Time.newBuilder().setSec((int) (ms / 1000)).setNsec((int) ((ms%1000)*1000)).build();
Packet pack = Packet.newBuilder().setType(name).setStamp(t)
.setSerializedData(req.toByteString()).build();
write(pack);
}
}

31
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Msgs.java Normal file
View File

@@ -0,0 +1,31 @@
package org.gazebosim.transport;
import gazebo.msgs.GzBool.Bool;
import gazebo.msgs.GzFloat64;
import gazebo.msgs.GzString;
public class Msgs {
public static GzString.String String() {
return GzString.String.getDefaultInstance();
}
public static GzString.String String(String s) {
return GzString.String.newBuilder().setData(s).build();
}
public static GzFloat64.Float64 Float64() {
return GzFloat64.Float64.getDefaultInstance();
}
public static GzFloat64.Float64 Float64(double d) {
return GzFloat64.Float64.newBuilder().setData(d).build();
}
public static Bool Bool() {
return Bool.getDefaultInstance();
}
public static Bool Bool(boolean b) {
return Bool.newBuilder().setData(b).build();
}
}

231
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Node.java Normal file
View File

@@ -0,0 +1,231 @@
package org.gazebosim.transport;
import gazebo.msgs.GzPacket.Packet;
import gazebo.msgs.GzPublish.Publish;
import gazebo.msgs.GzPublishers.Publishers;
import gazebo.msgs.GzString;
import gazebo.msgs.GzSubscribe.Subscribe;
import gazebo.msgs.StringV.String_V;
import java.io.IOException;
import java.net.SocketException;
import java.net.UnknownHostException;
import java.util.HashMap;
import java.util.LinkedList;
import java.util.List;
import java.util.Map;
import java.util.logging.ConsoleHandler;
import java.util.logging.Formatter;
import java.util.logging.Handler;
import java.util.logging.Level;
import java.util.logging.LogRecord;
import java.util.logging.Logger;
import com.google.protobuf.InvalidProtocolBufferException;
import com.google.protobuf.Message;
public class Node implements Runnable, ServerCallback {
private String name;
private Connection master;
private Connection server;
private List<String> namespaces;
private Map<String, PublisherRecord> publishers;
@SuppressWarnings("rawtypes")
private Map<String, Subscriber> subscriptions;
private static final Logger LOG = Logger.getLogger("Gazebo Transport");
public Node(String name) {
this.name = name;
namespaces = new LinkedList<>();
publishers = new HashMap<>();
subscriptions = new HashMap<>();
// Get rid of the excessive information
LOG.setLevel(Level.WARNING);
Handler[] handlers = LOG.getParent().getHandlers();
if (handlers[0] instanceof ConsoleHandler) {
((ConsoleHandler) handlers[0]).setFormatter(new Formatter() {
@Override public String format(LogRecord record) {
return String.format("%s|%s: %s\n", record.getLevel(), record.getLoggerName(), record.getMessage());
}
});
}
try {
master = new Connection();
master.connect("localhost", 11345);
server = new Connection();
server.serve(this);
initializeConnection();
} catch (SocketException e ) {
LOG.severe("Socket error: " + e);
return;
} catch (UnknownHostException e ) {
LOG.severe("Invalid Host");
return;
} catch (IOException e ) {
LOG.severe("I/O error: " + e);
LOG.severe(e.getStackTrace().toString());
return;
}
new Thread(this).start();
}
public <T extends Message> Publisher<T> advertise(String topic, T defaultMessage) {
topic = fixTopic(topic);
LOG.info("ADV "+topic);
String type = defaultMessage.getDescriptorForType().getFullName();
Publisher<T> pub = new Publisher<T>(topic, type, server.host, server.port);
publishers.put(topic, pub);
Publish req = Publish.newBuilder().setTopic(topic).setMsgType(type)
.setHost(server.host).setPort(server.port).build();
try {
master.writePacket("advertise", req);
} catch (IOException e) {
e.printStackTrace(); // FIXME: Shouldn't happen, should probably complain louder
}
return pub;
}
public <T extends Message> Subscriber<T>
subscribe(String topic, T defaultMessage, SubscriberCallback<T> cb) {
topic = fixTopic(topic);
LOG.info("SUB "+topic);
if (subscriptions.containsKey(topic)) {
throw new RuntimeException("Multiple subscribers for: "+topic);
}
String type = defaultMessage.getDescriptorForType().getFullName();
Subscribe req = Subscribe.newBuilder().setTopic(topic).setMsgType(type)
.setHost(server.host).setPort(server.port).setLatching(false).build();
try {
master.writePacket("subscribe", req);
} catch (IOException e) {
e.printStackTrace(); // FIXME: Shouldn't happen, should probably complain louder
}
Subscriber<T> s = new Subscriber<>(topic, type, cb, defaultMessage,
server.host, server.port);
subscriptions.put(topic, s);
for (PublisherRecord p : publishers.values()) {
if (p.getTopic().equals(topic)) {
s.connect(p);
}
}
return s;
}
@Override
public void run() {
try {
while (true) {
Packet packet = master.read();
if (packet == null) {
LOG.severe("Received null packet, shutting down connection to master.");
master.close();
return;
}
processPacket(packet);
}
} catch (IOException e ) {
LOG.severe("I/O error: " + e);
e.printStackTrace(); // FIXME: Log
}
}
private void initializeConnection() throws IOException {
Packet initData = master.read();
if (!initData.getType().equals("version_init")) {
throw new IOException("Expected 'version_init' packet, got '"+initData.getType()+"'.");
}
GzString.String version = GzString.String.parseFrom(initData.getSerializedData());
LOG.info("Version: "+version.getData()); // TODO: Check version
Packet namespaceData = master.read();
String_V ns = String_V.parseFrom(namespaceData.getSerializedData());
namespaces.addAll(ns.getDataList());
LOG.info(namespaces.toString());
Packet publisherData = master.read();
if (publisherData.getType().equals("publishers_init")) {
Publishers pubs = Publishers.parseFrom(publisherData.getSerializedData());
for (Publish pub : pubs.getPublisherList()) {
PublisherRecord record = new RemotePublisherRecord(pub);
publishers.put(record.getTopic(), record);
}
LOG.info(publishers.toString());
} else {
LOG.severe("No publisher data received.");
}
}
public void processPacket(Packet packet) throws InvalidProtocolBufferException {
if (packet.getType().equals("publisher_add")) {
PublisherRecord pub = new RemotePublisherRecord(Publish.parseFrom(packet.getSerializedData()));
if (pub.getHost().equals(server.host) && pub.getPort() == server.port) {
LOG.info("ACK "+pub.getTopic());
return; // This is us
}
LOG.info("New Publisher: "+pub.getTopic());
publishers.put(pub.getTopic(), pub);
} else if (packet.getType().equals("publisher_subscribe") ||
packet.getType().equals("publisher_advertise")) {
PublisherRecord pub = new RemotePublisherRecord(Publish.parseFrom(packet.getSerializedData()));
if (pub.getHost().equals(server.host) && pub.getPort() == server.port) {
LOG.info("Ignoring subscription request on (local) "+pub.getTopic());
return; // This is us
}
LOG.info("PUBSUB found for "+pub.getTopic());
subscriptions.get(pub.getTopic()).connect(pub);
} else if (packet.getType().equals("topic_namespace_add")) {
namespaces.add(GzString.String.parseFrom(packet.getSerializedData()).getData());
LOG.info("New Namespace: "+namespaces.get(namespaces.size()-1));
} else if (packet.getType().equals("unsubscribe")) {
Subscribe sub = Subscribe.parseFrom(packet.getSerializedData());
LOG.warning("Ignoring unsubscribe: "+sub);
} else {
LOG.warning("Can't handle "+packet.getType());
}
}
@Override
public void handle(Connection conn) throws IOException {
Packet msg = conn.read();
if (msg == null) {
LOG.severe("Read null message.");
return;
}
if (msg.getType().equals("sub")) {
Subscribe sub = Subscribe.parseFrom(msg.getSerializedData());
if (!publishers.containsKey(sub.getTopic())) {
LOG.severe("Subscription for unknown topic: "
+ sub.getTopic());
return;
}
PublisherRecord pub = publishers.get(sub.getTopic());
if (!pub.getMsgType().equals(sub.getMsgType())) {
LOG.severe(String.format("Message type mismatch requested=%d publishing=%s\n",
pub.getMsgType(), sub.getMsgType()));
return;
}
LOG.info("PUB " + sub.getTopic());
pub.connect(conn);
} else {
LOG.warning("Unknown message type: " + msg.getType());
}
}
private String fixTopic(String topic) {
return "/gazebo/" + name + "/" + topic;
}
}

74
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Publisher.java Normal file
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package org.gazebosim.transport;
import java.io.IOException;
import java.util.LinkedList;
import java.util.List;
import com.google.protobuf.Message;
public class Publisher<T extends Message> implements PublisherRecord {
private String topic, msgType;
private String localHost;
private int localPort;
private List<Connection> listeners;
private boolean latching = false;
private T lastMsg = null;
public Publisher(String topic, String msgType, String localHost, int localPort) {
this.topic = topic;
this.msgType = msgType;
this.localHost = localHost;
this.localPort = localPort;
listeners = new LinkedList<>();
}
public synchronized void publish(T msg) {
lastMsg = msg;
for (Connection listener : listeners) {
try {
listener.write(msg);
} catch (IOException e) {
try {
listener.close();
} catch (IOException e1) { /* Closing failed, probably not a big deal. */}
listeners.remove(listener);
}
}
}
@Override
public String getTopic() {
return topic;
}
@Override
public String getHost() {
return localHost;
}
@Override
public int getPort() {
return localPort;
}
@Override
public String getMsgType() {
return msgType;
}
@Override
public synchronized void connect(Connection conn) {
if (latching && lastMsg != null) {
try {
conn.write(lastMsg);
} catch (IOException e) {
return; // TODO: Log
}
}
listeners.add(conn);
}
public void setLatchMode(boolean b) {
latching = b;
}
}

9
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/PublisherRecord.java Normal file
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package org.gazebosim.transport;
public interface PublisherRecord {
String getTopic();
String getHost();
int getPort();
String getMsgType();
void connect(Connection conn);
}

40
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/RemotePublisherRecord.java Normal file
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package org.gazebosim.transport;
import gazebo.msgs.GzPublish.Publish;
public class RemotePublisherRecord implements PublisherRecord {
private Publish pub;
public RemotePublisherRecord(Publish pub) {
this.pub = pub;
}
@Override
public String getTopic() {
return pub.getTopic();
}
@Override
public String getHost() {
return pub.getHost();
}
@Override
public int getPort() {
return pub.getPort();
}
@Override
public String getMsgType() {
return pub.getMsgType();
}
public String toString() {
return String.format("%s (%s) %s:%s", getTopic(), getMsgType(), getHost(), getPort());
}
@Override
public void connect(Connection conn) {
throw new RuntimeException("Someone thinks we're a remote server, can't connect.");
}
}

7
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/ServerCallback.java Normal file
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package org.gazebosim.transport;
import java.io.IOException;
public interface ServerCallback {
void handle(Connection conn) throws IOException;
}

77
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Subscriber.java Normal file
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package org.gazebosim.transport;
import gazebo.msgs.GzSubscribe.Subscribe;
import java.io.IOException;
import java.util.LinkedList;
import java.util.List;
import java.util.logging.Logger;
import com.google.protobuf.Message;
import com.google.protobuf.Parser;
public class Subscriber<T extends Message> {
private String topic, msgType;
private SubscriberCallback<T> cb;
private Parser<T> deserializer;
@SuppressWarnings("unused")
private String localHost;
@SuppressWarnings("unused")
private int localPort;
private List<Connection> connections;
private static final Logger LOG = Logger.getLogger("Gazebo Transport");
@SuppressWarnings("unchecked")
public Subscriber(String topic, String msgType, SubscriberCallback<T> cb,
T deserializer, String localHost, int localPort) {
this.topic = topic;
this.msgType = msgType;
this.cb = cb;
this.deserializer = (Parser<T>) deserializer.getParserForType();
this.localHost = localHost;
this.localPort = localPort;
connections = new LinkedList<>();
}
public void connect(final PublisherRecord pub) {
new Thread(new Runnable() {
@Override
public void run() {
handle_connect(pub);
}
}).start();
}
private void handle_connect(PublisherRecord pub) {
LOG.fine(String.format("CONN for %s from %s:%s\n", topic, pub.getHost(),
pub.getPort()));
Connection conn = new Connection();
try {
conn.connect(pub.getHost(), pub.getPort());
connections.add(conn);
Subscribe sub = Subscribe.newBuilder().setTopic(topic)
.setMsgType(msgType).setHost(pub.getHost())
.setPort(pub.getPort()).setLatching(false).build();
conn.writePacket("sub", sub);
while (true) {
byte[] data = conn.rawRead();
if (data == null) {
connections.remove(conn);
return;
}
T msg = deserializer.parseFrom(data);
cb.callback(msg);
}
} catch (IOException e) {
// FIXME: Connection lost, let's make sure it's closed and complain.
// Hopefully they the reconnect, maybe we should try to recover better?
try {
conn.close();
} catch (IOException e1) {
}
e.printStackTrace();
}
}
}

5
simulation/JavaGazebo/src/main/java/org/gazebosim/transport/SubscriberCallback.java Normal file
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package org.gazebosim.transport;
public interface SubscriberCallback<T> {
void callback(T msg);
}

58
simulation/SimDS/dependency-reduced-pom.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/maven-v4_0_0.xsd">
<modelVersion>4.0.0</modelVersion>
<groupId>edu.wpi.first.wpilibj.simulation</groupId>
<artifactId>SimDS</artifactId>
<version>0.1.0-SNAPSHOT</version>
<build>
<plugins>
<plugin>
<artifactId>maven-compiler-plugin</artifactId>
<version>3.1</version>
<configuration>
<source>1.7</source>
<target>1.7</target>
</configuration>
</plugin>
<plugin>
<artifactId>maven-jar-plugin</artifactId>
<configuration>
<archive>
<manifest>
<mainClass>edu.wpi.first.wpilibj.simulation.ds.Main</mainClass>
</manifest>
</archive>
</configuration>
</plugin>
<plugin>
<artifactId>maven-shade-plugin</artifactId>
<version>2.3</version>
<executions>
<execution>
<phase>package</phase>
<goals>
<goal>shade</goal>
</goals>
</execution>
</executions>
<configuration />
</plugin>
</plugins>
</build>
<profiles>
<profile>
<id>docline-java8-disable</id>
<build>
<plugins>
<plugin>
<artifactId>maven-javadoc-plugin</artifactId>
<configuration>
<additionalparam>-Xdoclint:none</additionalparam>
</configuration>
</plugin>
</plugins>
</build>
</profile>
</profiles>
</project>

91
simulation/SimDS/pom.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<modelVersion>4.0.0</modelVersion>
<groupId>edu.wpi.first.wpilibj.simulation</groupId>
<artifactId>SimDS</artifactId>
<packaging>jar</packaging>
<version>0.1.0-SNAPSHOT</version>
<profiles>
<profile>
<id>docline-java8-disable</id>
<activation>
<jdk>[1.8,</jdk>
</activation>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-javadoc-plugin</artifactId>
<configuration>
<additionalparam>-Xdoclint:none</additionalparam>
</configuration>
</plugin>
</plugins>
</build>
</profile>
</profiles>
<dependencies>
<dependency>
<groupId>net.java.jinput</groupId>
<artifactId>jinput</artifactId>
<version>2.0.5</version>
</dependency>
<dependency>
<groupId>org.gazebosim</groupId>
<artifactId>JavaGazebo</artifactId>
<version>0.1.0-SNAPSHOT</version>
</dependency>
<!-- TODO: Add unit tests -->
<!-- <dependency> -->
<!-- <groupId>junit</groupId> -->
<!-- <artifactId>junit</artifactId> -->
<!-- <version>4.11</version> -->
<!-- </dependency> -->
</dependencies>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-compiler-plugin</artifactId>
<version>3.1</version>
<configuration>
<source>1.7</source>
<target>1.7</target>
</configuration>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-jar-plugin</artifactId>
<configuration>
<archive>
<manifest>
<mainClass>edu.wpi.first.wpilibj.simulation.ds.Main</mainClass>
</manifest>
</archive>
</configuration>
</plugin>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-shade-plugin</artifactId>
<version>2.3</version>
<configuration>
<!-- put your configurations here -->
</configuration>
<executions>
<execution>
<phase>package</phase>
<goals>
<goal>shade</goal>
</goals>
</execution>
</executions>
</plugin>
</plugins>
</build>
</project>

152
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/DS.java Normal file
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package edu.wpi.first.wpilibj.simulation.ds;
import java.awt.Dimension;
import java.awt.GridBagConstraints;
import java.awt.GridBagLayout;
import java.awt.event.ActionListener;
import java.util.List;
import javax.swing.BoxLayout;
import javax.swing.ButtonGroup;
import javax.swing.DropMode;
import javax.swing.JButton;
import javax.swing.JFrame;
import javax.swing.JPanel;
import javax.swing.JRadioButton;
import org.gazebosim.transport.Node;
import org.gazebosim.transport.Publisher;
import edu.wpi.first.wpilibj.simulation.ds.FakeJoystick;
import edu.wpi.first.wpilibj.simulation.ds.ISimJoystick;
import edu.wpi.first.wpilibj.simulation.ds.JoystickProvider;
import gazebo.msgs.GzDriverStation.DriverStation;
public class DS {
private JoystickProvider joystickProvider;
private JoystickList joysticks;
private JFrame mainframe;
private JPanel modePanel;
private ActionListener modeListener;
private ButtonGroup modes;
private JButton enable, refresh;
public enum State {
Disabled, Teleop, Autonomous, Test;
}
private boolean enabled = false;
private State state = State.Teleop;
private DriverStation.State protoState = DriverStation.State.TELEOP;
private Publisher<DriverStation> pub;
public DS(JoystickProvider joystickProvider) {
this.joystickProvider = joystickProvider;
mainframe = new JFrame();
mainframe.setTitle("FRC Simulation DriverStation");
mainframe.setLayout(new GridBagLayout());
GridBagConstraints constraints = new GridBagConstraints();
makeModeButtons(constraints);
mainframe.pack();
constraints.gridy = 1;
makeEnableButton(constraints);
constraints.gridx = 1;
constraints.gridy = 0;
makeJoystickUI(constraints);
mainframe.pack();
constraints.gridy = 1;
makeRefreshButton(constraints);
mainframe.pack();
mainframe.setVisible(true);
}
private void makeModeButtons(GridBagConstraints constraints) {
modePanel = new JPanel();
modePanel.setLayout(new BoxLayout(modePanel, BoxLayout.PAGE_AXIS));
modeListener = new ModeAction(this);
JRadioButton teleop = new JRadioButton("Teleop");
teleop.setActionCommand(State.Teleop.toString());
teleop.addActionListener(modeListener);
JRadioButton auto = new JRadioButton("Autonomous");
auto.setActionCommand(State.Autonomous.toString());
auto.addActionListener(modeListener);
JRadioButton test = new JRadioButton("Test");
test.setActionCommand(State.Test.toString());
test.addActionListener(modeListener);
teleop.setSelected(true);
modes = new ButtonGroup();
modes.add(teleop);
modes.add(auto);
modes.add(test);
modePanel.add(teleop);
modePanel.add(auto);
modePanel.add(test);
mainframe.add(modePanel, constraints);
}
private void makeEnableButton(GridBagConstraints constraints) {
enable = new JButton("Enable");
enable.addActionListener(new EnableAction(this));
enable.setPreferredSize(new Dimension(modePanel.getSize().width, 50));
mainframe.add(enable, constraints);
}
private void makeJoystickUI(GridBagConstraints constraints) {
joysticks = new JoystickList(joystickProvider);
mainframe.add(joysticks, constraints);
scanForJoysticks();
}
public void scanForJoysticks() {
joysticks.removeAll();
List<ISimJoystick> sticks = joystickProvider.scanForJoysticks();
while (sticks.size() < 4) {
sticks.add(new FakeJoystick());
}
joysticks.setListData(sticks);
}
private void makeRefreshButton(GridBagConstraints constraints) {
refresh = new JButton("Refresh Joysticks");
refresh.addActionListener(new RefreshAction(this));
refresh.setPreferredSize(new Dimension(joysticks.getSize().width, 50));
mainframe.add(refresh, constraints);
}
public void setEnabled(boolean enabled) {
this.enabled = enabled;
enable.setText(enabled ? "Disable" : "Enable");
}
public State getState() {
return enabled ? state : State.Disabled;
}
public void setState(State state) {
setEnabled(false);
this.state = state;
switch (state) {
case Autonomous: protoState = DriverStation.State.AUTO; break;
case Teleop: protoState = DriverStation.State.TELEOP; break;
case Test: protoState = DriverStation.State.TEST; break;
default: break;
}
}
public void toggleEnable() {
setEnabled(!enabled);
}
public void advertise(Node node) {
pub = node.advertise("ds/state", DriverStation.getDefaultInstance());
}
public void publish() {
pub.publish(DriverStation.newBuilder().setEnabled(enabled).setState(protoState).build());
}
}

18
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/EnableAction.java Normal file
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package edu.wpi.first.wpilibj.simulation.ds;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
public class EnableAction implements ActionListener {
private DS ds;
public EnableAction(DS ds) {
this.ds = ds;
}
@Override
public void actionPerformed(ActionEvent e) {
ds.toggleEnable();
}
}

19
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/FakeJoystick.java Normal file
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package edu.wpi.first.wpilibj.simulation.ds;
import org.gazebosim.transport.Node;
public class FakeJoystick implements ISimJoystick {
public String getName() {
return "Empty Joystick";
}
public String toString() {
return getName();
}
@Override public void advertise(Node node, int i) {}
@Override public void publish() {}
}

9
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/ISimJoystick.java Normal file
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package edu.wpi.first.wpilibj.simulation.ds;
import org.gazebosim.transport.Node;
public interface ISimJoystick {
String getName();
void advertise(Node node, int i);
void publish();
}

118
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/JoystickList.java Normal file
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package edu.wpi.first.wpilibj.simulation.ds;
import java.awt.datatransfer.DataFlavor;
import java.awt.datatransfer.StringSelection;
import java.awt.datatransfer.Transferable;
import java.awt.dnd.DnDConstants;
import java.awt.dnd.DragGestureEvent;
import java.awt.dnd.DragGestureListener;
import java.awt.dnd.DragSource;
import java.awt.dnd.DragSourceDragEvent;
import java.awt.dnd.DragSourceDropEvent;
import java.awt.dnd.DragSourceEvent;
import java.awt.dnd.DragSourceListener;
import java.util.List;
import javax.swing.DropMode;
import javax.swing.JList;
import javax.swing.TransferHandler;
import edu.wpi.first.wpilibj.simulation.ds.ISimJoystick;
import edu.wpi.first.wpilibj.simulation.ds.JoystickProvider;
@SuppressWarnings("serial")
public class JoystickList extends JList<ISimJoystick> {
private JoystickProvider joystickProvider;
List<ISimJoystick> joysticks;
public JoystickList(JoystickProvider joystickProvider) {
super();
this.joystickProvider = joystickProvider;
setDragEnabled(true);
setDropMode(DropMode.INSERT);
setTransferHandler(new DropHandler(this));
new DragListener(this);
}
public void moveElement(int index, int dropTargetIndex) {
ISimJoystick move = joysticks.get(index);
joysticks.add(dropTargetIndex, move);
joysticks.remove(index < dropTargetIndex ? index : index + 1);
setListData(joysticks);
}
public void setListData(List<ISimJoystick> sticks) {
joysticks = sticks;
setListData(sticks.toArray(new ISimJoystick[0]));
joystickProvider.setJoysticks(sticks);
}
class DragListener implements DragSourceListener, DragGestureListener {
JoystickList list;
DragSource ds = new DragSource();
public DragListener(JoystickList list) {
this.list = list;
ds.createDefaultDragGestureRecognizer(
list, DnDConstants.ACTION_MOVE, this);
}
public void dragGestureRecognized(DragGestureEvent dge) {
StringSelection transferable = new StringSelection(
Integer.toString(list.getSelectedIndex()));
ds.startDrag(dge, DragSource.DefaultCopyDrop, transferable, this);
}
public void dragEnter(DragSourceDragEvent dsde) {}
public void dragExit(DragSourceEvent dse) {}
public void dragOver(DragSourceDragEvent dsde) {}
public void dragDropEnd(DragSourceDropEvent dsde) {}
public void dropActionChanged(DragSourceDragEvent dsde) {}
}
class DropHandler extends TransferHandler {
JoystickList list;
public DropHandler(JoystickList list) {
this.list = list;
}
public boolean canImport(TransferHandler.TransferSupport support) {
if (!support.isDataFlavorSupported(DataFlavor.stringFlavor)) {
return false;
}
JList.DropLocation dl = (JList.DropLocation) support
.getDropLocation();
if (dl.getIndex() == -1) {
return false;
} else {
return true;
}
}
public boolean importData(TransferHandler.TransferSupport support) {
if (!canImport(support)) {
return false;
}
Transferable transferable = support.getTransferable();
String indexString;
try {
indexString = (String) transferable.getTransferData(DataFlavor.stringFlavor);
} catch (Exception e) {
return false;
}
int index = Integer.parseInt(indexString);
JList.DropLocation dl = (JList.DropLocation) support.getDropLocation();
int dropTargetIndex = dl.getIndex();
list.moveElement(index, dropTargetIndex);
return true;
}
}
}

44
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/JoystickProvider.java Normal file
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package edu.wpi.first.wpilibj.simulation.ds;
import java.util.ArrayList;
import java.util.List;
import edu.wpi.first.wpilibj.simulation.ds.ISimJoystick;
import edu.wpi.first.wpilibj.simulation.ds.SimJoystick;
import net.java.games.input.Controller;
import net.java.games.input.ControllerEnvironment;
public class JoystickProvider {
List<ISimJoystick> joysticks;
public JoystickProvider() {
scanForJoysticks();
}
public List<ISimJoystick> scanForJoysticks() {
List<ISimJoystick> foundControllers = new ArrayList<>();
Controller[] controllers = ControllerEnvironment.getDefaultEnvironment().getControllers();
for(int i = 0; i < controllers.length; i++){
Controller controller = controllers[i];
if (controller.getType() == Controller.Type.STICK
|| controller.getType() == Controller.Type.GAMEPAD
|| controller.getType() == Controller.Type.WHEEL
|| controller.getType() == Controller.Type.FINGERSTICK) {
foundControllers.add(new SimJoystick(controller));
}
}
joysticks = foundControllers;
return foundControllers;
}
public List<ISimJoystick> getJoysticks() {
return joysticks;
}
public void setJoysticks(List<ISimJoystick> joysticks) {
this.joysticks = joysticks;
}
}

29
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/Main.java Normal file
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package edu.wpi.first.wpilibj.simulation.ds;
import org.gazebosim.transport.Node;
public class Main {
public static void main(String args[]) {
Node node = new Node("frc");
JoystickProvider provider = new JoystickProvider();
@SuppressWarnings("unused")
DS ds = new DS(provider);
ds.advertise(node);
while (true) {
ds.publish();
for (int i = 0; i < provider.getJoysticks().size(); i++) {
ISimJoystick joystick = provider.getJoysticks().get(i);
joystick.advertise(node, i+1);
joystick.publish();
}
try {
Thread.sleep(19);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
}
}

18
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/ModeAction.java Normal file
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@@ -0,0 +1,18 @@
package edu.wpi.first.wpilibj.simulation.ds;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
public class ModeAction implements ActionListener {
private DS ds;
public ModeAction(DS ds) {
this.ds = ds;
}
@Override
public void actionPerformed(ActionEvent e) {
ds.setState(DS.State.valueOf(e.getActionCommand()));
}
}

18
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/RefreshAction.java Normal file
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@@ -0,0 +1,18 @@
package edu.wpi.first.wpilibj.simulation.ds;
import java.awt.event.ActionEvent;
import java.awt.event.ActionListener;
public class RefreshAction implements ActionListener {
private DS ds;
public RefreshAction(DS ds) {
this.ds = ds;
}
@Override
public void actionPerformed(ActionEvent arg0) {
ds.scanForJoysticks();
}
}

69
simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/SimJoystick.java Normal file
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@@ -0,0 +1,69 @@
package edu.wpi.first.wpilibj.simulation.ds;
import gazebo.msgs.GzJoystick.Joystick;
import java.util.ArrayList;
import java.util.List;
import org.gazebosim.transport.Node;
import org.gazebosim.transport.Publisher;
import net.java.games.input.Component;
import net.java.games.input.Controller;
public class SimJoystick implements ISimJoystick {
private Controller controller;
private List<Component> axes, buttons;
private Publisher<Joystick> pub = null;
private int prevI = -1; private Node prevNode = null;
public SimJoystick(Controller controller) {
this.controller = controller;
axes = new ArrayList<>();
buttons = new ArrayList<>();
for(Component c : controller.getComponents()) {
if (c.getIdentifier() instanceof Component.Identifier.Axis) {
axes.add(c);
} else if (c.getIdentifier() instanceof Component.Identifier.Button) {
buttons.add(c);
}
}
}
@Override
public String getName() {
return controller.getName();
}
@Override
public String toString() {
return getName();
}
@Override
public void advertise(Node node, int i) {
if (pub == null) {
// I'm good
} else if (prevI != i || prevNode != node) {
// TODO: pub.close();
} else {
return; // No change
}
pub = node.advertise("ds/joysticks/"+i, Joystick.getDefaultInstance());
prevNode = node;
prevI = i;
}
@Override
public void publish() {
controller.poll();
Joystick.Builder builder = Joystick.newBuilder();
for (Component a : axes) {
builder.addAxes(a.getPollData());
}
for (Component b : buttons) {
builder.addButtons(b.getPollData() > 0.5);
}
pub.publish(builder.build());
}
}

42
simulation/debs/.gitignore vendored Normal file
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@@ -0,0 +1,42 @@
# General
*.log
build/
screensteps/
trash/
# TMP
*/*/debian/files
*/*/models/
*/*/worlds
*/*/plugins/
*/*/features/
*/*/src/
*/*/devel/
*/*/.*
*/*/include/
*/*/msgs/
# General Build Artifacts
*.dsc
*.deb
*.orig.tar.gz
*.debian.tar.gz
*.changes
*.build
*.substvars
*/*/debian/*/DEBIAN/
# Specific Build Artifacts
frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/frcsim-gazebo-plugins/
frcsim-gazebo-models/frcsim-gazebo-models/debian/frcsim-gazebo-models/
frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/frcsim-eclipse-plugins/
frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/frcsim-eclipse-toolchain-plugin/
frcsim/frcsim/debian/frcsim/
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/frcsim-libwpilibsim-cpp/
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/Makefile
frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
# Generated Repository
repository/db/
repository/dists/

102
simulation/debs/Makefile Normal file
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@@ -0,0 +1,102 @@
codename=trusty
allwpilib=../..
version=0.1
package-version=1
gazebo-plugins-version=$(version)
gazebo-plugins-package-version=$(gazebo-plugins-version)-$(package-version)
gazebo-models-version=$(version)
gazebo-models-package-version=$(gazebo-models-version)-$(package-version)
eclipse-plugins-version=$(version)
eclipse-plugins-package-version=$(eclipse-plugins-version)-$(package-version)
eclipse-toolchain-version=$(version)
eclipse-toolchain-package-version=$(eclipse-toolchain-version)-$(package-version)
libwpilibsim-version=$(version)
libwpilibsim-package-version=$(libwpilibsim-version)-$(package-version)
frcsim-version=$(version)
frcsim-package-version=$(frcsim-version)-$(package-version)
all: debs update-repository
allwpilib:
cd $(allwpilib) && mvn -T 8 clean package -Dwith-eclipse-plugins -DskipTests -DskipIT
orig: clean
cd frcsim-gazebo-plugins && tar --exclude="./debian" -czvf \
frcsim-gazebo-plugins_${gazebo-plugins-version}.orig.tar.gz frcsim-gazebo-plugins
cd frcsim-gazebo-models && tar --exclude="./debian" -czvf \
frcsim-gazebo-models_${gazebo-models-version}.orig.tar.gz frcsim-gazebo-models
cd frcsim-eclipse-plugins && tar --exclude="./debian" -czvf \
frcsim-eclipse-plugins_${eclipse-plugins-version}.orig.tar.gz frcsim-eclipse-plugins
cd frcsim-eclipse-toolchain-plugin && tar --exclude="./debian" -czvf \
frcsim-eclipse-toolchain-plugin_${eclipse-toolchain-version}.orig.tar.gz frcsim-eclipse-toolchain-plugin
cd frcsim-libwpilibsim-cpp && tar --exclude="./debian" -czvf \
frcsim-libwpilibsim-cpp_${libwpilibsim-version}.orig.tar.gz frcsim-libwpilibsim-cpp
cd frcsim && tar --exclude="./debian" -czvf \
frcsim_${frcsim-version}.orig.tar.gz frcsim
debs:
cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild -us -uc -iamd64
cd frcsim-gazebo-models/frcsim-gazebo-models && debuild -us -uc
cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild -us -uc
cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild -us -uc
cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild -us -uc
cd frcsim/frcsim && debuild -us -uc
update-repository: clean-repository
cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
cd repository && reprepro includedeb $(codename) ../frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
cd repository && reprepro includedeb $(codename) ../frcsim/frcsim_$(frcsim-package-version)_all.deb
clean-repository:
cd repository && reprepro remove $(codename) frcsim-gazebo-plugins
cd repository && reprepro remove $(codename) frcsim-gazebo-models
cd repository && reprepro remove $(codename) frcsim-eclipse-plugins
cd repository && reprepro remove $(codename) frcsim-eclipse-toolchain-plugin
cd repository && reprepro remove $(codename) frcsim-libwpilibsim-cpp
cd repository && reprepro remove $(codename) frcsim
clean:
cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild clean
cd frcsim-gazebo-models/frcsim-gazebo-models && debuild clean
cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild clean
cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild clean
cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild clean
cd frcsim/frcsim && debuild clean
rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version).orig.tar.gz
rm -f frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version).orig.tar.gz
rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version).orig.tar.gz
rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version).orig.tar.gz
rm -f frcsim-libwpilib-cpp/frcsim-libwpilib-cpp_$(libwpilibsim-version).orig.tar.gz
rm -f frcsim/frcsim_$(frcsim-package-version).orig.tar.gz
pull: pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp orig
pull-gazebo-plugins:
cp -rf -t frcsim-gazebo-plugins/frcsim-gazebo-plugins/ $(allwpilib)/simulation/frc_gazebo_plugin/*
echo Increment version?
pull-eclipse-plugins:
rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
mkdir -p frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
mkdir -p frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.java_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.cpp_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.core_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.java.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.cpp.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.core.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
echo Increment version?
pull-libwpilibsim-cpp:
cp -rf -t frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/ $(allwpilib)/wpilibc/wpilibC++Sim/*
echo Increment version?
deploy:
rsync -r -v -C -p repository/ adhenning@ccc.wpi.edu:public_html/frcsim/

20
simulation/debs/README.org Normal file
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@@ -0,0 +1,20 @@
* Setting up apt-repository
: sudo apt-get install reprepro
http://kaivanov.blogspot.com/2012/08/creating-apt-repository-with-reprepro.html
** One-Time
- Get signing key
: gpg --armor --output frcsim.key --export
** To build and add debs
: make
: rsync -r repository/ adhenning@ccc.wpi.edu:public_html/frcsim # Syncs repo
** To use
: sudo nano /etc/apt/sources.list.d/frcsim-latest.list
: deb http://users.wpi.edu/~adhenning/frcsim raring main
: deb-src http://users.wpi.edu/~adhenning/frcsim raring main
: curl -H GET users.wpi.edu/~adhenning/frcsim.key | sudo apt-key add -
: sudo apt-get update
: sudo apt-get install frcsim

16
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/Makefile Normal file
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@@ -0,0 +1,16 @@
prefix = /usr
eclipsedir = $(prefix)/share/eclipse/dropins/frcsim
plugindir = $(eclipsedir)/plugins
featuredir = $(eclipsedir)/features
all: clean
sh ./genfeatures.sh
clean:
rm -rf build
install: all
mkdir -p $(DESTDIR)$(plugindir)
mkdir -p $(DESTDIR)$(featuredir)
install plugins/** $(DESTDIR)$(plugindir)
cp -r build/features/** $(DESTDIR)$(featuredir)

5
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/changelog Normal file
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@@ -0,0 +1,5 @@
frcsim-eclipse-plugins (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 21:04:27 -0400

1
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/compat Normal file
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@@ -0,0 +1 @@
9

13
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/control Normal file
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@@ -0,0 +1,13 @@
Source: frcsim-eclipse-plugins
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim-eclipse-plugins
Architecture: all
Depends: ${shlibs:Depends}, ${misc:Depends}, eclipse, eclipse-jdt, eclipse-cdt, eclipse-rse, eclipse-cdt-launch-remote, frcsim-eclipse-toolchain-plugin, g++, libwebkitgtk-1.0-0, frcsim-libwpilibsim-cpp
Description: FRC plugin for developing code for RoboRIO and WPILibSim.
This plugin allows the usage of eclipse for development of WPILib
robot code for the RoboRIO and simulation in gazebo.

25
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/copyright Normal file
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@@ -0,0 +1,25 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

3
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/rules Executable file
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@@ -0,0 +1,3 @@
#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/debian/source/format Normal file
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@@ -0,0 +1 @@
3.0 (quilt)

8
simulation/debs/frcsim-eclipse-plugins/frcsim-eclipse-plugins/genfeatures.sh Normal file
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@@ -0,0 +1,8 @@
mkdir -p build/zips/features
mkdir -p build/features
for i in features/*.jar; do
echo $i
cp $i build/zips/$i.zip;
mkdir build/$i
unzip build/zips/$i.zip -d build/$i
done

1
simulation/debs/frcsim-eclipse-plugins/version Normal file
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@@ -0,0 +1 @@
0.1.1

16
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/Makefile Normal file
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@@ -0,0 +1,16 @@
prefix = /usr
eclipsedir = $(prefix)/share/eclipse/dropins/frcsim
plugindir = $(eclipsedir)/plugins
featuredir = $(eclipsedir)/features
all: clean
sh ./genfeatures.sh
clean:
rm -rf build
install: all
mkdir -p $(DESTDIR)$(plugindir)
mkdir -p $(DESTDIR)$(featuredir)
install plugins/** $(DESTDIR)$(plugindir)
cp -r build/features/** $(DESTDIR)$(featuredir)

5
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/changelog Normal file
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@@ -0,0 +1,5 @@
frcsim-eclipse-toolchain-plugin (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 21:04:27 -0400

1
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/compat Normal file
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@@ -0,0 +1 @@
9

13
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/control Normal file
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@@ -0,0 +1,13 @@
Source: frcsim-eclipse-toolchain-plugin
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim-eclipse-toolchain-plugin
Architecture: all
Depends: ${shlibs:Depends}, ${misc:Depends}, eclipse, eclipse-jdt, eclipse-cdt
Description: FRC plugin for developing code for RoboRIO and WPILibSim.
This plugin allows the usage of eclipse for development of WPILib
robot code for the RoboRIO and simulation in gazebo.

25
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/copyright Normal file
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@@ -0,0 +1,25 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

3
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/rules Executable file
View File

@@ -0,0 +1,3 @@
#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/debian/source/format Normal file
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@@ -0,0 +1 @@
3.0 (quilt)

8
simulation/debs/frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/genfeatures.sh Normal file
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@@ -0,0 +1,8 @@
mkdir -p build/zips/features
mkdir -p build/features
for i in features/*.jar; do
echo $i
cp $i build/zips/$i.zip;
mkdir build/$i
unzip build/zips/$i.zip -d build/$i
done

16
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/Makefile Normal file
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@@ -0,0 +1,16 @@
prefix = /usr
frcsimdir = $(prefix)/share/frcsim
modeldir = $(frcsimdir)/models
worlddir = $(frcsimdir)/worlds
all:
echo Should download files
clean:
echo Cleaning
install: all
mkdir -p $(DESTDIR)$(modeldir)
mkdir -p $(DESTDIR)$(worlddir)
cp -r models/** $(DESTDIR)$(modeldir)
cp -r worlds/** $(DESTDIR)$(worlddir)

5
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/changelog Normal file
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@@ -0,0 +1,5 @@
frcsim-gazebo-models (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 17:13:26 -0400

1
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/compat Normal file
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@@ -0,0 +1 @@
9

13
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/control Normal file
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@@ -0,0 +1,13 @@
Source: frcsim-gazebo-models
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim-gazebo-models
Architecture: all
Depends: ${shlibs:Depends}, ${misc:Depends}, frcsim-gazebo-plugins
Description: FRC models that can be used in Gazebo.
Models that can be used in Gazebo to simulate FRC-like
robots are controllable through WPILibSim (Java or C++)

25
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/copyright Normal file
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@@ -0,0 +1,25 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

3
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/rules Executable file
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@@ -0,0 +1,3 @@
#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim-gazebo-models/frcsim-gazebo-models/debian/source/format Normal file
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@@ -0,0 +1 @@
3.0 (quilt)

16
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/CMakeLists.txt Normal file
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@@ -0,0 +1,16 @@
cmake_minimum_required(VERSION 2.8.3)
project(frc_gazebo_plugin)
include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
pkg_check_modules(GAZEBO gazebo)
endif()
find_package(gazebo REQUIRED)
file(GLOB_RECURSE SRC_FILES src/*.cpp src/*.cc)
include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS})
add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
link_directories(${GAZEBO_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES} tinyxml2)

15
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/Makefile Normal file
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@@ -0,0 +1,15 @@
prefix = /usr
lib.dir = $(prefix)/lib
plugin.dir = $(lib.dir)/frcsim/plugins
build.dir = build
all:
mkdir -p $(build.dir)
cd ${build.dir} && cmake .. && make
clean:
rm -rf $(build.dir)
install: all
mkdir -p $(DESTDIR)$(plugin.dir)
install $(build.dir)/libfrc_gazebo_plugin.so $(DESTDIR)$(plugin.dir)

1
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/NOTES.txt Normal file
View File

@@ -0,0 +1 @@
protoc --cpp_out=src/ msgs/float64.proto

5
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/changelog Normal file
View File

@@ -0,0 +1,5 @@
frcsim-gazebo-plugins (0.1-1) trusty; urgency=low
* Initial release
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 16:22:26 -0400

1
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/compat Normal file
View File

@@ -0,0 +1 @@
9

13
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/control Normal file
View File

@@ -0,0 +1,13 @@
Source: frcsim-gazebo-plugins
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9), ros-indigo-ros-base, gazebo2, libtinyxml2-dev
Package: frcsim-gazebo-plugins
Architecture: i386 amd64
Depends: ${shlibs:Depends}, ${misc:Depends}, gazebo2, libtinyxml2-dev
Description: FRC plugin for controlling robots in the gazebo plugin.
This plugin allows robots in gazebo to communicate with WPILib
programs and enables the control of the robots.

25
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/copyright Normal file
View File

@@ -0,0 +1,25 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

3
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/rules Executable file
View File

@@ -0,0 +1,3 @@
#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/source/format Normal file
View File

@@ -0,0 +1 @@
3.0 (quilt)

BIN
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/install/usr/lib/frcsim/plugins/libfrc_gazebo_plugin.so Executable file
View File

Binary file not shown.

15
simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/msgs/float64.proto Normal file
View File

@@ -0,0 +1,15 @@
package gazebo.msgs;
/// \ingroup gazebo_msgs
/// \interface Float64
/// \brief A message for floating point data
/// \verbatim
option java_outer_classname = "GzFloat64";
message Float64
{
required double data = 1;
}
/// \endverbatim

5
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/changelog Normal file
View File

@@ -0,0 +1,5 @@
frcsim-libwpilibsim-cpp (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 06 June 2014 21:04:27 -0400

1
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/compat Normal file
View File

@@ -0,0 +1 @@
9

13
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/control Normal file
View File

@@ -0,0 +1,13 @@
Source: frcsim-libwpilibsim-cpp
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim-libwpilibsim-cpp
Architecture: i386 amd64
Depends: ${shlibs:Depends}, ${misc:Depends}, libboost-system-dev, libprotobuf-dev
Description: Installs `libWPILibSim.so`.
Install platform specific libWPILibSim library necessary to run C++
frcsim programs.

25
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/copyright Normal file
View File

@@ -0,0 +1,25 @@
Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

BIN
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/debianpackage/usr/lib/libWPILibSim.so Executable file
View File

Binary file not shown.

9
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/rules Executable file
View File

@@ -0,0 +1,9 @@
#!/usr/bin/make -f
%:
dh $@
override_dh_auto_build:
$(MAKE) allwpilib=../../../..
override_dh_auto_install:
$(MAKE) DESTDIR=$$(pwd)/debian/frcsim-libwpilibsim-cpp allwpilib=../../../.. install

1
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/source/format Normal file
View File

@@ -0,0 +1 @@
3.0 (quilt)

61
simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/pom.xml Normal file
View File

@@ -0,0 +1,61 @@
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://maven.apache.org/POM/4.0.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
<modelVersion>4.0.0</modelVersion>
<groupId>edu.wpi.first.wpilibc.simulation</groupId>
<artifactId>WPILibCSim</artifactId>
<version>0.1.0</version>
<packaging>pom</packaging>
<build>
<plugins>
<plugin>
<groupId>org.apache.maven.plugins</groupId>
<artifactId>maven-antrun-plugin</artifactId>
<version>1.7</version>
<executions>
<execution>
<id>zip-cpp-sim-includes</id>
<phase>compile</phase>
<goals>
<goal>run</goal>
</goals>
<configuration>
<target>
<mkdir dir="${project.build.directory}/sim-includes/sim/include"/>
<copy todir="${project.build.directory}/sim-includes/sim/include">
<fileset dir="include"/>
<fileset dir="../../networktables/cpp/include"/>
<fileset dir="../../hal/include"/>
</copy>
<zip destfile="${project.build.directory}/${project.build.finalName}.zip"
basedir="${project.build.directory}/sim-includes" />
</target>
</configuration>
</execution>
</executions>
</plugin>
<plugin>
<groupId>org.codehaus.mojo</groupId>
<artifactId>build-helper-maven-plugin</artifactId>
<version>1.2</version>
<executions>
<execution>
<id>zip-cpp-includes</id>
<phase>package</phase>
<goals>
<goal>attach-artifact</goal>
</goals>
<configuration>
<artifacts>
<artifact>
<file>${project.build.directory}/${project.build.finalName}.zip</file>
<type>zip</type>
</artifact>
</artifacts>
</configuration>
</execution>
</executions>
</plugin>
</plugins>
</build>
</project>

97
simulation/debs/frcsim.key Normal file
View File

@@ -0,0 +1,97 @@
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12
simulation/debs/frcsim/frcsim/Makefile Normal file
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@@ -0,0 +1,12 @@
prefix = /usr
bindir = $(prefix)/bin
all:
echo Should download files
clean:
echo Cleaning
install: all
mkdir -p $(DESTDIR)$(bindir)
install frcsim $(DESTDIR)$(bindir)/frcsim

5
simulation/debs/frcsim/frcsim/debian/changelog Normal file
View File

@@ -0,0 +1,5 @@
frcsim (0.1-1) trusty; urgency=low
* Initial release.
-- Alex Henning <alex@thoriumrobotics.com> Wed, 14 May 2014 21:04:27 -0400

1
simulation/debs/frcsim/frcsim/debian/compat Normal file
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@@ -0,0 +1 @@
9

15
simulation/debs/frcsim/frcsim/debian/control Normal file
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@@ -0,0 +1,15 @@
Source: frcsim
Maintainer: Alex Henning <alex@thoriumrobotics.com>
Section: misc
Priority: optional
Standards-Version: 3.9.4
Build-Depends: debhelper (>= 9)
Package: frcsim
Architecture: all
Depends: ${shlibs:Depends}, ${misc:Depends}, frcsim-gazebo-plugins, frcsim-gazebo-models, frcsim-eclipse-plugins
Description: Installs everything necessary for FRC simulation with Gazebo.
Package that installs everything necessary for FRC Simulation, including
the gazebo plugin, gazebo models, eclipse-plugins and a wrapper script
around Gazebo. This enables support for development of FRC robots with
simulation.

25
simulation/debs/frcsim/frcsim/debian/copyright Normal file
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Copyright
Copyright (c) 2009 FIRST
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* Neither the name of the FIRST nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

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simulation/debs/frcsim/frcsim/debian/rules Executable file
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#!/usr/bin/make -f
%:
dh $@

1
simulation/debs/frcsim/frcsim/debian/source/format Normal file
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3.0 (quilt)

4
simulation/debs/frcsim/frcsim/frcsim Executable file
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#!/bin/bash
export GAZEBO_PLUGIN_PATH="${GAZEBO_PLUGIN_PATH}:/usr/lib/frcsim/plugins"
export GAZEBO_MODEL_PATH="${GAZEBO_MODEL_PATH}:/usr/share/frcsim/models"
gazebo $@

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simulation/debs/install.sh Executable file
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#!/bin/bash
function install-frcsim {
# Add Gazebo Repository and Key
echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list
wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
# Add FRCSim Repository and Key
echo "deb http://users.wpi.edu/~adhenning/frcsim `lsb_release -cs` main" > /etc/apt/sources.list.d/frcsim-latest.list
wget users.wpi.edu/~adhenning/frcsim.key -O - | apt-key add -
# Update and install frcsim and its dependencies
apt-get update
apt-get install -y frcsim
# Done
python -c "raw_input(\"Installation Finished (Hit enter to exit) \")"
}
if [ "$1" == "ROOT" ]
then
install-frcsim
elif [ "$1" == "INSTALLER" ]
then
SUDO_ASKPASS=/usr/bin/ssh-askpass sudo bash -c "$0 ROOT"
else
gnome-terminal --window --hide-menubar --title "FRCSim Installer" -e "$0 INSTALLER"
fi

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simulation/debs/repository/conf/distributions Normal file
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Origin: users.wpi.edu
Label: FRCSim
Codename: trusty
Architectures: i386 amd64 source
Components: main
Description: Repository for simulating FRC robots using WPILibSim and the Gazebo simualtor.
SignWith: yes
DebOverride: override.trusty
DscOverride: override.trusty
DebIndices: Packages Release . .gz
UDebIndices: Packages . .gz
DscIndices: Sources Release . .gz

3
simulation/debs/repository/conf/options Normal file
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verbose
ask-passphrase
basedir .

0
simulation/debs/repository/conf/override.trusty Normal file
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simulation/frc_gazebo_plugin/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(frc_gazebo_plugin)
include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
pkg_check_modules(GAZEBO gazebo)
endif()
find_package(gazebo REQUIRED)
file(GLOB_RECURSE SRC_FILES src/*.cpp src/*.cc)
include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS})
add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
link_directories(${GAZEBO_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES} tinyxml2)

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simulation/frc_gazebo_plugin/Makefile Normal file
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prefix = /usr
lib.dir = $(prefix)/lib
plugin.dir = $(lib.dir)/frcsim/plugins
build.dir = build
all:
mkdir -p $(build.dir)
cd ${build.dir} && cmake .. && make
clean:
rm -rf $(build.dir)
install: all
mkdir -p $(DESTDIR)$(plugin.dir)
install $(build.dir)/libfrc_gazebo_plugin.so $(DESTDIR)$(plugin.dir)

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simulation/frc_gazebo_plugin/NOTES.txt Normal file
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protoc --cpp_out=src/ msgs/float64.proto

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simulation/frc_gazebo_plugin/msgs/bool.proto Normal file
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package gazebo.msgs;
/// \ingroup gazebo_msgs
/// \interface Bool
/// \brief A message for boolean data
/// \verbatim
option java_outer_classname = "GzBool";
message Bool
{
required bool data = 1;
}
/// \endverbatim

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simulation/frc_gazebo_plugin/msgs/driver-station.proto Normal file
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package gazebo.msgs;
/// \ingroup gazebo_msgs
/// \interface DriverStation
/// \brief A message for DriverStation data
/// \verbatim
option java_outer_classname = "GzDriverStation";
message DriverStation
{
required bool enabled = 1;
enum State {
AUTO = 0;
TELEOP = 1;
TEST = 2;
}
required State state = 2;
}
/// \endverbatim

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simulation/frc_gazebo_plugin/msgs/float64.proto Normal file
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package gazebo.msgs;
/// \ingroup gazebo_msgs
/// \interface Float64
/// \brief A message for floating point data
/// \verbatim
option java_outer_classname = "GzFloat64";
message Float64
{
required double data = 1;
}
/// \endverbatim

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simulation/frc_gazebo_plugin/msgs/joystick.proto Normal file
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package gazebo.msgs;
/// \ingroup gazebo_msgs
/// \interface Joystick
/// \brief A message for joystick data
/// \verbatim
option java_outer_classname = "GzJoystick";
message Joystick
{
repeated double axes = 1;
repeated bool buttons = 2;
}
/// \endverbatim

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simulation/frc_gazebo_plugin/src/FRCPlugin.cpp Normal file
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#include "FRCPlugin.h"
#include <gazebo/physics/Model.hh>
#include <gazebo/physics/Link.hh>
#include <gazebo/physics/Joint.hh>
#include <gazebo/physics/PhysicsEngine.hh>
#include <gazebo/sensors/sensors.hh>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <string.h>
#include <boost/lexical_cast.hpp>
#include "RobotMapParser.h"
#include "components/Motor.h"
#include "components/Potentiometer.h"
#include "components/Encoder.h"
using namespace gazebo;
GZ_REGISTER_MODEL_PLUGIN(FRCPlugin)
FRCPlugin::FRCPlugin() {}
FRCPlugin::~FRCPlugin() {}
void FRCPlugin::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) {
model = _model;
// Create robot components from RobotMap
if (_sdf->HasElement("robotmap")) {
std::string robotmap = common::SystemPaths::Instance()->FindFileURI(_sdf->Get<std::string>("robotmap"));
std::cout << "Loading RobotMap: " << robotmap << std::endl;
RobotMapParser map("simulator", robotmap, model);
map.parse(components);
} else {
std::cerr << "No RobotMap specified this robot cannnot be controlled." << std::endl;
}
// Connect to Gazebo transport for messaging
gzNode = transport::NodePtr(new transport::Node());
gzNode->Init("frc");
for (int i = 0; i < components.size(); i++) {
components[i]->connect(gzNode);
}
enabled = false;
sub = gzNode->Subscribe("~/ds/state", &FRCPlugin::dsCallback, this);
// Connect to the world update event.
// This will trigger the Update function every Gazebo iteration
updateConn = event::Events::ConnectWorldUpdateBegin(boost::bind(&FRCPlugin::Update, this, _1));
}
// Update all RobotComponents
void FRCPlugin::Update(const common::UpdateInfo &_info) {
for (int i = 0; i < components.size(); i++) {
components[i]->update(enabled);
}
}
void FRCPlugin::dsCallback(const msgs::ConstDriverStationPtr &msg) {
enabled = msg->enabled();
}

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