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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

453
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzBool.java Normal file
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@@ -0,0 +1,453 @@
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// source: frc_gazebo_plugin/msgs/bool.proto
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645
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzDriverStation.java Normal file
View File

@@ -0,0 +1,645 @@
// Generated by the protocol buffer compiler. DO NOT EDIT!
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670
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzJoystick.java Normal file
View File

@@ -0,0 +1,670 @@
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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();
/**
* <code>repeated bool buttons = 2;</code>
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int getButtonsCount();
/**
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boolean getButtons(int index);
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/**
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*/
public java.util.List<java.lang.Double>
getAxesList() {
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* <code>repeated double axes = 1;</code>
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*/
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getButtonsList() {
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public int getButtonsCount() {
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public boolean getButtons(int index) {
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axes_ = java.util.Collections.emptyList();
buttons_ = java.util.Collections.emptyList();
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getUnknownFields().writeTo(output);
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axes_ = java.util.Collections.emptyList();
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buttons_ = java.util.Collections.emptyList();
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axes_ = other.axes_;
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onChanged();
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onChanged();
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com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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private int bitField0_;
// repeated double axes = 1;
private java.util.List<java.lang.Double> axes_ = java.util.Collections.emptyList();
private void ensureAxesIsMutable() {
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axes_ = new java.util.ArrayList<java.lang.Double>(axes_);
bitField0_ |= 0x00000001;
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* <code>repeated double axes = 1;</code>
*/
public java.util.List<java.lang.Double>
getAxesList() {
return java.util.Collections.unmodifiableList(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);
}
/**
* <code>repeated double axes = 1;</code>
*/
public Builder setAxes(
int index, double value) {
ensureAxesIsMutable();
axes_.set(index, value);
onChanged();
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/**
* <code>repeated double axes = 1;</code>
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ensureAxesIsMutable();
axes_.add(value);
onChanged();
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}
/**
* <code>repeated double axes = 1;</code>
*/
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java.lang.Iterable<? extends java.lang.Double> values) {
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super.addAll(values, axes_);
onChanged();
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/**
* <code>repeated double axes = 1;</code>
*/
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_);
bitField0_ |= 0x00000002;
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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) {
return buttons_.get(index);
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* <code>repeated bool buttons = 2;</code>
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int index, boolean value) {
ensureButtonsIsMutable();
buttons_.set(index, value);
onChanged();
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*/
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buttons_.add(value);
onChanged();
return this;
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* <code>repeated bool buttons = 2;</code>
*/
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java.lang.Iterable<? extends java.lang.Boolean> values) {
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onChanged();
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831
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzPacket.java Normal file
View File

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com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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*/
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* <code>required .gazebo.msgs.Time stamp = 1;</code>
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if (stampBuilder_ == null) {
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return stampBuilder_.getMessage();
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* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
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onChanged();
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stampBuilder_.setMessage(value);
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bitField0_ |= 0x00000001;
return this;
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* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
public Builder setStamp(
gazebo.msgs.GzTime.Time.Builder builderForValue) {
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stamp_ = builderForValue.build();
onChanged();
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bitField0_ |= 0x00000001;
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* <code>required .gazebo.msgs.Time stamp = 1;</code>
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} else {
stamp_ = value;
}
onChanged();
} else {
stampBuilder_.mergeFrom(value);
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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();
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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>
*/
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if (stampBuilder_ != null) {
return stampBuilder_.getMessageOrBuilder();
} else {
return stamp_;
}
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* <code>required .gazebo.msgs.Time stamp = 1;</code>
*/
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gazebo.msgs.GzTime.Time, gazebo.msgs.GzTime.Time.Builder, gazebo.msgs.GzTime.TimeOrBuilder>
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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_;
}
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private java.lang.Object type_ = "";
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* <code>required string type = 2;</code>
*/
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public Builder clearType() {
bitField0_ = (bitField0_ & ~0x00000002);
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onChanged();
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// required bytes serialized_data = 3;
private com.google.protobuf.ByteString serializedData_ = com.google.protobuf.ByteString.EMPTY;
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* <code>required bytes serialized_data = 3;</code>
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public boolean hasSerializedData() {
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bitField0_ |= 0x00000004;
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public Builder clearSerializedData() {
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// @@protoc_insertion_point(builder_scope:gazebo.msgs.Packet)
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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 {
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public static void registerAllExtensions(
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boolean hasPort();
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int getPort();
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/**
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private int bitField0_;
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com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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* <code>required string msg_type = 2;</code>
*/
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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;
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* <code>required string msg_type = 2;</code>
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java.lang.String value) {
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onChanged();
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onChanged();
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// required uint32 port = 4;
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// @@protoc_insertion_point(builder_scope:gazebo.msgs.Publish)
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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(
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}
public interface PublishersOrBuilder
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// repeated .gazebo.msgs.Publish publisher = 1;
/**
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java.util.List<gazebo.msgs.GzPublish.Publish>
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/**
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/**
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*/
int getPublisherCount();
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*/
gazebo.msgs.GzPublish.PublishOrBuilder getPublisherOrBuilder(
int index);
}
/**
* Protobuf type {@code gazebo.msgs.Publishers}
*/
public static final class Publishers extends
com.google.protobuf.GeneratedMessage
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// Use Publishers.newBuilder() to construct.
private Publishers(com.google.protobuf.GeneratedMessage.Builder<?> builder) {
super(builder);
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public static Publishers getDefaultInstance() {
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}
public Publishers getDefaultInstanceForType() {
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private Publishers(
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throw new com.google.protobuf.InvalidProtocolBufferException(
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public static final com.google.protobuf.Descriptors.Descriptor
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public static com.google.protobuf.Parser<Publishers> PARSER =
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public Publishers parsePartialFrom(
com.google.protobuf.CodedInputStream input,
com.google.protobuf.ExtensionRegistryLite extensionRegistry)
throws com.google.protobuf.InvalidProtocolBufferException {
return new Publishers(input, extensionRegistry);
}
};
@java.lang.Override
public com.google.protobuf.Parser<Publishers> getParserForType() {
return PARSER;
}
// repeated .gazebo.msgs.Publish publisher = 1;
public static final int PUBLISHER_FIELD_NUMBER = 1;
private java.util.List<gazebo.msgs.GzPublish.Publish> publisher_;
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
public java.util.List<gazebo.msgs.GzPublish.Publish> getPublisherList() {
return publisher_;
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
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public java.util.List<? extends gazebo.msgs.GzPublish.PublishOrBuilder>
getPublisherOrBuilderList() {
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*/
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* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
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public final boolean isInitialized() {
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com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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// repeated .gazebo.msgs.Publish publisher = 1;
private java.util.List<gazebo.msgs.GzPublish.Publish> publisher_ =
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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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publisherBuilder_.setMessage(index, value);
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*/
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onChanged();
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publisherBuilder_.setMessage(index, builderForValue.build());
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return this;
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* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
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throw new NullPointerException();
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ensurePublisherIsMutable();
publisher_.add(value);
onChanged();
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publisherBuilder_.addMessage(value);
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return this;
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int index, gazebo.msgs.GzPublish.Publish value) {
if (publisherBuilder_ == null) {
if (value == null) {
throw new NullPointerException();
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ensurePublisherIsMutable();
publisher_.add(index, value);
onChanged();
} else {
publisherBuilder_.addMessage(index, value);
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return this;
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/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
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gazebo.msgs.GzPublish.Publish.Builder builderForValue) {
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ensurePublisherIsMutable();
publisher_.add(builderForValue.build());
onChanged();
} else {
publisherBuilder_.addMessage(builderForValue.build());
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return this;
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ensurePublisherIsMutable();
publisher_.add(index, builderForValue.build());
onChanged();
} else {
publisherBuilder_.addMessage(index, builderForValue.build());
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return this;
}
/**
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*/
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java.lang.Iterable<? extends gazebo.msgs.GzPublish.Publish> values) {
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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;
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
public Builder removePublisher(int index) {
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);
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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int index) {
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return publisher_.get(index); } else {
return publisherBuilder_.getMessageOrBuilder(index);
}
}
/**
* <code>repeated .gazebo.msgs.Publish publisher = 1;</code>
*/
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getPublisherOrBuilderList() {
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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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1028
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzSubscribe.java Normal file
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542
simulation/JavaGazebo/src/main/java/gazebo/msgs/GzTime.java Normal file
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sec_ = 0;
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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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