Update to 2018_v4 image and new build system. (#598)

* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system

hal/src/main/native/include/HAL/handles/IndexedClassedHandleResource.h

@@ -0,0 +1,122 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include <memory>
+#include <vector>
+
+#include "HAL/Errors.h"
+#include "HAL/Types.h"
+#include "HAL/cpp/make_unique.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "HAL/handles/HandlesInternal.h"
+
+namespace hal {
+
+/**
+ * The IndexedClassedHandleResource class is a way to track handles. This
+ * version
+ * allows a limited number of handles that are allocated by index.
+ * Because they are allocated by index, each individual index holds its own
+ * mutex, which reduces contention heavily.]
+ *
+ * @tparam THandle The Handle Type (Must be typedefed from HAL_Handle)
+ * @tparam TStruct The struct type held by this resource
+ * @tparam size The number of resources allowed to be allocated
+ * @tparam enumValue The type value stored in the handle
+ *
+ */
+template <typename THandle, typename TStruct, int16_t size,
+          HAL_HandleEnum enumValue>
+class IndexedClassedHandleResource : public HandleBase {
+  friend class IndexedClassedHandleResourceTest;
+
+ public:
+  IndexedClassedHandleResource();
+  IndexedClassedHandleResource(const IndexedClassedHandleResource&) = delete;
+  IndexedClassedHandleResource& operator=(const IndexedClassedHandleResource&) =
+      delete;
+
+  THandle Allocate(int16_t index, std::shared_ptr<TStruct> toSet,
+                   int32_t* status);
+  std::shared_ptr<TStruct> Get(THandle handle);
+  void Free(THandle handle);
+
+ private:
+  std::array<std::shared_ptr<TStruct>[], size> m_structures;
+  std::array<hal::priority_mutex[], size> m_handleMutexes;
+};
+
+template <typename THandle, typename TStruct, int16_t size,
+          HAL_HandleEnum enumValue>
+IndexedClassedHandleResource<THandle, TStruct, size,
+                             enumValue>::IndexedClassedHandleResource() {
+  m_structures = std::make_unique<std::shared_ptr<TStruct>[]>(size);
+  m_handleMutexes = std::make_unique<hal::priority_mutex[]>(size);
+}
+
+template <typename THandle, typename TStruct, int16_t size,
+          HAL_HandleEnum enumValue>
+THandle
+IndexedClassedHandleResource<THandle, TStruct, size, enumValue>::Allocate(
+    int16_t index, std::shared_ptr<TStruct> toSet, int32_t* status) {
+  // don't aquire the lock if we can fail early.
+  if (index < 0 || index >= size) {
+    *status = RESOURCE_OUT_OF_RANGE;
+    return HAL_kInvalidHandle;
+  }
+  std::lock_guard<hal::priority_mutex> sync(m_handleMutexes[index]);
+  // check for allocation, otherwise allocate and return a valid handle
+  if (m_structures[index] != nullptr) {
+    *status = RESOURCE_IS_ALLOCATED;
+    return HAL_kInvalidHandle;
+  }
+  m_structures[index] = toSet;
+  return static_cast<THandle>(hal::createHandle(index, enumValue, m_version));
+}
+
+template <typename THandle, typename TStruct, int16_t size,
+          HAL_HandleEnum enumValue>
+std::shared_ptr<TStruct> IndexedClassedHandleResource<
+    THandle, TStruct, size, enumValue>::Get(THandle handle) {
+  // get handle index, and fail early if index out of range or wrong handle
+  int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
+  if (index < 0 || index >= size) {
+    return nullptr;
+  }
+  std::lock_guard<hal::priority_mutex> sync(m_handleMutexes[index]);
+  // return structure. Null will propogate correctly, so no need to manually
+  // check.
+  return m_structures[index];
+}
+
+template <typename THandle, typename TStruct, int16_t size,
+          HAL_HandleEnum enumValue>
+void IndexedClassedHandleResource<THandle, TStruct, size, enumValue>::Free(
+    THandle handle) {
+  // get handle index, and fail early if index out of range or wrong handle
+  int16_t index = getHandleTypedIndex(handle, enumValue, m_version);
+  if (index < 0 || index >= size) return;
+  // lock and deallocated handle
+  std::lock_guard<hal::priority_mutex> sync(m_handleMutexes[index]);
+  m_structures[index].reset();
+}
+
+template <typename THandle, typename TStruct, int16_t size,
+          HAL_HandleEnum enumValue>
+void IndexedClassedHandleResource<THandle, TStruct, size,
+                                  enumValue>::ResetHandles() {
+  for (int i = 0; i < size; i++) {
+    std::lock_guard<hal::priority_mutex> sync(m_handleMutexes[i]);
+    m_structures[i].reset();
+  }
+  HandleBase::ResetHandles();
+}
+}  // namespace hal