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

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* 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
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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243
hal/src/main/native/include/ctre/ctre_frames.h Normal file
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/**
* @file ctre_frames.h
* CAN Encoder/Decoder Structures for CTRE devices.
*/
#ifndef CTRE_FRAMES_H
#define CTRE_FRAMES_H
/** control */
typedef struct _TALON_Control_1_General_10ms_t {
unsigned TokenH:8;
unsigned TokenL:8;
unsigned DemandH:8;
unsigned DemandM:8;
unsigned DemandL:8;
unsigned ProfileSlotSelect:1;
unsigned FeedbackDeviceSelect:4;
unsigned OverrideLimitSwitchEn:3;
unsigned RevFeedbackSensor:1;
unsigned RevMotDuringCloseLoopEn:1;
unsigned OverrideBrakeType:2;
unsigned ModeSelect:4;
unsigned RampThrottle:8;
} TALON_Control_1_General_10ms_t ;
/* TALON_Control_2_Rates_OneShot_t removed since it has been deprecated */
typedef struct _TALON_Control_3_ClearFlags_OneShot_t {
unsigned ZeroFeedbackSensor:1;
unsigned ClearStickyFaults:1;
} TALON_Control_3_ClearFlags_OneShot_t ;
typedef struct _TALON_Control_5_General_10ms_t {
unsigned ThrottleBump_h3:3;
unsigned ReservedZero:5;
unsigned ThrottleBump_l8:8;
unsigned DemandH:8;
unsigned DemandM:8;
unsigned DemandL:8;
unsigned ProfileSlotSelect:1;
unsigned FeedbackDeviceSelect:4;
unsigned OverrideLimitSwitchEn:3;
unsigned RevFeedbackSensor:1;
unsigned RevMotDuringCloseLoopEn:1;
unsigned OverrideBrakeType:2;
unsigned ModeSelect:4;
unsigned RampThrottle:8;
} TALON_Control_5_General_10ms_t ;
typedef struct _TALON_Control_6_MotProfAddTrajPoint_t {
unsigned huffCode:2; //!< Compression coding
unsigned NextPt_VelOnly:1;
unsigned NextPt_IsLast:1;
unsigned reserved0:2;
unsigned NextPt_ZeroPosition:1;
unsigned NextPt_ProfileSlotSelect:1;
unsigned Idx:4;
unsigned reserved1:4;
unsigned restOfFrame0:8;
unsigned restOfFrame1:8;
unsigned restOfFrame2:8;
unsigned restOfFrame3:8;
unsigned restOfFrame4:8;
unsigned restOfFrame5:8;
} TALON_Control_6_MotProfAddTrajPoint_t;
typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff0_t {
unsigned huffCode_expect_0:2; //!< Compression coding
unsigned NextPt_VelOnly:1;
unsigned NextPt_IsLast:1;
unsigned reserved0:2;
unsigned NextPt_ZeroPosition:1;
unsigned NextPt_ProfileSlotSelect:1;
unsigned Idx:4;
unsigned reserved1:4;
unsigned NextPt_DurationMs:8;
unsigned NextPt_VelocityH:8;
unsigned NextPt_VelocityL:8;
unsigned NextPt_PositionH:8;
unsigned NextPt_PositionM:8;
unsigned NextPt_PositionL:8;
} TALON_Control_6_MotProfAddTrajPoint_huff0_t;
typedef struct _TALON_Control_6_MotProfAddTrajPoint_huff1_t {
unsigned huffCode_expect_1:2; //!< Compression coding
unsigned NextPt_VelOnly:1;
unsigned NextPt_IsLast:1;
unsigned reserved0:2;
unsigned NextPt_ZeroPosition:1;
unsigned NextPt_ProfileSlotSelect:1;
unsigned Idx:4;
unsigned reserved1:4;
unsigned NextPt_DurationMs:8;
unsigned NextPt_SameVelocityH:8;
unsigned NextPt_SameVelocityL:8;
unsigned NextPt_DeltaPositionH:8;
unsigned NextPt_DeltaPositionL:8;
unsigned NextPt_Count:8;
} TALON_Control_6_MotProfAddTrajPoint_huff1_t;
/** status */
typedef struct _TALON_Status_1_General_10ms_t {
unsigned CloseLoopErrH:8;
unsigned CloseLoopErrM:8;
unsigned CloseLoopErrL:8;
unsigned AppliedThrottle_h3:3;
unsigned Fault_RevSoftLim:1;
unsigned Fault_ForSoftLim:1;
unsigned TokLocked:1;
unsigned LimitSwitchClosedRev:1;
unsigned LimitSwitchClosedFor:1;
unsigned AppliedThrottle_l8:8;
unsigned ModeSelect_h1:1;
unsigned FeedbackDeviceSelect:4;
unsigned LimitSwitchEn:3;
unsigned Fault_HardwareFailure:1;
unsigned Fault_RevLim:1;
unsigned Fault_ForLim:1;
unsigned Fault_UnderVoltage:1;
unsigned Fault_OverTemp:1;
unsigned ModeSelect_b3:3;
unsigned TokenSeed:8;
} TALON_Status_1_General_10ms_t ;
typedef struct _TALON_Status_2_Feedback_20ms_t {
unsigned SensorPositionH:8;
unsigned SensorPositionM:8;
unsigned SensorPositionL:8;
unsigned SensorVelocityH:8;
unsigned SensorVelocityL:8;
unsigned Current_h8:8;
unsigned StckyFault_RevSoftLim:1;
unsigned StckyFault_ForSoftLim:1;
unsigned StckyFault_RevLim:1;
unsigned StckyFault_ForLim:1;
unsigned StckyFault_UnderVoltage:1;
unsigned StckyFault_OverTemp:1;
unsigned Current_l2:2;
unsigned reserved:3;
unsigned Cmd5Allowed:1;
unsigned VelDiv4:1;
unsigned PosDiv8:1;
unsigned ProfileSlotSelect:1;
unsigned BrakeIsEnabled:1;
} TALON_Status_2_Feedback_20ms_t ;
typedef struct _TALON_Status_3_Enc_100ms_t {
unsigned EncPositionH:8;
unsigned EncPositionM:8;
unsigned EncPositionL:8;
unsigned EncVelH:8;
unsigned EncVelL:8;
unsigned EncIndexRiseEventsH:8;
unsigned EncIndexRiseEventsL:8;
unsigned reserved:3;
unsigned VelDiv4:1;
unsigned PosDiv8:1;
unsigned QuadIdxpin:1;
unsigned QuadBpin:1;
unsigned QuadApin:1;
} TALON_Status_3_Enc_100ms_t ;
typedef struct _TALON_Status_4_AinTempVbat_100ms_t {
unsigned AnalogInWithOvH:8;
unsigned AnalogInWithOvM:8;
unsigned AnalogInWithOvL:8;
unsigned AnalogInVelH:8;
unsigned AnalogInVelL:8;
unsigned Temp:8;
unsigned BatteryV:8;
unsigned reserved:6;
unsigned VelDiv4:1;
unsigned PosDiv8:1;
} TALON_Status_4_AinTempVbat_100ms_t ;
typedef struct _TALON_Status_5_Startup_OneShot_t {
unsigned ResetCountH:8;
unsigned ResetCountL:8;
unsigned ResetFlagsH:8;
unsigned ResetFlagsL:8;
unsigned FirmVersH:8;
unsigned FirmVersL:8;
} TALON_Status_5_Startup_OneShot_t ;
typedef struct _TALON_Status_6_Eol_t {
unsigned currentAdcUncal_h2:2;
unsigned reserved1:5;
unsigned SpiCsPin_GadgeteerPin6:1;
unsigned currentAdcUncal_l8:8;
unsigned tempAdcUncal_h2:2;
unsigned reserved2:6;
unsigned tempAdcUncal_l8:8;
unsigned vbatAdcUncal_h2:2;
unsigned reserved3:6;
unsigned vbatAdcUncal_l8:8;
unsigned analogAdcUncal_h2:2;
unsigned reserved4:6;
unsigned analogAdcUncal_l8:8;
} TALON_Status_6_Eol_t ;
typedef struct _TALON_Status_7_Debug_200ms_t {
unsigned TokenizationFails_h8:8;
unsigned TokenizationFails_l8:8;
unsigned LastFailedToken_h8:8;
unsigned LastFailedToken_l8:8;
unsigned TokenizationSucceses_h8:8;
unsigned TokenizationSucceses_l8:8;
} TALON_Status_7_Debug_200ms_t ;
typedef struct _TALON_Status_8_PulseWid_100ms_t {
unsigned PulseWidPositionH:8;
unsigned PulseWidPositionM:8;
unsigned PulseWidPositionL:8;
unsigned reserved:6;
unsigned VelDiv4:1;
unsigned PosDiv8:1;
unsigned PeriodUsM8:8;
unsigned PeriodUsL8:8;
unsigned PulseWidVelH:8;
unsigned PulseWidVelL:8;
} TALON_Status_8_PulseWid_100ms_t ;
typedef struct _TALON_Status_9_MotProfBuffer_100ms_t {
unsigned ActTraj_IsValid:1; //!< '1' if other ActTraj_* signals are valid. '0' if there is no active trajectory pt.
unsigned ActTraj_ProfileSlotSelect:1;
unsigned ActTraj_VelOnly:1;
unsigned ActTraj_IsLast:1;
unsigned OutputType:2;
unsigned HasUnderrun:1;
unsigned IsUnderrun:1;
unsigned NextID:4;
unsigned reserved1:3;
unsigned BufferIsFull:1;
unsigned Count:8;
unsigned ActTraj_VelocityH:8;
unsigned ActTraj_VelocityL:8;
unsigned ActTraj_PositionH:8;
unsigned ActTraj_PositionM:8;
unsigned ActTraj_PositionL:8;
} TALON_Status_9_MotProfBuffer_100ms_t ;
typedef struct _TALON_Param_Request_t {
unsigned ParamEnum:8;
} TALON_Param_Request_t ;
typedef struct _TALON_Param_Response_t {
unsigned ParamEnum:8;
unsigned ParamValueL:8;
unsigned ParamValueML:8;
unsigned ParamValueMH:8;
unsigned ParamValueH:8;
} TALON_Param_Response_t ;
#endif /* CTRE_FRAMES_H */