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
2026-06-22 01:11:42 +00:00 · 2017-08-18 21:35:53 -07:00
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
--- a/hal/src/main/native/sim/AnalogGyro.cpp
+++ b/hal/src/main/native/sim/AnalogGyro.cpp
@@ -0,0 +1,135 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "HAL/AnalogGyro.h"
+
+#include <chrono>
+#include <thread>
+
+#include "AnalogInternal.h"
+#include "HAL/AnalogAccumulator.h"
+#include "HAL/AnalogInput.h"
+#include "HAL/handles/IndexedHandleResource.h"
+#include "MockData/AnalogGyroDataInternal.h"
+
+namespace {
+struct AnalogGyro {
+  HAL_AnalogInputHandle handle;
+  uint8_t index;
+};
+}
+
+using namespace hal;
+
+static IndexedHandleResource<HAL_GyroHandle, AnalogGyro, kNumAccumulators,
+                             HAL_HandleEnum::AnalogGyro>
+    analogGyroHandles;
+
+extern "C" {
+HAL_GyroHandle HAL_InitializeAnalogGyro(HAL_AnalogInputHandle analogHandle,
+                                        int32_t* status) {
+  if (!HAL_IsAccumulatorChannel(analogHandle, status)) {
+    if (*status == 0) {
+      *status = HAL_INVALID_ACCUMULATOR_CHANNEL;
+    }
+    return HAL_kInvalidHandle;
+  }
+
+  // handle known to be correct, so no need to type check
+  int16_t channel = getHandleIndex(analogHandle);
+
+  auto handle = analogGyroHandles.Allocate(channel, status);
+
+  if (*status != 0)
+    return HAL_kInvalidHandle;  // failed to allocate. Pass error back.
+
+  // Initialize port structure
+  auto gyro = analogGyroHandles.Get(handle);
+  if (gyro == nullptr) {  // would only error on thread issue
+    *status = HAL_HANDLE_ERROR;
+    return HAL_kInvalidHandle;
+  }
+
+  gyro->handle = analogHandle;
+  gyro->index = channel;
+
+  SimAnalogGyroData[channel].SetInitialized(true);
+
+  return handle;
+}
+
+void HAL_SetupAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
+  // No op
+}
+
+void HAL_FreeAnalogGyro(HAL_GyroHandle handle) {
+  auto gyro = analogGyroHandles.Get(handle);
+  analogGyroHandles.Free(handle);
+  if (gyro == nullptr) return;
+  SimAnalogGyroData[gyro->index].SetInitialized(false);
+}
+
+void HAL_SetAnalogGyroParameters(HAL_GyroHandle handle,
+                                 double voltsPerDegreePerSecond, double offset,
+                                 int32_t center, int32_t* status) {
+  // No op
+}
+
+void HAL_SetAnalogGyroVoltsPerDegreePerSecond(HAL_GyroHandle handle,
+                                              double voltsPerDegreePerSecond,
+                                              int32_t* status) {
+  // No op
+}
+
+void HAL_ResetAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
+  auto gyro = analogGyroHandles.Get(handle);
+  if (gyro == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return;
+  }
+
+  SimAnalogGyroData[gyro->index].SetAngle(0.0);
+}
+
+void HAL_CalibrateAnalogGyro(HAL_GyroHandle handle, int32_t* status) {
+  // Just do a reset
+  HAL_ResetAnalogGyro(handle, status);
+}
+
+void HAL_SetAnalogGyroDeadband(HAL_GyroHandle handle, double volts,
+                               int32_t* status) {
+  // No op
+}
+
+double HAL_GetAnalogGyroAngle(HAL_GyroHandle handle, int32_t* status) {
+  auto gyro = analogGyroHandles.Get(handle);
+  if (gyro == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  return SimAnalogGyroData[gyro->index].GetAngle();
+}
+
+double HAL_GetAnalogGyroRate(HAL_GyroHandle handle, int32_t* status) {
+  auto gyro = analogGyroHandles.Get(handle);
+  if (gyro == nullptr) {
+    *status = HAL_HANDLE_ERROR;
+    return 0;
+  }
+
+  return SimAnalogGyroData[gyro->index].GetRate();
+}
+
+double HAL_GetAnalogGyroOffset(HAL_GyroHandle handle, int32_t* status) {
+  return 0.0;
+}
+
+int32_t HAL_GetAnalogGyroCenter(HAL_GyroHandle handle, int32_t* status) {
+  return 0;
+}
+}