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/sim/HAL.cpp

@@ -0,0 +1,207 @@
+/*----------------------------------------------------------------------------*/
+/* 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/HAL.h"
+
+#include "ErrorsInternal.h"
+#include "HAL/DriverStation.h"
+#include "HAL/Errors.h"
+#include "HAL/handles/HandlesInternal.h"
+#include "MockData/RoboRioDataInternal.h"
+#include "MockHooksInternal.h"
+
+using namespace hal;
+
+extern "C" {
+
+HAL_PortHandle HAL_GetPort(int32_t channel) {
+  // Dont allow a number that wouldn't fit in a uint8_t
+  if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
+  return createPortHandle(channel, 1);
+}
+
+/**
+ * @deprecated Uses module numbers
+ */
+HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) {
+  // Dont allow a number that wouldn't fit in a uint8_t
+  if (channel < 0 || channel >= 255) return HAL_kInvalidHandle;
+  if (module < 0 || module >= 255) return HAL_kInvalidHandle;
+  return createPortHandle(channel, module);
+}
+
+const char* HAL_GetErrorMessage(int32_t code) {
+  switch (code) {
+    case 0:
+      return "";
+    case CTR_RxTimeout:
+      return CTR_RxTimeout_MESSAGE;
+    case CTR_TxTimeout:
+      return CTR_TxTimeout_MESSAGE;
+    case CTR_InvalidParamValue:
+      return CTR_InvalidParamValue_MESSAGE;
+    case CTR_UnexpectedArbId:
+      return CTR_UnexpectedArbId_MESSAGE;
+    case CTR_TxFailed:
+      return CTR_TxFailed_MESSAGE;
+    case CTR_SigNotUpdated:
+      return CTR_SigNotUpdated_MESSAGE;
+    case NiFpga_Status_FifoTimeout:
+      return NiFpga_Status_FifoTimeout_MESSAGE;
+    case NiFpga_Status_TransferAborted:
+      return NiFpga_Status_TransferAborted_MESSAGE;
+    case NiFpga_Status_MemoryFull:
+      return NiFpga_Status_MemoryFull_MESSAGE;
+    case NiFpga_Status_SoftwareFault:
+      return NiFpga_Status_SoftwareFault_MESSAGE;
+    case NiFpga_Status_InvalidParameter:
+      return NiFpga_Status_InvalidParameter_MESSAGE;
+    case NiFpga_Status_ResourceNotFound:
+      return NiFpga_Status_ResourceNotFound_MESSAGE;
+    case NiFpga_Status_ResourceNotInitialized:
+      return NiFpga_Status_ResourceNotInitialized_MESSAGE;
+    case NiFpga_Status_HardwareFault:
+      return NiFpga_Status_HardwareFault_MESSAGE;
+    case NiFpga_Status_IrqTimeout:
+      return NiFpga_Status_IrqTimeout_MESSAGE;
+    case SAMPLE_RATE_TOO_HIGH:
+      return SAMPLE_RATE_TOO_HIGH_MESSAGE;
+    case VOLTAGE_OUT_OF_RANGE:
+      return VOLTAGE_OUT_OF_RANGE_MESSAGE;
+    case LOOP_TIMING_ERROR:
+      return LOOP_TIMING_ERROR_MESSAGE;
+    case SPI_WRITE_NO_MOSI:
+      return SPI_WRITE_NO_MOSI_MESSAGE;
+    case SPI_READ_NO_MISO:
+      return SPI_READ_NO_MISO_MESSAGE;
+    case SPI_READ_NO_DATA:
+      return SPI_READ_NO_DATA_MESSAGE;
+    case INCOMPATIBLE_STATE:
+      return INCOMPATIBLE_STATE_MESSAGE;
+    case NO_AVAILABLE_RESOURCES:
+      return NO_AVAILABLE_RESOURCES_MESSAGE;
+    case RESOURCE_IS_ALLOCATED:
+      return RESOURCE_IS_ALLOCATED_MESSAGE;
+    case RESOURCE_OUT_OF_RANGE:
+      return RESOURCE_OUT_OF_RANGE_MESSAGE;
+    case HAL_INVALID_ACCUMULATOR_CHANNEL:
+      return HAL_INVALID_ACCUMULATOR_CHANNEL_MESSAGE;
+    case HAL_HANDLE_ERROR:
+      return HAL_HANDLE_ERROR_MESSAGE;
+    case NULL_PARAMETER:
+      return NULL_PARAMETER_MESSAGE;
+    case ANALOG_TRIGGER_LIMIT_ORDER_ERROR:
+      return ANALOG_TRIGGER_LIMIT_ORDER_ERROR_MESSAGE;
+    case ANALOG_TRIGGER_PULSE_OUTPUT_ERROR:
+      return ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE;
+    case PARAMETER_OUT_OF_RANGE:
+      return PARAMETER_OUT_OF_RANGE_MESSAGE;
+    case HAL_COUNTER_NOT_SUPPORTED:
+      return HAL_COUNTER_NOT_SUPPORTED_MESSAGE;
+    case ERR_CANSessionMux_InvalidBuffer:
+      return ERR_CANSessionMux_InvalidBuffer_MESSAGE;
+    case ERR_CANSessionMux_MessageNotFound:
+      return ERR_CANSessionMux_MessageNotFound_MESSAGE;
+    case WARN_CANSessionMux_NoToken:
+      return WARN_CANSessionMux_NoToken_MESSAGE;
+    case ERR_CANSessionMux_NotAllowed:
+      return ERR_CANSessionMux_NotAllowed_MESSAGE;
+    case ERR_CANSessionMux_NotInitialized:
+      return ERR_CANSessionMux_NotInitialized_MESSAGE;
+    case VI_ERROR_SYSTEM_ERROR:
+      return VI_ERROR_SYSTEM_ERROR_MESSAGE;
+    case VI_ERROR_INV_OBJECT:
+      return VI_ERROR_INV_OBJECT_MESSAGE;
+    case VI_ERROR_RSRC_LOCKED:
+      return VI_ERROR_RSRC_LOCKED_MESSAGE;
+    case VI_ERROR_RSRC_NFOUND:
+      return VI_ERROR_RSRC_NFOUND_MESSAGE;
+    case VI_ERROR_INV_RSRC_NAME:
+      return VI_ERROR_INV_RSRC_NAME_MESSAGE;
+    case VI_ERROR_QUEUE_OVERFLOW:
+      return VI_ERROR_QUEUE_OVERFLOW_MESSAGE;
+    case VI_ERROR_IO:
+      return VI_ERROR_IO_MESSAGE;
+    case VI_ERROR_ASRL_PARITY:
+      return VI_ERROR_ASRL_PARITY_MESSAGE;
+    case VI_ERROR_ASRL_FRAMING:
+      return VI_ERROR_ASRL_FRAMING_MESSAGE;
+    case VI_ERROR_ASRL_OVERRUN:
+      return VI_ERROR_ASRL_OVERRUN_MESSAGE;
+    case VI_ERROR_RSRC_BUSY:
+      return VI_ERROR_RSRC_BUSY_MESSAGE;
+    case VI_ERROR_INV_PARAMETER:
+      return VI_ERROR_INV_PARAMETER_MESSAGE;
+    case HAL_PWM_SCALE_ERROR:
+      return HAL_PWM_SCALE_ERROR_MESSAGE;
+    default:
+      return "Unknown error status";
+  }
+}
+
+/**
+ * Returns the runtime type of this HAL
+ */
+HAL_RuntimeType HAL_GetRuntimeType() { return HAL_Mock; }
+
+/**
+ * Return the FPGA Version number.
+ * For now, expect this to be competition year.
+ * @return FPGA Version number.
+ */
+int32_t HAL_GetFPGAVersion(int32_t* status) {
+  return 2018;  // Automatically script this at some point
+}
+
+/**
+ * Return the FPGA Revision number.
+ * The format of the revision is 3 numbers.
+ * The 12 most significant bits are the Major Revision.
+ * the next 8 bits are the Minor Revision.
+ * The 12 least significant bits are the Build Number.
+ * @return FPGA Revision number.
+ */
+int64_t HAL_GetFPGARevision(int32_t* status) {
+  return 0;  // TODO: Find a better number to return;
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA
+ * reset).
+ */
+uint64_t HAL_GetFPGATime(int32_t* status) { return hal::GetFPGATime(); }
+
+/**
+ * Get the state of the "USER" button on the roboRIO
+ * @return true if the button is currently pressed down
+ */
+HAL_Bool HAL_GetFPGAButton(int32_t* status) {
+  return SimRoboRioData[0].GetFPGAButton();
+}
+
+HAL_Bool HAL_GetSystemActive(int32_t* status) {
+  return true;  // Figure out if we need to handle this
+}
+
+HAL_Bool HAL_GetBrownedOut(int32_t* status) {
+  return false;  // Figure out if we need to detect a brownout condition
+}
+
+HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) {
+  hal::RestartTiming();
+  HAL_InitializeDriverStation();
+  return true;  // Add initialization if we need to at a later point
+}
+
+int64_t HAL_Report(int32_t resource, int32_t instanceNumber, int32_t context,
+                   const char* feature) {
+  return 0;  // Do nothing for now
+}
+
+}  // extern "C"