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

wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp

@@ -0,0 +1,154 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2015-2017. 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 "ADXRS450_Gyro.h"
+
+#include "DriverStation.h"
+#include "HAL/HAL.h"
+#include "LiveWindow/LiveWindow.h"
+#include "Timer.h"
+
+using namespace frc;
+
+static constexpr double kSamplePeriod = 0.001;
+static constexpr double kCalibrationSampleTime = 5.0;
+static constexpr double kDegreePerSecondPerLSB = 0.0125;
+
+static constexpr int kRateRegister = 0x00;
+static constexpr int kTemRegister = 0x02;
+static constexpr int kLoCSTRegister = 0x04;
+static constexpr int kHiCSTRegister = 0x06;
+static constexpr int kQuadRegister = 0x08;
+static constexpr int kFaultRegister = 0x0A;
+static constexpr int kPIDRegister = 0x0C;
+static constexpr int kSNHighRegister = 0x0E;
+static constexpr int kSNLowRegister = 0x10;
+
+/**
+ * Initialize the gyro.
+ *
+ * Calibrate the gyro by running for a number of samples and computing the
+ * center value. Then use the center value as the Accumulator center value for
+ * subsequent measurements.
+ *
+ * It's important to make sure that the robot is not moving while the centering
+ * calculations are in progress, this is typically done when the robot is first
+ * turned on while it's sitting at rest before the competition starts.
+ */
+void ADXRS450_Gyro::Calibrate() {
+  Wait(0.1);
+
+  m_spi.SetAccumulatorCenter(0);
+  m_spi.ResetAccumulator();
+
+  Wait(kCalibrationSampleTime);
+
+  m_spi.SetAccumulatorCenter(static_cast<int>(m_spi.GetAccumulatorAverage()));
+  m_spi.ResetAccumulator();
+}
+
+/**
+ * Gyro constructor on onboard CS0.
+ */
+ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {}
+
+/**
+ * Gyro constructor on the specified SPI port.
+ *
+ * @param port The SPI port the gyro is attached to.
+ */
+ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) {
+  m_spi.SetClockRate(3000000);
+  m_spi.SetMSBFirst();
+  m_spi.SetSampleDataOnRising();
+  m_spi.SetClockActiveHigh();
+  m_spi.SetChipSelectActiveLow();
+
+  // Validate the part ID
+  if ((ReadRegister(kPIDRegister) & 0xff00) != 0x5200) {
+    DriverStation::ReportError("could not find ADXRS450 gyro");
+    return;
+  }
+
+  m_spi.InitAccumulator(kSamplePeriod, 0x20000000u, 4, 0x0c00000eu, 0x04000000u,
+                        10u, 16u, true, true);
+
+  Calibrate();
+
+  HAL_Report(HALUsageReporting::kResourceType_ADXRS450, port);
+  LiveWindow::GetInstance()->AddSensor("ADXRS450_Gyro", port, this);
+}
+
+static bool CalcParity(int v) {
+  bool parity = false;
+  while (v != 0) {
+    parity = !parity;
+    v = v & (v - 1);
+  }
+  return parity;
+}
+
+static inline int BytesToIntBE(uint8_t* buf) {
+  int result = static_cast<int>(buf[0]) << 24;
+  result |= static_cast<int>(buf[1]) << 16;
+  result |= static_cast<int>(buf[2]) << 8;
+  result |= static_cast<int>(buf[3]);
+  return result;
+}
+
+uint16_t ADXRS450_Gyro::ReadRegister(int reg) {
+  int cmd = 0x80000000 | static_cast<int>(reg) << 17;
+  if (!CalcParity(cmd)) cmd |= 1u;
+
+  // big endian
+  uint8_t buf[4] = {static_cast<uint8_t>((cmd >> 24) & 0xff),
+                    static_cast<uint8_t>((cmd >> 16) & 0xff),
+                    static_cast<uint8_t>((cmd >> 8) & 0xff),
+                    static_cast<uint8_t>(cmd & 0xff)};
+
+  m_spi.Write(buf, 4);
+  m_spi.Read(false, buf, 4);
+  if ((buf[0] & 0xe0) == 0) return 0;  // error, return 0
+  return static_cast<uint16_t>((BytesToIntBE(buf) >> 5) & 0xffff);
+}
+
+/**
+ * Reset the gyro.
+ *
+ * Resets the gyro to a heading of zero. This can be used if there is
+ * significant drift in the gyro and it needs to be recalibrated after it has
+ * been running.
+ */
+void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); }
+
+/**
+ * Return the actual angle in degrees that the robot is currently facing.
+ *
+ * The angle is based on the current accumulator value corrected by the
+ * oversampling rate, the gyro type and the A/D calibration values.
+ * The angle is continuous, that is it will continue from 360->361 degrees. This
+ * allows algorithms that wouldn't want to see a discontinuity in the gyro
+ * output as it sweeps from 360 to 0 on the second time around.
+ *
+ * @return the current heading of the robot in degrees. This heading is based on
+ *         integration of the returned rate from the gyro.
+ */
+double ADXRS450_Gyro::GetAngle() const {
+  return m_spi.GetAccumulatorValue() * kDegreePerSecondPerLSB * kSamplePeriod;
+}
+
+/**
+ * Return the rate of rotation of the gyro
+ *
+ * The rate is based on the most recent reading of the gyro analog value
+ *
+ * @return the current rate in degrees per second
+ */
+double ADXRS450_Gyro::GetRate() const {
+  return static_cast<double>(m_spi.GetAccumulatorLastValue()) *
+         kDegreePerSecondPerLSB;
+}