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/Buttons/Button.cpp

@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/Button.h"
+
+using namespace frc;
+
+/**
+ * Specifies the command to run when a button is first pressed.
+ *
+ * @param command The pointer to the command to run
+ */
+void Button::WhenPressed(Command* command) { WhenActive(command); }
+
+/**
+ * Specifies the command to be scheduled while the button is pressed.
+ *
+ * The command will be scheduled repeatedly while the button is pressed and will
+ * be canceled when the button is released.
+ *
+ * @param command The pointer to the command to run
+ */
+void Button::WhileHeld(Command* command) { WhileActive(command); }
+
+/**
+ * Specifies the command to run when the button is released.
+ *
+ * The command will be scheduled a single time.
+ *
+ * @param command The pointer to the command to run
+ */
+void Button::WhenReleased(Command* command) { WhenInactive(command); }
+
+/**
+ * Cancels the specificed command when the button is pressed.
+ *
+ * @param command The command to be canceled
+ */
+void Button::CancelWhenPressed(Command* command) { CancelWhenActive(command); }
+
+/**
+ * Toggle the specified command when the button is pressed.
+ *
+ * @param command The command to be toggled
+ */
+void Button::ToggleWhenPressed(Command* command) { ToggleWhenActive(command); }

wpilibc/src/main/native/cpp/Buttons/ButtonScheduler.cpp

@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/ButtonScheduler.h"
+
+#include "Commands/Scheduler.h"
+
+using namespace frc;
+
+ButtonScheduler::ButtonScheduler(bool last, Trigger* button, Command* orders)
+    : m_pressedLast(last), m_button(button), m_command(orders) {}
+
+void ButtonScheduler::Start() { Scheduler::GetInstance()->AddButton(this); }

wpilibc/src/main/native/cpp/Buttons/CancelButtonScheduler.cpp

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/CancelButtonScheduler.h"
+
+#include "Buttons/Button.h"
+#include "Commands/Command.h"
+
+using namespace frc;
+
+CancelButtonScheduler::CancelButtonScheduler(bool last, Trigger* button,
+                                             Command* orders)
+    : ButtonScheduler(last, button, orders) {
+  pressedLast = m_button->Grab();
+}
+
+void CancelButtonScheduler::Execute() {
+  if (m_button->Grab()) {
+    if (!pressedLast) {
+      pressedLast = true;
+      m_command->Cancel();
+    }
+  } else {
+    pressedLast = false;
+  }
+}

wpilibc/src/main/native/cpp/Buttons/HeldButtonScheduler.cpp

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/HeldButtonScheduler.h"
+
+#include "Buttons/Button.h"
+#include "Commands/Command.h"
+
+using namespace frc;
+
+HeldButtonScheduler::HeldButtonScheduler(bool last, Trigger* button,
+                                         Command* orders)
+    : ButtonScheduler(last, button, orders) {}
+
+void HeldButtonScheduler::Execute() {
+  if (m_button->Grab()) {
+    m_pressedLast = true;
+    m_command->Start();
+  } else {
+    if (m_pressedLast) {
+      m_pressedLast = false;
+      m_command->Cancel();
+    }
+  }
+}

wpilibc/src/main/native/cpp/Buttons/InternalButton.cpp

@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/InternalButton.h"
+
+using namespace frc;
+
+InternalButton::InternalButton(bool inverted)
+    : m_pressed(inverted), m_inverted(inverted) {}
+
+void InternalButton::SetInverted(bool inverted) { m_inverted = inverted; }
+
+void InternalButton::SetPressed(bool pressed) { m_pressed = pressed; }
+
+bool InternalButton::Get() { return m_pressed ^ m_inverted; }

wpilibc/src/main/native/cpp/Buttons/JoystickButton.cpp

@@ -0,0 +1,15 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/JoystickButton.h"
+
+using namespace frc;
+
+JoystickButton::JoystickButton(GenericHID* joystick, int buttonNumber)
+    : m_joystick(joystick), m_buttonNumber(buttonNumber) {}
+
+bool JoystickButton::Get() { return m_joystick->GetRawButton(m_buttonNumber); }

wpilibc/src/main/native/cpp/Buttons/NetworkButton.cpp

@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/NetworkButton.h"
+
+#include "networktables/NetworkTable.h"
+
+using namespace frc;
+
+NetworkButton::NetworkButton(const std::string& tableName,
+                             const std::string& field)
+    :  // TODO how is this supposed to work???
+      m_netTable(NetworkTable::GetTable(tableName)),
+      m_field(field) {}
+
+NetworkButton::NetworkButton(std::shared_ptr<ITable> table,
+                             const std::string& field)
+    : m_netTable(table), m_field(field) {}
+
+bool NetworkButton::Get() {
+  /*if (m_netTable->isConnected())
+          return m_netTable->GetBoolean(m_field.c_str());
+  else
+          return false;*/
+  return m_netTable->GetBoolean(m_field, false);
+}

wpilibc/src/main/native/cpp/Buttons/PressedButtonScheduler.cpp

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/PressedButtonScheduler.h"
+
+#include "Buttons/Button.h"
+#include "Commands/Command.h"
+
+using namespace frc;
+
+PressedButtonScheduler::PressedButtonScheduler(bool last, Trigger* button,
+                                               Command* orders)
+    : ButtonScheduler(last, button, orders) {}
+
+void PressedButtonScheduler::Execute() {
+  if (m_button->Grab()) {
+    if (!m_pressedLast) {
+      m_pressedLast = true;
+      m_command->Start();
+    }
+  } else {
+    m_pressedLast = false;
+  }
+}

wpilibc/src/main/native/cpp/Buttons/ReleasedButtonScheduler.cpp

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/ReleasedButtonScheduler.h"
+
+#include "Buttons/Button.h"
+#include "Commands/Command.h"
+
+using namespace frc;
+
+ReleasedButtonScheduler::ReleasedButtonScheduler(bool last, Trigger* button,
+                                                 Command* orders)
+    : ButtonScheduler(last, button, orders) {}
+
+void ReleasedButtonScheduler::Execute() {
+  if (m_button->Grab()) {
+    m_pressedLast = true;
+  } else {
+    if (m_pressedLast) {
+      m_pressedLast = false;
+      m_command->Start();
+    }
+  }
+}

wpilibc/src/main/native/cpp/Buttons/ToggleButtonScheduler.cpp

@@ -0,0 +1,34 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/ToggleButtonScheduler.h"
+
+#include "Buttons/Button.h"
+#include "Commands/Command.h"
+
+using namespace frc;
+
+ToggleButtonScheduler::ToggleButtonScheduler(bool last, Trigger* button,
+                                             Command* orders)
+    : ButtonScheduler(last, button, orders) {
+  pressedLast = m_button->Grab();
+}
+
+void ToggleButtonScheduler::Execute() {
+  if (m_button->Grab()) {
+    if (!pressedLast) {
+      pressedLast = true;
+      if (m_command->IsRunning()) {
+        m_command->Cancel();
+      } else {
+        m_command->Start();
+      }
+    }
+  } else {
+    pressedLast = false;
+  }
+}

wpilibc/src/main/native/cpp/Buttons/Trigger.cpp

@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2011-2017. 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 "Buttons/Button.h"
+#include "Buttons/CancelButtonScheduler.h"
+#include "Buttons/HeldButtonScheduler.h"
+#include "Buttons/PressedButtonScheduler.h"
+#include "Buttons/ReleasedButtonScheduler.h"
+#include "Buttons/ToggleButtonScheduler.h"
+
+using namespace frc;
+
+bool Trigger::Grab() {
+  if (Get()) {
+    return true;
+  } else if (m_table != nullptr) {
+    return m_table->GetBoolean("pressed", false);
+  } else {
+    return false;
+  }
+}
+
+void Trigger::WhenActive(Command* command) {
+  auto pbs = new PressedButtonScheduler(Grab(), this, command);
+  pbs->Start();
+}
+
+void Trigger::WhileActive(Command* command) {
+  auto hbs = new HeldButtonScheduler(Grab(), this, command);
+  hbs->Start();
+}
+
+void Trigger::WhenInactive(Command* command) {
+  auto rbs = new ReleasedButtonScheduler(Grab(), this, command);
+  rbs->Start();
+}
+
+void Trigger::CancelWhenActive(Command* command) {
+  auto cbs = new CancelButtonScheduler(Grab(), this, command);
+  cbs->Start();
+}
+
+void Trigger::ToggleWhenActive(Command* command) {
+  auto tbs = new ToggleButtonScheduler(Grab(), this, command);
+  tbs->Start();
+}
+
+std::string Trigger::GetSmartDashboardType() const { return "Button"; }
+
+void Trigger::InitTable(std::shared_ptr<ITable> subtable) {
+  m_table = subtable;
+  if (m_table != nullptr) {
+    m_table->PutBoolean("pressed", Get());
+  }
+}
+
+std::shared_ptr<ITable> Trigger::GetTable() const { return m_table; }