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/Notifier.cpp

@@ -0,0 +1,141 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 "Notifier.h"
+
+#include "HAL/HAL.h"
+#include "Timer.h"
+#include "Utility.h"
+#include "WPIErrors.h"
+
+using namespace frc;
+
+hal::priority_mutex Notifier::m_destructorMutex;
+
+/**
+ * Create a Notifier for timer event notification.
+ *
+ * @param handler The handler is called at the notification time which is set
+ *                using StartSingle or StartPeriodic.
+ */
+Notifier::Notifier(TimerEventHandler handler) {
+  if (handler == nullptr)
+    wpi_setWPIErrorWithContext(NullParameter, "handler must not be nullptr");
+  m_handler = handler;
+  int32_t status = 0;
+  m_notifier = HAL_InitializeNotifier(&Notifier::Notify, this, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Free the resources for a timer event.
+ */
+Notifier::~Notifier() {
+  int32_t status = 0;
+  // atomically set handle to 0, then clean
+  HAL_NotifierHandle handle = m_notifier.exchange(0);
+  HAL_CleanNotifier(handle, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+  /* Acquire the mutex; this makes certain that the handler is not being
+   * executed by the interrupt manager.
+   */
+  std::lock_guard<hal::priority_mutex> lockStatic(Notifier::m_destructorMutex);
+  std::lock_guard<hal::priority_mutex> lock(m_processMutex);
+}
+
+/**
+ * Update the HAL alarm time.
+ */
+void Notifier::UpdateAlarm() {
+  int32_t status = 0;
+  // Return if we are being destructed, or were not created successfully
+  if (m_notifier == 0) return;
+  HAL_UpdateNotifierAlarm(
+      m_notifier, static_cast<uint64_t>(m_expirationTime * 1e6), &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+}
+
+/**
+ * Notify is called by the HAL layer.  We simply need to pass it through to
+ * the user handler.
+ */
+void Notifier::Notify(uint64_t currentTimeInt, HAL_NotifierHandle handle) {
+  Notifier* notifier;
+  {
+    // Lock static mutex to grab the notifier param
+    std::lock_guard<hal::priority_mutex> lock(Notifier::m_destructorMutex);
+    int32_t status = 0;
+    auto notifierPointer = HAL_GetNotifierParam(handle, &status);
+    if (notifierPointer == nullptr) return;
+    notifier = static_cast<Notifier*>(notifierPointer);
+    notifier->m_processMutex.lock();
+  }
+
+  if (notifier->m_periodic) {
+    notifier->m_expirationTime += notifier->m_period;
+    notifier->UpdateAlarm();
+  }
+
+  auto handler = notifier->m_handler;
+
+  if (handler) handler();
+  notifier->m_processMutex.unlock();
+}
+
+/**
+ * Register for single event notification.
+ *
+ * A timer event is queued for a single event after the specified delay.
+ *
+ * @param delay Seconds to wait before the handler is called.
+ */
+void Notifier::StartSingle(double delay) {
+  std::lock_guard<hal::priority_mutex> sync(m_processMutex);
+  m_periodic = false;
+  m_period = delay;
+  m_expirationTime = GetClock() + m_period;
+  UpdateAlarm();
+}
+
+/**
+ * Register for periodic event notification.
+ *
+ * A timer event is queued for periodic event notification. Each time the
+ * interrupt occurs, the event will be immediately requeued for the same time
+ * interval.
+ *
+ * @param period Period in seconds to call the handler starting one period
+ *               after the call to this method.
+ */
+void Notifier::StartPeriodic(double period) {
+  std::lock_guard<hal::priority_mutex> sync(m_processMutex);
+  m_periodic = true;
+  m_period = period;
+  m_expirationTime = GetClock() + m_period;
+  UpdateAlarm();
+}
+
+/**
+ * Stop timer events from occuring.
+ *
+ * Stop any repeating timer events from occuring. This will also remove any
+ * single notification events from the queue.
+ *
+ * If a timer-based call to the registered handler is in progress, this function
+ * will block until the handler call is complete.
+ */
+void Notifier::Stop() {
+  int32_t status = 0;
+  HAL_StopNotifierAlarm(m_notifier, &status);
+  wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
+
+  // Wait for a currently executing handler to complete before returning from
+  // Stop()
+  std::lock_guard<hal::priority_mutex> lockStatic(Notifier::m_destructorMutex);
+  std::lock_guard<hal::priority_mutex> lock(m_processMutex);
+}