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/include/DriverStation.h

@@ -0,0 +1,134 @@
+/*----------------------------------------------------------------------------*/
+/* 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <atomic>
+#include <memory>
+#include <string>
+#include <thread>
+
+#include "HAL/DriverStation.h"
+#include "HAL/cpp/priority_mutex.h"
+#include "RobotState.h"
+#include "SensorBase.h"
+#include "llvm/StringRef.h"
+
+namespace frc {
+
+/**
+ * Provide access to the network communication data to / from the Driver
+ * Station.
+ */
+class DriverStation : public SensorBase, public RobotStateInterface {
+ public:
+  enum Alliance { kRed, kBlue, kInvalid };
+
+  virtual ~DriverStation();
+  static DriverStation& GetInstance();
+  static void ReportError(llvm::StringRef error);
+  static void ReportWarning(llvm::StringRef error);
+  static void ReportError(bool is_error, int code, llvm::StringRef error,
+                          llvm::StringRef location, llvm::StringRef stack);
+
+  static const int kJoystickPorts = 6;
+
+  double GetStickAxis(int stick, int axis);
+  int GetStickPOV(int stick, int pov);
+  int GetStickButtons(int stick) const;
+  bool GetStickButton(int stick, int button);
+
+  int GetStickAxisCount(int stick) const;
+  int GetStickPOVCount(int stick) const;
+  int GetStickButtonCount(int stick) const;
+
+  bool GetJoystickIsXbox(int stick) const;
+  int GetJoystickType(int stick) const;
+  std::string GetJoystickName(int stick) const;
+  int GetJoystickAxisType(int stick, int axis) const;
+
+  bool IsEnabled() const override;
+  bool IsDisabled() const override;
+  bool IsAutonomous() const override;
+  bool IsOperatorControl() const override;
+  bool IsTest() const override;
+  bool IsDSAttached() const;
+  bool IsNewControlData() const;
+  bool IsFMSAttached() const;
+  bool IsSysActive() const;
+  bool IsBrownedOut() const;
+
+  Alliance GetAlliance() const;
+  int GetLocation() const;
+  void WaitForData();
+  bool WaitForData(double timeout);
+  double GetMatchTime() const;
+  double GetBatteryVoltage() const;
+
+  /** Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only
+   * @param entering If true, starting disabled code; if false, leaving disabled
+   * code */
+  void InDisabled(bool entering) { m_userInDisabled = entering; }
+  /** Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only
+   * @param entering If true, starting autonomous code; if false, leaving
+   * autonomous code */
+  void InAutonomous(bool entering) { m_userInAutonomous = entering; }
+  /** Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only
+   * @param entering If true, starting teleop code; if false, leaving teleop
+   * code */
+  void InOperatorControl(bool entering) { m_userInTeleop = entering; }
+  /** Only to be used to tell the Driver Station what code you claim to be
+   * executing for diagnostic purposes only
+   * @param entering If true, starting test code; if false, leaving test code */
+  void InTest(bool entering) { m_userInTest = entering; }
+
+ protected:
+  void GetData();
+
+ private:
+  DriverStation();
+  void ReportJoystickUnpluggedError(llvm::StringRef message);
+  void ReportJoystickUnpluggedWarning(llvm::StringRef message);
+  void Run();
+  void UpdateControlWord(bool force, HAL_ControlWord& controlWord) const;
+
+  // Joystick User Data
+  std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxes;
+  std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVs;
+  std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtons;
+  std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptor;
+
+  // Joystick Cached Data
+  std::unique_ptr<HAL_JoystickAxes[]> m_joystickAxesCache;
+  std::unique_ptr<HAL_JoystickPOVs[]> m_joystickPOVsCache;
+  std::unique_ptr<HAL_JoystickButtons[]> m_joystickButtonsCache;
+  std::unique_ptr<HAL_JoystickDescriptor[]> m_joystickDescriptorCache;
+
+  // Internal Driver Station thread
+  std::thread m_dsThread;
+  std::atomic<bool> m_isRunning{false};
+
+  mutable hal::priority_mutex m_joystickDataMutex;
+
+  // Robot state status variables
+  bool m_userInDisabled = false;
+  bool m_userInAutonomous = false;
+  bool m_userInTeleop = false;
+  bool m_userInTest = false;
+
+  // Control word variables
+  mutable HAL_ControlWord m_controlWordCache;
+  mutable std::chrono::steady_clock::time_point m_lastControlWordUpdate;
+  mutable hal::priority_mutex m_controlWordMutex;
+
+  double m_nextMessageTime = 0;
+};
+
+}  // namespace frc