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Update to 2018_v4 image and new build system. (#598)

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* 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
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
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80
wpilibc/src/main/native/include/Relay.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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 <memory>
#include <string>
#include "HAL/Types.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "MotorSafety.h"
#include "SensorBase.h"
#include "llvm/raw_ostream.h"
#include "tables/ITable.h"
#include "tables/ITableListener.h"
namespace frc {
class MotorSafetyHelper;
/**
* Class for Spike style relay outputs.
* Relays are intended to be connected to spikes or similar relays. The relay
* channels controls a pair of pins that are either both off, one on, the other
* on, or both on. This translates into two spike outputs at 0v, one at 12v and
* one at 0v, one at 0v and the other at 12v, or two spike outputs at 12V. This
* allows off, full forward, or full reverse control of motors without variable
* speed. It also allows the two channels (forward and reverse) to be used
* independently for something that does not care about voltage polarity (like
* a solenoid).
*/
class Relay : public MotorSafety,
public SensorBase,
public ITableListener,
public LiveWindowSendable {
public:
enum Value { kOff, kOn, kForward, kReverse };
enum Direction { kBothDirections, kForwardOnly, kReverseOnly };
explicit Relay(int channel, Direction direction = kBothDirections);
virtual ~Relay();
void Set(Value value);
Value Get() const;
int GetChannel() const;
void SetExpiration(double timeout) override;
double GetExpiration() const override;
bool IsAlive() const override;
void StopMotor() override;
bool IsSafetyEnabled() const override;
void SetSafetyEnabled(bool enabled) override;
void GetDescription(llvm::raw_ostream& desc) const override;
void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
std::shared_ptr<ITable> m_table;
private:
int m_channel;
Direction m_direction;
HAL_RelayHandle m_forwardHandle = HAL_kInvalidHandle;
HAL_RelayHandle m_reverseHandle = HAL_kInvalidHandle;
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
};
} // namespace frc