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Bring back the gazebo plugins (#1063)

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The models and meshes are not included. We will need
to find an alternate way to reintegrate these and use them.

* Add simulation/gz_msgs back, and build with Gradle.

* Add back in the frc simulation plugins for gazebo.

* Add a new shared library, halsim_gazebo.

This library will become the interface between the
HAL sim layer and gazebo.

* Preserve the first channel number used in created Encoders in the Sim MockData.

This allows us to use the DIO channel number to connect with simulated encoders.

* Have the HAL Simulator set the reverse direction on creation.

This enables a simulator to be aware of the direction.

* Add a drive_motor plugin.

This is a bit of a 'magic' motor, which allows us to build robot
models that drive in a more realistic fashion.  It does this
by apply forces directly to the chassis, rather than relying on
the complex motion dynamics of a driven wheel.

This in turn allows the model to reduce wheel friction,
reducing scrub, and allowing for a more natural driving experience.
This commit is contained in:
Jeremy White
2018-06-30 02:45:21 -05:00
committed by Peter Johnson
parent 70960b0251
commit ebd41fe0bb
60 changed files with 5278 additions and 1 deletions
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11
hal/src/main/native/sim/MockData/EncoderData.cpp
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@@ -22,6 +22,7 @@ void InitializeEncoderData() {
EncoderData* hal::SimEncoderData;
void EncoderData::ResetData() {
m_digitalChannelA = 0;
m_initialized = false;
m_initializedCallbacks = nullptr;
m_count = 0;
@@ -42,6 +43,12 @@ void EncoderData::ResetData() {
m_distancePerPulseCallbacks = nullptr;
}
void EncoderData::SetDigitalChannelA(int16_t channel) {
m_digitalChannelA = channel;
}
int16_t EncoderData::GetDigitalChannelA() const { return m_digitalChannelA; }
int32_t EncoderData::RegisterInitializedCallback(HAL_NotifyCallback callback,
void* param,
HAL_Bool initialNotify) {
@@ -373,6 +380,10 @@ void HALSIM_ResetEncoderData(int32_t index) {
SimEncoderData[index].ResetData();
}
int16_t HALSIM_GetDigitalChannelA(int32_t index) {
return SimEncoderData[index].GetDigitalChannelA();
}
int32_t HALSIM_RegisterEncoderInitializedCallback(int32_t index,
HAL_NotifyCallback callback,
void* param,