Also make sure table listeners stop listening in their destructors. This
might be better handled by moving the table itself into ITableListener and
providing cleanup functionality there.
A submodule is used to pull in ntcore.
Change-Id: I3031c1a768595cf0f8754c47e15cd423e2dbcce5
I'm not 100% sure whether we want these, but they are a quick
find and replace to do.
Basically, there are two primary things that we have done
this summer that break existing user code:
-Changing GetInstance() calls to return references instead
of pointers. This forces users to change from doing something
like LiveWindow::GetInstance()->AddSensor() to LiveWindow::GetInstance().AddSensor().
-Making PIDGet() and related calls const, forcing users to change
the function signatures wherever they override them.
The GetInstance() calls don't really matter to me either way,
especially since there are no real ownership issues going on there,
unlike the rest of the smart pointer-related changes.
For the const stuff, it is certainly more correct to mandate that
user PIDGet() functions be const and the such, but at the same time,
I'm not sure that there is any strong need for it, and the errors
generated are not the most helpful. While this wouldn't necessarily
be an issue for more experienced teams or completely new teams (who
don't have any old code to be reusing), it may cause issues for more
average teams who aren't familiar with the intricacies of C++ anything.
Change-Id: I6e7007982069292ea70e6d0fc8ca40203340df1b
builds two libraries, Athena and Desktop.
Simulation should use Desktop, Robots should use Athena
Also:
- copied Driverstation and Joystick from Devices into Sim
- Descreased dependency of pthreads in JNI.
- removed Simulation ifdef from non simulation
- added missing decprecated attribute for msvc
- removed usage reporting from sim
- removed unused pom.xml and constexpr
Change-Id: If8eb540f9434dce17c77a245fda6985713e80b2d
verified to work on real robots
adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows
- Java and C++ simulation robot programs run on windows
- simulation eclipse plugin delivers models and gazebo plugins
- Java Gazebo now respects GAZEBO_IP variables and can work across networks
- hal and network tables win32 hacked to work on windows
- smart dashboard broken on windows due to network tables hacks
- wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake
- removed constexpr for cross platform compatibility
- msgs generated using .protos as a part of build process
- some spare and unused cmake/pom files deleted
- simulation ubuntu debians removed entirely
- refactored CMake project flags and macros
- updated to match non-sim C++ API
- fixed and updated documentation
- servo added to simulation
Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05
Several ctre headers were in source directories but were required by other
headers in include directories. This worked in gradle but not in cmake.
Change-Id: I806c76031b396d1694a18b8e30c705e92f617a66
Recent changes in master broke the build of wpilibJavaSim. Since the build server doesn't build the plugins after the library, this wasn't caught.
Change-Id: Ibd4a2ba9f359ddbc395ba0654fccada10ca78c78
C++14 changed the definition of VLAs, so the previous usage was no longer valid ISO C++. GCC 5.1.0 actually enforces this definition, so this commit fixes the build under GCC 5.1.0. This also builds under GCC 4.9.1.
Change-Id: Ib5ae2c49b4c4c21455b722b6633d7841066b4872
This both disables the CANTalon in the CANTalon class (which
should be redundant) and stops sending control signals in the
CanTalonSRX hal class.
Change-Id: I63d6a9d016c221e385d5d5a3679d854882ac6650
I ran the benchmark in a tmpfs with an Intel Core i5-2430M. I ran it three times for each combination of build invokation and source tree.
First, I tested "make". For master (eb7d55f), I measured an average of 42.751s with a standard deviation of 0.372s. For this commit, I measured an average of 33.394s with a standard deviation of 0.140s. There was a 9.356s, or 22%, improvement with a total error of 1.3%.
Second, I tested "make -j4". For master (eb7d55f), I measured an average of 21.723s with a standard deviation of 0.158s. For this commit, I measured an average of 16.823s with a standard deviation of 0.340s. There was a 4.900s, or 23%, improvement with a total error of 2.7%.
Change-Id: Idb3adce62ed8ef449360c6583896b6da3565cf58
Also added some references/smart pointers to a couple places
that seemed convenient to the user.
I haven't updated the constructors for RobotDrive() related
examples, pending the results of gerrit change https://usfirst.collab.net/gerrit/#/c/960/
A few things that we are noticing:
--It might be nice if ReturnPIDInput() didn't have to be const;
when people try to override it, they have to remember to put
the const in and if they don't, then the compiler error isn't the
most obvious (especially since this is a change). This would also
apply to PIDGet() in the PIDSource interface.
--SendableChooser still takes raw pointers. This could lead to an
issue I had to debug briefly where you accidentally call
GetSelected() on autoChooser and put the resulting raw pointer
into a unique_ptr, which destroys the pointer when it goes out of
scope. Specifically, I was testing the PacGoat example and
I ended up with a situation where if auto mode was run once, it
was fine, but if it was run twice, the selected command would
have been destroyed by the unique_ptr. I believe that this
just requires updating SendableChosser to take shared_ptr.
--When the samples are compiled with -pedantic, it points out that
START_ROBOT_CLASS macro expansion results in a redundant semicolon.
Change-Id: Ib4c025a61263d0d2780d4253faa31713e15333a5
Also added a GetAvgError method to the PIDController
which averages the past n error values for use with
noisy sensor values (namely, for the velocity stuff).
Change-Id: I8a9cf40259dd56ef9093b36ed6891cc18b9131cf
This avoids large additions introduced by the D term when a step change occurs in the setpoint. Otherwise, the changes return the same values. Let error = setpoint - input and prevError = prevSetpoint - prevInput. If the D term is calculated via error - prevError, then:
error - prevError = (setpoint - input) - (prevSetpoint - prevInput)
If we ignore the setpoint changing, then we get:
error - prevError = (setpoint - input) - (setpoint - prevInput)
= prevInput - input
Change-Id: Ifa4af9b265e3c4bd263e8541355f2b80269693e9
CANTalon declared a std::unique_ptr<CanTalonSRX> with CanTalonSRX as an incomplete type. This causes a compilation error in code using CANTalons. The CANTalonTest didn't catch this because it included ctre/CanTalonSRX.h as well as CANTalon.h. Normal user code doesn't do that.
I reviewed uses of std::unique_ptr elsewhere and determined that PIDCommand may suffer from the same problem. There is no test for PIDCommand to prove otherwise.
Change-Id: I54caf4941927910471ffb7170eb6737ba0e08437
IterativeRobot and BinaryImage had no constructor
defined (and so would give linker errors).
Error just had an empty constructor defined,
so I switched to "=default".
Change-Id: Ia8efb4282928227878dfefeda58ccb8cf06aabb2
The HAL will remain untouched in order to maintain C-style
compatibility. A few places in wpilibc were left as
C-style strings, especially if special formatting (eg,
elaborate uses of snprintf or sscanf) was being used.
In general, const char* was changed to std::string.
character buffers used for formatting were either
untouched, changed to std::stringstream, or changed
to std::string, depending on what was done with
the buffer.
Change-Id: I5e431ddf1cc4d9a6d534e1f21b16ea23be26e7f1
This deals with the majority of the user-facing code
in wpilibC++Devices and a substantial portion of it in
wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests
are untouched except where it is necessary to make them
work with the rest of the libraries.
There is still a lot to do in the following areas:
-The HAL (which we may not want to touch at all).
-The I2C, Serial, and SPI interfaces in wpilibC++Devices,
which I haven't gotten around to doing yet.
-Most wpilibC++Devices classes have void* pointers
for interacting with the HAL.
-InterruptableSensorBase passes a void *params for
the interrupt handler.
-I haven't converted all the const char* to std::strings.
-There are plenty of other cases of raw pointers still
existing.
-This doesn't fall directly under raw pointer stuff,
but move syntax and rvalue references could be introduced
in many places.
-I haven't touched vision code.
-The Resource classes conflict (one is in the hal, the other
in wpilibC++). Someone should figure out a more
permanent fix (eg, just renaming them), then doing
what I did (making a new namespace for one of them,
essentially the same as renaming it).
A few other things:
-I created a NullDeleter class which is marked as deprecated.
What this does is it can be passed as the deleter to a
std::shared_ptr so that when you are converting raw pointers
to shared_ptrs the shared_ptr doesn't do any deletion if
someone else owns the raw pointer. This should only be
used in making old raw pointer UIs.
-I had to alter the build.gradle so that it did not
emit errors when deprecated functions called deprecated
functions. Unfortunately, gradle doesn't appear to be
actually printing out gcc warnigns for some reason.
The best way I have found to fix this is to patch
the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff)
so that a deprecated function calling a deprecated
function is fine but a non-deprecated function calling
a deprecated function will throw a warning (which we
then elevate with -Werror). I believe that clang
deals with this properly, although I have not
tried it myself.
Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
Implemented setTaskPriority() and getTaskPriority() in Task HAL API
Removed all other unimplemented functions in HAL and removed spawnTask()
Replaced instances of pthread_t* with TASK typedef
Removed unused HAL error constants and removed commented-out classes and functions in wpilibj's HALLibrary
Changed Task class API to match the construction semantics of a std::thread
Change-Id: I3bc951a3da90d24c5589fae4d1ca2bb60225c873
Because we want to be able to compile/run wpilibC++Sim on
windows, we would prefer not to require a windows version
of pthread. This commit moves from pthread constructs to
standard library constructs.
Change-Id: I12392a8910189537dd067afdf017e4994d570a66
Removed unused variable from DigitalInput class
Removed extraneous explicit std::string conversions in Preferences class
Change-Id: Ia445abfd136a7b3e7f0491ed22aaa057814bcc8f
* changes:
artf4107: Removed most "Init" functions from classes
artf4107: Replaced throw() with noexcept
artf4107: GetInstance() calls are now atomic
artf4107: Uniform initialization syntax introduced
artf4107: clang-modernize was run on WPILib
