Fixed robot drive for C++ Simulation

initial values for m_invertedMotors is now 1
previously it was done in some of the constructors, but not all of them.

Change-Id: I2c1ce8d8a67f82d02c4c51f1c4d1aaad143f3112

build.gradle

@@ -18,7 +18,6 @@ allprojects {
         maven {
             url publishUrl
         }
-        mavenLocal()
         maven {
             url repoBaseUrl
         }

hal/lib/Athena/ctre/PDP.cpp

@@ -11,10 +11,10 @@
 #define CONTROL_1		0x08041C00	/* PDP_Control_ClearStats */
 
 #define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
-#define GET_STATUS1()		CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS2()		CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS3()		CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS_ENERGY()	CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS1()		CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS2()		CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS3()		CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS_ENERGY()	CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
 
 /* encoder/decoders */
 typedef struct _PdpStatus1_t{

hal/lib/Shared/HAL.cpp

@@ -34,17 +34,32 @@ int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
 {
 	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, &buttons->buttons, &buttons->count);
 }
-
+/**
+ * Retrieve the Joystick Descriptor for particular slot
+ * @param desc [out] descriptor (data transfer object) to fill in.  desc is filled in regardless of success.
+ *                              In other words, if descriptor is not available, desc is filled in with default
+ *                              values matching the init-values in Java and C++ Driverstation for when caller
+ *                              requests a too-large joystick index.
+ *
+ * @return error code reported from Network Comm back-end.  Zero is good, nonzero is bad.
+ */
 int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
 {
 	desc->isXbox = 0;
 	desc->type = -1;
 	desc->name[0] = '\0';
-	desc->axisCount = 0;
+	desc->axisCount = kMaxJoystickAxes; /* set to the desc->axisTypes's capacity */
 	desc->buttonCount = 0;
 	desc->povCount = 0;
-	return FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name),
+	int retval = FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name),
 		&desc->axisCount, (uint8_t *)&desc->axisTypes, &desc->buttonCount, &desc->povCount);
+	/* check the return, if there is an error and the RIOimage predates FRC2017, then axisCount needs to be cleared */
+	if(retval != 0)
+	{
+		/* set count to zero so downstream code doesn't decode invalid axisTypes. */
+		desc->axisCount = 0;
+	}
+	return retval;
 }
 
 int HALGetJoystickIsXbox(uint8_t joystickNum)

wpilibc/Athena/src/RobotBase.cpp

@@ -27,6 +27,7 @@ void RobotBase::setInstance(RobotBase *robot) {
 RobotBase &RobotBase::getInstance() { return *m_instance; }
 
 void RobotBase::robotSetup(RobotBase *robot) {
+  printf("\n********** Robot program starting **********\n");
   robot->StartCompetition();
 }
 
@@ -55,7 +56,7 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
   file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
 
   if (file != nullptr) {
-    fputs("2016 C++ Beta5.0", file);
+    fputs("2016 C++ Release 3", file);
     fclose(file);
   }
 }

wpilibc/simulation/include/RobotDrive.h

@@ -94,7 +94,7 @@ protected:
 
 	static const int32_t kMaxNumberOfMotors = 4;
 
-	int32_t m_invertedMotors[kMaxNumberOfMotors];
+	int32_t m_invertedMotors[kMaxNumberOfMotors] = {1,1,1,1};
 	float m_sensitivity = 0.5;
 	double m_maxOutput = 1.0;
 	bool m_deleteSpeedControllers;

wpilibc/simulation/src/RobotDrive.cpp

@@ -52,11 +52,6 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
 	InitRobotDrive();
 	m_rearLeftMotor = std::make_shared<Talon>(leftMotorChannel);
 	m_rearRightMotor = std::make_shared<Talon>(rightMotorChannel);
-
-	for (int32_t i=0; i < kMaxNumberOfMotors; i++)
-	{
-		m_invertedMotors[i] = 1;
-	}
 	SetLeftRightMotorOutputs(0.0, 0.0);
 	m_deleteSpeedControllers = true;
 }
@@ -79,10 +74,6 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
 	m_rearRightMotor = std::make_shared<Talon>(rearRightMotor);
 	m_frontLeftMotor = std::make_shared<Talon>(frontLeftMotor);
 	m_frontRightMotor = std::make_shared<Talon>(frontRightMotor);
-	for (int32_t i=0; i < kMaxNumberOfMotors; i++)
-	{
-		m_invertedMotors[i] = 1;
-	}
 	SetLeftRightMotorOutputs(0.0, 0.0);
 	m_deleteSpeedControllers = true;
 }

wpilibj/simulation.gradle

@@ -53,29 +53,8 @@ task wpilibjSimJavadocJar(type: Jar, dependsOn: wpilibjSimJavadoc) {
     from wpilibjSimJavadoc.destinationDir
 }
 
-// Maven publishing configuration
-publishing {
-    publications {
-        wpilibjSim(MavenPublication) {
-            artifact wpilibjSimJar {
-                classifier = 'simulation'
-            }
-            artifact(wpilibjSimSources) {
-                classifier = 'sources-simulation'
-            }
-            artifact(wpilibjSimJavadocJar) {
-                classifier 'javadoc-simulation'
-            }
-
-            groupId 'edu.wpi.first.wpilibj'
-            artifactId 'wpilibJavaSim'
-            version '0.1.0-SNAPSHOT'
-        }
-    }
-}
-
 //we need to move the simulation jars to the install directory
-task copyJars(type: Copy) {
+task copyJars(type: Copy, dependsOn: wpilibjSimJar) {
     description = 'copy wpilibj simulation jar to make simulation zip'
     group = 'WPILib Simulation'
     from wpilibjSimJar.archivePath

wpilibj/src/athena/java/edu/wpi/first/wpilibj/RobotBase.java

@@ -223,7 +223,7 @@ public abstract class RobotBase {
 
       output = new FileOutputStream(file);
 
-      output.write("2016 Java Beta5.0".getBytes());
+      output.write("2016 Java Release 3".getBytes());
 
     } catch (IOException ex) {
       ex.printStackTrace();
@@ -238,6 +238,7 @@ public abstract class RobotBase {
 
     boolean errorOnExit = false;
     try {
+      System.out.println("********** Robot program starting **********");
       robot.startCompetition();
     } catch (Throwable t) {
       DriverStation.reportError(