Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/simulation/src/Utility.cpp b/wpilibc/simulation/src/Utility.cpp
new file mode 100644
index 0000000..b0710f1
--- /dev/null
+++ b/wpilibc/simulation/src/Utility.cpp
@@ -0,0 +1,235 @@
+
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+#include "Utility.h"
+
+#include "Timer.h"
+#include "simulation/simTime.h"
+#include <stdio.h>
+#include <string.h>
+
+#include <iostream>
+#include <sstream>
+#include <cstdio>
+#include <cstdlib>
+#include <cstring>
+#if defined(UNIX)
+ #include <execinfo.h>
+ #include <cxxabi.h>
+#endif
+
+static bool stackTraceEnabled = false;
+static bool suspendOnAssertEnabled = false;
+
+/**
+ * Enable Stack trace after asserts.
+ */
+void wpi_stackTraceOnAssertEnable(bool enabled)
+{
+ stackTraceEnabled = enabled;
+}
+
+/**
+ * Enable suspend on asssert.
+ * If enabled, the user task will be suspended whenever an assert fails. This
+ * will allow the user to attach to the task with the debugger and examine variables
+ * around the failure.
+ */
+void wpi_suspendOnAssertEnabled(bool enabled)
+{
+ suspendOnAssertEnabled = enabled;
+}
+
+static void wpi_handleTracing()
+{
+ // if (stackTraceEnabled)
+ // {
+ // printf("\n-----------<Stack Trace>----------------\n");
+ // printCurrentStackTrace();
+ // }
+ printf("\n");
+}
+
+/**
+ * Assert implementation.
+ * This allows breakpoints to be set on an assert.
+ * The users don't call this, but instead use the wpi_assert macros in Utility.h.
+ */
+bool wpi_assert_impl(bool conditionValue, const std::string &conditionText,
+ const std::string &message, const std::string &fileName,
+ uint32_t lineNumber, const std::string &funcName) {
+ if (!conditionValue) {
+ // Error string buffer
+ std::stringstream error;
+
+ // If an error message was specified, include it
+ // Build error string
+ if (message.size()) {
+ error << "Assertion failed: \"" << message << "\", \"" << conditionText
+ << "\" failed in " << funcName + "() in " << fileName << " at line "
+ << lineNumber;
+ } else {
+ error << "Assertion failed: \"" << conditionText << "\" in " << funcName
+ << "() in " << fileName << " at line " << lineNumber;
+ }
+
+ // Print to console and send to remote dashboard
+ std::cout << "\n\n>>>>" << error.str();
+
+ wpi_handleTracing();
+ }
+ return conditionValue;
+}
+
+/**
+ * Common error routines for wpi_assertEqual_impl and wpi_assertNotEqual_impl
+ * This should not be called directly; it should only be used by wpi_assertEqual_impl
+ * and wpi_assertNotEqual_impl.
+ */
+void wpi_assertEqual_common_impl(int valueA, int valueB,
+ const std::string &equalityType,
+ const std::string &message,
+ const std::string &fileName,
+ uint32_t lineNumber,
+ const std::string &funcName) {
+ // Error string buffer
+ std::stringstream error;
+
+ // If an error message was specified, include it
+ // Build error string
+ if (message.size() > 0) {
+ error << "Assertion failed: \"" << message << "\", \"" << valueA << "\" "
+ << equalityType << " \"" << valueB << "\" in " << funcName << "() in "
+ << fileName << " at line " << lineNumber << "\n";
+ } else {
+ error << "Assertion failed: \"" << valueA << "\" " << equalityType << " \""
+ << valueB << "\" in " << funcName << "() in " << fileName
+ << " at line " << lineNumber << "\n";
+ }
+
+ // Print to console and send to remote dashboard
+ std::cout << "\n\n>>>>" << error.str();
+
+ wpi_handleTracing();
+}
+
+/**
+ * Assert equal implementation.
+ * This determines whether the two given integers are equal. If not,
+ * the value of each is printed along with an optional message string.
+ * The users don't call this, but instead use the wpi_assertEqual macros in Utility.h.
+ */
+bool wpi_assertEqual_impl(int valueA,
+ int valueB,
+ const std::string &message,
+ const std::string &fileName,
+ uint32_t lineNumber,
+ const std::string &funcName)
+{
+ if(!(valueA == valueB))
+ {
+ wpi_assertEqual_common_impl(valueA, valueB, "!=", message, fileName, lineNumber, funcName);
+ }
+ return valueA == valueB;
+}
+
+/**
+ * Assert not equal implementation.
+ * This determines whether the two given integers are equal. If so,
+ * the value of each is printed along with an optional message string.
+ * The users don't call this, but instead use the wpi_assertNotEqual macros in Utility.h.
+ */
+bool wpi_assertNotEqual_impl(int valueA,
+ int valueB,
+ const std::string &message,
+ const std::string &fileName,
+ uint32_t lineNumber,
+ const std::string &funcName)
+{
+ if(!(valueA != valueB))
+ {
+ wpi_assertEqual_common_impl(valueA, valueB, "==", message, fileName, lineNumber, funcName);
+ }
+ return valueA != valueB;
+}
+
+/**
+ * Read the microsecond-resolution timer on the FPGA.
+ *
+ * @return The current time in microseconds according to the FPGA (since FPGA reset).
+ */
+uint32_t GetFPGATime()
+{
+ return wpilib::internal::simTime * 1e6;
+}
+
+//TODO: implement symbol demangling and backtrace on windows
+#if defined(UNIX)
+
+/**
+ * Demangle a C++ symbol, used for printing stack traces.
+ */
+static std::string demangle(char const *mangledSymbol)
+{
+ char buffer[256];
+ size_t length;
+ int status;
+
+ if(sscanf(mangledSymbol, "%*[^(]%*[^_]%255[^)+]", buffer))
+ {
+ char *symbol = abi::__cxa_demangle(buffer, nullptr, &length, &status);
+
+ if(status == 0)
+ {
+ return symbol;
+ }
+ else
+ {
+ // If the symbol couldn't be demangled, it's probably a C function,
+ // so just return it as-is.
+ return buffer;
+ }
+ }
+
+
+ // If everything else failed, just return the mangled symbol
+ return mangledSymbol;
+}
+
+/**
+ * Get a stack trace, ignoring the first "offset" symbols.
+ */
+std::string GetStackTrace(uint32_t offset)
+{
+ void *stackTrace[128];
+ int stackSize = backtrace(stackTrace, 128);
+ char **mangledSymbols = backtrace_symbols(stackTrace, stackSize);
+ std::stringstream trace;
+
+ for(int i = offset; i < stackSize; i++)
+ {
+ // Only print recursive functions once in a row.
+ if(i == 0 ||stackTrace[i] != stackTrace[i - 1])
+ {
+ trace << "\tat " << demangle(mangledSymbols[i]) << std::endl;
+ }
+ }
+
+ free(mangledSymbols);
+
+ return trace.str();
+}
+
+#else
+static std::string demangle(char const *mangledSymbol)
+{
+ return "no demangling on windows";
+}
+std::string GetStackTrace(uint32_t offset)
+{
+ return "no stack trace on windows";
+}
+#endif