Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/simulation/frc_gazebo_plugins/README.md b/simulation/frc_gazebo_plugins/README.md
new file mode 100644
index 0000000..4a5a59a
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/README.md
@@ -0,0 +1,45 @@
+Gazebo plugins for FRC
+======================
+
+These plugins enable the use of the Gazebo physics simulator to model robots,
+and then use WPILIB programming libraries to control those simulated robots.
+
+At the present time, this only builds on Linux, and has a fairly complex
+installation process.
+
+You must have the gazebo development packages available on Linux.
+The gradle build system will automatically skip building this directory
+if those requirements are not met.
+
+This command:
+
+ `./gradlew build -PmakeSim`
+
+will force it to attempt to build.
+
+TODO: The meshes for the models are large, and are not hosted in
+the main allwpilib repository. An alternate method of hosting
+and using is being built at the time of this commit. You must
+manually locate and copy the the models and world from that
+either into /usr/share/frcgazebo or into build/share/frcgazebo
+in order to use this facility.
+
+Once you have built it, then a command like this:
+
+ `simulation/frc_gazebo_plugins/build/bin/frcgazebo PacGoat2014.world`
+
+should run the Gazebo simulation using our plugins against the
+2014 model, with the PacGoat robot on the field.
+
+The halsim_gazebo simulation library will provide a method for
+running robot code to control a simulated robot.
+
+
+TODO: Package the plugins more nicely, and then put instructions here.
+
+TODO: Build and package the plugins for Windows. The key there is to get gazebo
+working on Windows. This link was a useful trove of information on Windows/Gazebo
+issues as of September, 2017:
+ https://bitbucket.org/osrf/gazebo/issues/2129/visual-studio-2015-compatibility
+
+Note that the sense remains that this will be difficult at best.
diff --git a/simulation/frc_gazebo_plugins/build.gradle b/simulation/frc_gazebo_plugins/build.gradle
new file mode 100644
index 0000000..6d3c908
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/build.gradle
@@ -0,0 +1,116 @@
+description = "A set of C++ plugins to interface the FRC Simulator with Gazebo."
+
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: 'cpp'
+apply plugin: "google-test"
+
+ext.skipAthena = true
+ext.skipRaspbian = true
+
+apply from: "${rootDir}/shared/config.gradle"
+
+/* If gz_msgs or gazebo is not available, do not attempt a build */
+def gazebo_version = ""
+def gazebo_cppflags = ""
+def gazebo_linker_args = ""
+
+try {
+ gazebo_version = "pkg-config --modversion gazebo".execute().text.trim()
+ println "Gazebo version is [${gazebo_version}]"
+ gazebo_cppflags = "pkg-config --cflags gazebo".execute().text.split()
+ gazebo_linker_args = "pkg-config --libs gazebo protobuf".execute().text.split()
+} catch(Exception ex) { }
+
+if (!gazebo_version?.trim()) {
+ println "Gazebo development files are not available. (pkg-config --modversion gazebo failed)"
+ if (project.hasProperty("makeSim")) {
+ /* Force the build even though we did not find protobuf. */
+ println "makeSim set. Forcing build - failure likely."
+ }
+ else {
+ ext.skip_frc_plugins = true
+ println "Skipping FRC Plugins."
+ }
+}
+
+evaluationDependsOn(":simulation:gz_msgs")
+def gz_msgs_project = project(":simulation:gz_msgs")
+
+tasks.whenTaskAdded { task ->
+ task.onlyIf { !gz_msgs_project.hasProperty('skip_gz_msgs') && !project.hasProperty('skip_frc_plugins') }
+}
+
+model {
+ components {
+ clock(NativeLibrarySpec)
+ dc_motor(NativeLibrarySpec)
+ encoder(NativeLibrarySpec)
+ gyro(NativeLibrarySpec)
+ limit_switch(NativeLibrarySpec)
+ potentiometer(NativeLibrarySpec)
+ pneumatic_piston(NativeLibrarySpec)
+ rangefinder(NativeLibrarySpec)
+ servo(NativeLibrarySpec)
+ drive_motor(NativeLibrarySpec)
+ all { component ->
+ component.targetBuildTypes 'debug'
+ sources {
+ cpp.lib library: "${component.name}", linkage: "static"
+ }
+ }
+
+ }
+
+ /* TODO: Finish writing the test case */
+
+ /* We pass the name of the .so and a .world file to each test */
+ testSuites {
+ all { test->
+ def library_file
+ testedComponent.binaries.withType(SharedLibraryBinarySpec).each { b->
+ library_file = b.sharedLibraryFile
+ }
+
+ tasks.withType(RunTestExecutable) {
+ args library_file, file("src/${baseName}/world/${baseName}.world")
+ }
+ }
+ }
+
+
+ binaries {
+ all {
+ linker.args gazebo_linker_args
+ cppCompiler.args gazebo_cppflags
+ lib project: ":simulation:gz_msgs", library: "gz_msgs", linkage: "static"
+ }
+
+ /* TODO: build only shared object? Figure out why this doesn't work? */
+ withType(StaticLibraryBinarySpec) {
+ buildable = false
+ }
+
+ withType(GoogleTestTestSuiteBinarySpec) {
+
+ /* We currently only have a test for the clock plugin */
+ /* TODO: learn how to add this back to gmock */
+ //if (it.projectScopedName.contains("clockTest")) {
+ // buildable = true
+ // project(':gmock').addGmockToLinker(it)
+ //}
+ //else {
+ buildable = false
+ //}
+ }
+ }
+}
+
+task copyScript(type: Copy, group: "FRC Gazebo", description: "Copy the frcgazebo script to the output directory.") {
+ from "scripts"
+ into "$project.buildDir/bin"
+ fileMode 0755
+}
+
+build.dependsOn copyScript
+
+/* TODO: Publish this library */
diff --git a/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy b/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy
new file mode 100644
index 0000000..887c9c1
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy
@@ -0,0 +1,2303 @@
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+
+# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all
+# undocumented members inside documented classes or files. If set to NO these
+# members will be included in the various overviews, but no documentation
+# section is generated. This option has no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_MEMBERS = NO
+
+# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all
+# undocumented classes that are normally visible in the class hierarchy. If set
+# to NO these classes will be included in the various overviews. This option has
+# no effect if EXTRACT_ALL is enabled.
+# The default value is: NO.
+
+HIDE_UNDOC_CLASSES = NO
+
+# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend
+# (class|struct|union) declarations. If set to NO these declarations will be
+# included in the documentation.
+# The default value is: NO.
+
+HIDE_FRIEND_COMPOUNDS = NO
+
+# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any
+# documentation blocks found inside the body of a function. If set to NO these
+# blocks will be appended to the function's detailed documentation block.
+# The default value is: NO.
+
+HIDE_IN_BODY_DOCS = NO
+
+# The INTERNAL_DOCS tag determines if documentation that is typed after a
+# \internal command is included. If the tag is set to NO then the documentation
+# will be excluded. Set it to YES to include the internal documentation.
+# The default value is: NO.
+
+INTERNAL_DOCS = NO
+
+# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file
+# names in lower-case letters. If set to YES upper-case letters are also
+# allowed. This is useful if you have classes or files whose names only differ
+# in case and if your file system supports case sensitive file names. Windows
+# and Mac users are advised to set this option to NO.
+# The default value is: system dependent.
+
+CASE_SENSE_NAMES = YES
+
+# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with
+# their full class and namespace scopes in the documentation. If set to YES the
+# scope will be hidden.
+# The default value is: NO.
+
+HIDE_SCOPE_NAMES = NO
+
+# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of
+# the files that are included by a file in the documentation of that file.
+# The default value is: YES.
+
+SHOW_INCLUDE_FILES = YES
+
+# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each
+# grouped member an include statement to the documentation, telling the reader
+# which file to include in order to use the member.
+# The default value is: NO.
+
+SHOW_GROUPED_MEMB_INC = NO
+
+# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include
+# files with double quotes in the documentation rather than with sharp brackets.
+# The default value is: NO.
+
+FORCE_LOCAL_INCLUDES = NO
+
+# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the
+# documentation for inline members.
+# The default value is: YES.
+
+INLINE_INFO = YES
+
+# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the
+# (detailed) documentation of file and class members alphabetically by member
+# name. If set to NO the members will appear in declaration order.
+# The default value is: YES.
+
+SORT_MEMBER_DOCS = YES
+
+# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief
+# descriptions of file, namespace and class members alphabetically by member
+# name. If set to NO the members will appear in declaration order. Note that
+# this will also influence the order of the classes in the class list.
+# The default value is: NO.
+
+SORT_BRIEF_DOCS = NO
+
+# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the
+# (brief and detailed) documentation of class members so that constructors and
+# destructors are listed first. If set to NO the constructors will appear in the
+# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS.
+# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief
+# member documentation.
+# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting
+# detailed member documentation.
+# The default value is: NO.
+
+SORT_MEMBERS_CTORS_1ST = NO
+
+# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy
+# of group names into alphabetical order. If set to NO the group names will
+# appear in their defined order.
+# The default value is: NO.
+
+SORT_GROUP_NAMES = NO
+
+# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by
+# fully-qualified names, including namespaces. If set to NO, the class list will
+# be sorted only by class name, not including the namespace part.
+# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
+# Note: This option applies only to the class list, not to the alphabetical
+# list.
+# The default value is: NO.
+
+SORT_BY_SCOPE_NAME = NO
+
+# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper
+# type resolution of all parameters of a function it will reject a match between
+# the prototype and the implementation of a member function even if there is
+# only one candidate or it is obvious which candidate to choose by doing a
+# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still
+# accept a match between prototype and implementation in such cases.
+# The default value is: NO.
+
+STRICT_PROTO_MATCHING = NO
+
+# The GENERATE_TODOLIST tag can be used to enable ( YES) or disable ( NO) the
+# todo list. This list is created by putting \todo commands in the
+# documentation.
+# The default value is: YES.
+
+GENERATE_TODOLIST = YES
+
+# The GENERATE_TESTLIST tag can be used to enable ( YES) or disable ( NO) the
+# test list. This list is created by putting \test commands in the
+# documentation.
+# The default value is: YES.
+
+GENERATE_TESTLIST = YES
+
+# The GENERATE_BUGLIST tag can be used to enable ( YES) or disable ( NO) the bug
+# list. This list is created by putting \bug commands in the documentation.
+# The default value is: YES.
+
+GENERATE_BUGLIST = YES
+
+# The GENERATE_DEPRECATEDLIST tag can be used to enable ( YES) or disable ( NO)
+# the deprecated list. This list is created by putting \deprecated commands in
+# the documentation.
+# The default value is: YES.
+
+GENERATE_DEPRECATEDLIST= YES
+
+# The ENABLED_SECTIONS tag can be used to enable conditional documentation
+# sections, marked by \if <section_label> ... \endif and \cond <section_label>
+# ... \endcond blocks.
+
+ENABLED_SECTIONS =
+
+# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the
+# initial value of a variable or macro / define can have for it to appear in the
+# documentation. If the initializer consists of more lines than specified here
+# it will be hidden. Use a value of 0 to hide initializers completely. The
+# appearance of the value of individual variables and macros / defines can be
+# controlled using \showinitializer or \hideinitializer command in the
+# documentation regardless of this setting.
+# Minimum value: 0, maximum value: 10000, default value: 30.
+
+MAX_INITIALIZER_LINES = 30
+
+# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at
+# the bottom of the documentation of classes and structs. If set to YES the list
+# will mention the files that were used to generate the documentation.
+# The default value is: YES.
+
+SHOW_USED_FILES = YES
+
+# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This
+# will remove the Files entry from the Quick Index and from the Folder Tree View
+# (if specified).
+# The default value is: YES.
+
+SHOW_FILES = YES
+
+# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces
+# page. This will remove the Namespaces entry from the Quick Index and from the
+# Folder Tree View (if specified).
+# The default value is: YES.
+
+SHOW_NAMESPACES = YES
+
+# The FILE_VERSION_FILTER tag can be used to specify a program or script that
+# doxygen should invoke to get the current version for each file (typically from
+# the version control system). Doxygen will invoke the program by executing (via
+# popen()) the command command input-file, where command is the value of the
+# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided
+# by doxygen. Whatever the program writes to standard output is used as the file
+# version. For an example see the documentation.
+
+FILE_VERSION_FILTER =
+
+# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed
+# by doxygen. The layout file controls the global structure of the generated
+# output files in an output format independent way. To create the layout file
+# that represents doxygen's defaults, run doxygen with the -l option. You can
+# optionally specify a file name after the option, if omitted DoxygenLayout.xml
+# will be used as the name of the layout file.
+#
+# Note that if you run doxygen from a directory containing a file called
+# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE
+# tag is left empty.
+
+LAYOUT_FILE =
+
+# The CITE_BIB_FILES tag can be used to specify one or more bib files containing
+# the reference definitions. This must be a list of .bib files. The .bib
+# extension is automatically appended if omitted. This requires the bibtex tool
+# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info.
+# For LaTeX the style of the bibliography can be controlled using
+# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the
+# search path. Do not use file names with spaces, bibtex cannot handle them. See
+# also \cite for info how to create references.
+
+CITE_BIB_FILES =
+
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+
+# The QUIET tag can be used to turn on/off the messages that are generated to
+# standard output by doxygen. If QUIET is set to YES this implies that the
+# messages are off.
+# The default value is: NO.
+
+QUIET = NO
+
+# The WARNINGS tag can be used to turn on/off the warning messages that are
+# generated to standard error ( stderr) by doxygen. If WARNINGS is set to YES
+# this implies that the warnings are on.
+#
+# Tip: Turn warnings on while writing the documentation.
+# The default value is: YES.
+
+WARNINGS = YES
+
+# If the WARN_IF_UNDOCUMENTED tag is set to YES, then doxygen will generate
+# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag
+# will automatically be disabled.
+# The default value is: YES.
+
+WARN_IF_UNDOCUMENTED = YES
+
+# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for
+# potential errors in the documentation, such as not documenting some parameters
+# in a documented function, or documenting parameters that don't exist or using
+# markup commands wrongly.
+# The default value is: YES.
+
+WARN_IF_DOC_ERROR = YES
+
+# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that
+# are documented, but have no documentation for their parameters or return
+# value. If set to NO doxygen will only warn about wrong or incomplete parameter
+# documentation, but not about the absence of documentation.
+# The default value is: NO.
+
+WARN_NO_PARAMDOC = NO
+
+# The WARN_FORMAT tag determines the format of the warning messages that doxygen
+# can produce. The string should contain the $file, $line, and $text tags, which
+# will be replaced by the file and line number from which the warning originated
+# and the warning text. Optionally the format may contain $version, which will
+# be replaced by the version of the file (if it could be obtained via
+# FILE_VERSION_FILTER)
+# The default value is: $file:$line: $text.
+
+WARN_FORMAT = "$file:$line: $text"
+
+# The WARN_LOGFILE tag can be used to specify a file to which warning and error
+# messages should be written. If left blank the output is written to standard
+# error (stderr).
+
+WARN_LOGFILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+
+# The INPUT tag is used to specify the files and/or directories that contain
+# documented source files. You may enter file names like myfile.cpp or
+# directories like /usr/src/myproject. Separate the files or directories with
+# spaces.
+# Note: If this tag is empty the current directory is searched.
+
+INPUT =
+
+# This tag can be used to specify the character encoding of the source files
+# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
+# libiconv (or the iconv built into libc) for the transcoding. See the libiconv
+# documentation (see: http://www.gnu.org/software/libiconv) for the list of
+# possible encodings.
+# The default value is: UTF-8.
+
+INPUT_ENCODING = UTF-8
+
+# If the value of the INPUT tag contains directories, you can use the
+# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank the
+# following patterns are tested:*.c, *.cc, *.cxx, *.cpp, *.c++, *.java, *.ii,
+# *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, *.hh, *.hxx, *.hpp,
+# *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, *.m, *.markdown,
+# *.md, *.mm, *.dox, *.py, *.f90, *.f, *.for, *.tcl, *.vhd, *.vhdl, *.ucf,
+# *.qsf, *.as and *.js.
+
+FILE_PATTERNS =
+
+# The RECURSIVE tag can be used to specify whether or not subdirectories should
+# be searched for input files as well.
+# The default value is: NO.
+
+RECURSIVE = YES
+
+# The EXCLUDE tag can be used to specify files and/or directories that should be
+# excluded from the INPUT source files. This way you can easily exclude a
+# subdirectory from a directory tree whose root is specified with the INPUT tag.
+#
+# Note that relative paths are relative to the directory from which doxygen is
+# run.
+
+EXCLUDE =
+
+# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
+# directories that are symbolic links (a Unix file system feature) are excluded
+# from the input.
+# The default value is: NO.
+
+EXCLUDE_SYMLINKS = NO
+
+# If the value of the INPUT tag contains directories, you can use the
+# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
+# certain files from those directories.
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories for example use the pattern */test/*
+
+EXCLUDE_PATTERNS =
+
+# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
+# (namespaces, classes, functions, etc.) that should be excluded from the
+# output. The symbol name can be a fully qualified name, a word, or if the
+# wildcard * is used, a substring. Examples: ANamespace, AClass,
+# AClass::ANamespace, ANamespace::*Test
+#
+# Note that the wildcards are matched against the file with absolute path, so to
+# exclude all test directories use the pattern */test/*
+
+EXCLUDE_SYMBOLS =
+
+# The EXAMPLE_PATH tag can be used to specify one or more files or directories
+# that contain example code fragments that are included (see the \include
+# command).
+
+EXAMPLE_PATH =
+
+# If the value of the EXAMPLE_PATH tag contains directories, you can use the
+# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
+# *.h) to filter out the source-files in the directories. If left blank all
+# files are included.
+
+EXAMPLE_PATTERNS =
+
+# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be
+# searched for input files to be used with the \include or \dontinclude commands
+# irrespective of the value of the RECURSIVE tag.
+# The default value is: NO.
+
+EXAMPLE_RECURSIVE = NO
+
+# The IMAGE_PATH tag can be used to specify one or more files or directories
+# that contain images that are to be included in the documentation (see the
+# \image command).
+
+IMAGE_PATH =
+
+# The INPUT_FILTER tag can be used to specify a program that doxygen should
+# invoke to filter for each input file. Doxygen will invoke the filter program
+# by executing (via popen()) the command:
+#
+# <filter> <input-file>
+#
+# where <filter> is the value of the INPUT_FILTER tag, and <input-file> is the
+# name of an input file. Doxygen will then use the output that the filter
+# program writes to standard output. If FILTER_PATTERNS is specified, this tag
+# will be ignored.
+#
+# Note that the filter must not add or remove lines; it is applied before the
+# code is scanned, but not when the output code is generated. If lines are added
+# or removed, the anchors will not be placed correctly.
+
+INPUT_FILTER =
+
+# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
+# basis. Doxygen will compare the file name with each pattern and apply the
+# filter if there is a match. The filters are a list of the form: pattern=filter
+# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how
+# filters are used. If the FILTER_PATTERNS tag is empty or if none of the
+# patterns match the file name, INPUT_FILTER is applied.
+
+FILTER_PATTERNS =
+
+# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
+# INPUT_FILTER ) will also be used to filter the input files that are used for
+# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES).
+# The default value is: NO.
+
+FILTER_SOURCE_FILES = NO
+
+# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file
+# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and
+# it is also possible to disable source filtering for a specific pattern using
+# *.ext= (so without naming a filter).
+# This tag requires that the tag FILTER_SOURCE_FILES is set to YES.
+
+FILTER_SOURCE_PATTERNS =
+
+# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that
+# is part of the input, its contents will be placed on the main page
+# (index.html). This can be useful if you have a project on for instance GitHub
+# and want to reuse the introduction page also for the doxygen output.
+
+USE_MDFILE_AS_MAINPAGE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+
+# If the SOURCE_BROWSER tag is set to YES then a list of source files will be
+# generated. Documented entities will be cross-referenced with these sources.
+#
+# Note: To get rid of all source code in the generated output, make sure that
+# also VERBATIM_HEADERS is set to NO.
+# The default value is: NO.
+
+SOURCE_BROWSER = NO
+
+# Setting the INLINE_SOURCES tag to YES will include the body of functions,
+# classes and enums directly into the documentation.
+# The default value is: NO.
+
+INLINE_SOURCES = NO
+
+# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any
+# special comment blocks from generated source code fragments. Normal C, C++ and
+# Fortran comments will always remain visible.
+# The default value is: YES.
+
+STRIP_CODE_COMMENTS = YES
+
+# If the REFERENCED_BY_RELATION tag is set to YES then for each documented
+# function all documented functions referencing it will be listed.
+# The default value is: NO.
+
+REFERENCED_BY_RELATION = NO
+
+# If the REFERENCES_RELATION tag is set to YES then for each documented function
+# all documented entities called/used by that function will be listed.
+# The default value is: NO.
+
+REFERENCES_RELATION = NO
+
+# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set
+# to YES, then the hyperlinks from functions in REFERENCES_RELATION and
+# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will
+# link to the documentation.
+# The default value is: YES.
+
+REFERENCES_LINK_SOURCE = YES
+
+# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the
+# source code will show a tooltip with additional information such as prototype,
+# brief description and links to the definition and documentation. Since this
+# will make the HTML file larger and loading of large files a bit slower, you
+# can opt to disable this feature.
+# The default value is: YES.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+SOURCE_TOOLTIPS = YES
+
+# If the USE_HTAGS tag is set to YES then the references to source code will
+# point to the HTML generated by the htags(1) tool instead of doxygen built-in
+# source browser. The htags tool is part of GNU's global source tagging system
+# (see http://www.gnu.org/software/global/global.html). You will need version
+# 4.8.6 or higher.
+#
+# To use it do the following:
+# - Install the latest version of global
+# - Enable SOURCE_BROWSER and USE_HTAGS in the config file
+# - Make sure the INPUT points to the root of the source tree
+# - Run doxygen as normal
+#
+# Doxygen will invoke htags (and that will in turn invoke gtags), so these
+# tools must be available from the command line (i.e. in the search path).
+#
+# The result: instead of the source browser generated by doxygen, the links to
+# source code will now point to the output of htags.
+# The default value is: NO.
+# This tag requires that the tag SOURCE_BROWSER is set to YES.
+
+USE_HTAGS = NO
+
+# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a
+# verbatim copy of the header file for each class for which an include is
+# specified. Set to NO to disable this.
+# See also: Section \class.
+# The default value is: YES.
+
+VERBATIM_HEADERS = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+
+# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all
+# compounds will be generated. Enable this if the project contains a lot of
+# classes, structs, unions or interfaces.
+# The default value is: YES.
+
+ALPHABETICAL_INDEX = YES
+
+# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in
+# which the alphabetical index list will be split.
+# Minimum value: 1, maximum value: 20, default value: 5.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+COLS_IN_ALPHA_INDEX = 5
+
+# In case all classes in a project start with a common prefix, all classes will
+# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag
+# can be used to specify a prefix (or a list of prefixes) that should be ignored
+# while generating the index headers.
+# This tag requires that the tag ALPHABETICAL_INDEX is set to YES.
+
+IGNORE_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_HTML tag is set to YES doxygen will generate HTML output
+# The default value is: YES.
+
+GENERATE_HTML = YES
+
+# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_OUTPUT = html
+
+# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each
+# generated HTML page (for example: .htm, .php, .asp).
+# The default value is: .html.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FILE_EXTENSION = .html
+
+# The HTML_HEADER tag can be used to specify a user-defined HTML header file for
+# each generated HTML page. If the tag is left blank doxygen will generate a
+# standard header.
+#
+# To get valid HTML the header file that includes any scripts and style sheets
+# that doxygen needs, which is dependent on the configuration options used (e.g.
+# the setting GENERATE_TREEVIEW). It is highly recommended to start with a
+# default header using
+# doxygen -w html new_header.html new_footer.html new_stylesheet.css
+# YourConfigFile
+# and then modify the file new_header.html. See also section "Doxygen usage"
+# for information on how to generate the default header that doxygen normally
+# uses.
+# Note: The header is subject to change so you typically have to regenerate the
+# default header when upgrading to a newer version of doxygen. For a description
+# of the possible markers and block names see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_HEADER =
+
+# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each
+# generated HTML page. If the tag is left blank doxygen will generate a standard
+# footer. See HTML_HEADER for more information on how to generate a default
+# footer and what special commands can be used inside the footer. See also
+# section "Doxygen usage" for information on how to generate the default footer
+# that doxygen normally uses.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_FOOTER =
+
+# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style
+# sheet that is used by each HTML page. It can be used to fine-tune the look of
+# the HTML output. If left blank doxygen will generate a default style sheet.
+# See also section "Doxygen usage" for information on how to generate the style
+# sheet that doxygen normally uses.
+# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as
+# it is more robust and this tag (HTML_STYLESHEET) will in the future become
+# obsolete.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_STYLESHEET =
+
+# The HTML_EXTRA_STYLESHEET tag can be used to specify an additional user-
+# defined cascading style sheet that is included after the standard style sheets
+# created by doxygen. Using this option one can overrule certain style aspects.
+# This is preferred over using HTML_STYLESHEET since it does not replace the
+# standard style sheet and is therefor more robust against future updates.
+# Doxygen will copy the style sheet file to the output directory. For an example
+# see the documentation.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_STYLESHEET =
+
+# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the HTML output directory. Note
+# that these files will be copied to the base HTML output directory. Use the
+# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these
+# files. In the HTML_STYLESHEET file, use the file name only. Also note that the
+# files will be copied as-is; there are no commands or markers available.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_EXTRA_FILES =
+
+# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen
+# will adjust the colors in the stylesheet and background images according to
+# this color. Hue is specified as an angle on a colorwheel, see
+# http://en.wikipedia.org/wiki/Hue for more information. For instance the value
+# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300
+# purple, and 360 is red again.
+# Minimum value: 0, maximum value: 359, default value: 220.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_HUE = 220
+
+# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors
+# in the HTML output. For a value of 0 the output will use grayscales only. A
+# value of 255 will produce the most vivid colors.
+# Minimum value: 0, maximum value: 255, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_SAT = 100
+
+# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the
+# luminance component of the colors in the HTML output. Values below 100
+# gradually make the output lighter, whereas values above 100 make the output
+# darker. The value divided by 100 is the actual gamma applied, so 80 represents
+# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not
+# change the gamma.
+# Minimum value: 40, maximum value: 240, default value: 80.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_COLORSTYLE_GAMMA = 80
+
+# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML
+# page will contain the date and time when the page was generated. Setting this
+# to NO can help when comparing the output of multiple runs.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_TIMESTAMP = YES
+
+# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML
+# documentation will contain sections that can be hidden and shown after the
+# page has loaded.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_DYNAMIC_SECTIONS = NO
+
+# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries
+# shown in the various tree structured indices initially; the user can expand
+# and collapse entries dynamically later on. Doxygen will expand the tree to
+# such a level that at most the specified number of entries are visible (unless
+# a fully collapsed tree already exceeds this amount). So setting the number of
+# entries 1 will produce a full collapsed tree by default. 0 is a special value
+# representing an infinite number of entries and will result in a full expanded
+# tree by default.
+# Minimum value: 0, maximum value: 9999, default value: 100.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+HTML_INDEX_NUM_ENTRIES = 100
+
+# If the GENERATE_DOCSET tag is set to YES, additional index files will be
+# generated that can be used as input for Apple's Xcode 3 integrated development
+# environment (see: http://developer.apple.com/tools/xcode/), introduced with
+# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a
+# Makefile in the HTML output directory. Running make will produce the docset in
+# that directory and running make install will install the docset in
+# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at
+# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html
+# for more information.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_DOCSET = NO
+
+# This tag determines the name of the docset feed. A documentation feed provides
+# an umbrella under which multiple documentation sets from a single provider
+# (such as a company or product suite) can be grouped.
+# The default value is: Doxygen generated docs.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_FEEDNAME = "Doxygen generated docs"
+
+# This tag specifies a string that should uniquely identify the documentation
+# set bundle. This should be a reverse domain-name style string, e.g.
+# com.mycompany.MyDocSet. Doxygen will append .docset to the name.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_BUNDLE_ID = org.doxygen.Project
+
+# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify
+# the documentation publisher. This should be a reverse domain-name style
+# string, e.g. com.mycompany.MyDocSet.documentation.
+# The default value is: org.doxygen.Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_ID = org.doxygen.Publisher
+
+# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher.
+# The default value is: Publisher.
+# This tag requires that the tag GENERATE_DOCSET is set to YES.
+
+DOCSET_PUBLISHER_NAME = Publisher
+
+# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three
+# additional HTML index files: index.hhp, index.hhc, and index.hhk. The
+# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop
+# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on
+# Windows.
+#
+# The HTML Help Workshop contains a compiler that can convert all HTML output
+# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML
+# files are now used as the Windows 98 help format, and will replace the old
+# Windows help format (.hlp) on all Windows platforms in the future. Compressed
+# HTML files also contain an index, a table of contents, and you can search for
+# words in the documentation. The HTML workshop also contains a viewer for
+# compressed HTML files.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_HTMLHELP = NO
+
+# The CHM_FILE tag can be used to specify the file name of the resulting .chm
+# file. You can add a path in front of the file if the result should not be
+# written to the html output directory.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_FILE =
+
+# The HHC_LOCATION tag can be used to specify the location (absolute path
+# including file name) of the HTML help compiler ( hhc.exe). If non-empty
+# doxygen will try to run the HTML help compiler on the generated index.hhp.
+# The file has to be specified with full path.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+HHC_LOCATION =
+
+# The GENERATE_CHI flag controls if a separate .chi index file is generated (
+# YES) or that it should be included in the master .chm file ( NO).
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+GENERATE_CHI = NO
+
+# The CHM_INDEX_ENCODING is used to encode HtmlHelp index ( hhk), content ( hhc)
+# and project file content.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+CHM_INDEX_ENCODING =
+
+# The BINARY_TOC flag controls whether a binary table of contents is generated (
+# YES) or a normal table of contents ( NO) in the .chm file.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+BINARY_TOC = NO
+
+# The TOC_EXPAND flag can be set to YES to add extra items for group members to
+# the table of contents of the HTML help documentation and to the tree view.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTMLHELP is set to YES.
+
+TOC_EXPAND = NO
+
+# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and
+# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that
+# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help
+# (.qch) of the generated HTML documentation.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_QHP = NO
+
+# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify
+# the file name of the resulting .qch file. The path specified is relative to
+# the HTML output folder.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QCH_FILE =
+
+# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help
+# Project output. For more information please see Qt Help Project / Namespace
+# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace).
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_NAMESPACE = org.doxygen.Project
+
+# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt
+# Help Project output. For more information please see Qt Help Project / Virtual
+# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual-
+# folders).
+# The default value is: doc.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_VIRTUAL_FOLDER = doc
+
+# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom
+# filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_NAME =
+
+# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the
+# custom filter to add. For more information please see Qt Help Project / Custom
+# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom-
+# filters).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_CUST_FILTER_ATTRS =
+
+# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this
+# project's filter section matches. Qt Help Project / Filter Attributes (see:
+# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes).
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHP_SECT_FILTER_ATTRS =
+
+# The QHG_LOCATION tag can be used to specify the location of Qt's
+# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the
+# generated .qhp file.
+# This tag requires that the tag GENERATE_QHP is set to YES.
+
+QHG_LOCATION =
+
+# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be
+# generated, together with the HTML files, they form an Eclipse help plugin. To
+# install this plugin and make it available under the help contents menu in
+# Eclipse, the contents of the directory containing the HTML and XML files needs
+# to be copied into the plugins directory of eclipse. The name of the directory
+# within the plugins directory should be the same as the ECLIPSE_DOC_ID value.
+# After copying Eclipse needs to be restarted before the help appears.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_ECLIPSEHELP = NO
+
+# A unique identifier for the Eclipse help plugin. When installing the plugin
+# the directory name containing the HTML and XML files should also have this
+# name. Each documentation set should have its own identifier.
+# The default value is: org.doxygen.Project.
+# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES.
+
+ECLIPSE_DOC_ID = org.doxygen.Project
+
+# If you want full control over the layout of the generated HTML pages it might
+# be necessary to disable the index and replace it with your own. The
+# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top
+# of each HTML page. A value of NO enables the index and the value YES disables
+# it. Since the tabs in the index contain the same information as the navigation
+# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+DISABLE_INDEX = YES
+
+# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index
+# structure should be generated to display hierarchical information. If the tag
+# value is set to YES, a side panel will be generated containing a tree-like
+# index structure (just like the one that is generated for HTML Help). For this
+# to work a browser that supports JavaScript, DHTML, CSS and frames is required
+# (i.e. any modern browser). Windows users are probably better off using the
+# HTML help feature. Via custom stylesheets (see HTML_EXTRA_STYLESHEET) one can
+# further fine-tune the look of the index. As an example, the default style
+# sheet generated by doxygen has an example that shows how to put an image at
+# the root of the tree instead of the PROJECT_NAME. Since the tree basically has
+# the same information as the tab index, you could consider setting
+# DISABLE_INDEX to YES when enabling this option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+GENERATE_TREEVIEW = YES
+
+# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
+# doxygen will group on one line in the generated HTML documentation.
+#
+# Note that a value of 0 will completely suppress the enum values from appearing
+# in the overview section.
+# Minimum value: 0, maximum value: 20, default value: 4.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+ENUM_VALUES_PER_LINE = 4
+
+# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used
+# to set the initial width (in pixels) of the frame in which the tree is shown.
+# Minimum value: 0, maximum value: 1500, default value: 250.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+TREEVIEW_WIDTH = 250
+
+# When the EXT_LINKS_IN_WINDOW option is set to YES doxygen will open links to
+# external symbols imported via tag files in a separate window.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+EXT_LINKS_IN_WINDOW = NO
+
+# Use this tag to change the font size of LaTeX formulas included as images in
+# the HTML documentation. When you change the font size after a successful
+# doxygen run you need to manually remove any form_*.png images from the HTML
+# output directory to force them to be regenerated.
+# Minimum value: 8, maximum value: 50, default value: 10.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_FONTSIZE = 10
+
+# Use the FORMULA_TRANPARENT tag to determine whether or not the images
+# generated for formulas are transparent PNGs. Transparent PNGs are not
+# supported properly for IE 6.0, but are supported on all modern browsers.
+#
+# Note that when changing this option you need to delete any form_*.png files in
+# the HTML output directory before the changes have effect.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+FORMULA_TRANSPARENT = YES
+
+# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see
+# http://www.mathjax.org) which uses client side Javascript for the rendering
+# instead of using prerendered bitmaps. Use this if you do not have LaTeX
+# installed or if you want to formulas look prettier in the HTML output. When
+# enabled you may also need to install MathJax separately and configure the path
+# to it using the MATHJAX_RELPATH option.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+USE_MATHJAX = NO
+
+# When MathJax is enabled you can set the default output format to be used for
+# the MathJax output. See the MathJax site (see:
+# http://docs.mathjax.org/en/latest/output.html) for more details.
+# Possible values are: HTML-CSS (which is slower, but has the best
+# compatibility), NativeMML (i.e. MathML) and SVG.
+# The default value is: HTML-CSS.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_FORMAT = HTML-CSS
+
+# When MathJax is enabled you need to specify the location relative to the HTML
+# output directory using the MATHJAX_RELPATH option. The destination directory
+# should contain the MathJax.js script. For instance, if the mathjax directory
+# is located at the same level as the HTML output directory, then
+# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax
+# Content Delivery Network so you can quickly see the result without installing
+# MathJax. However, it is strongly recommended to install a local copy of
+# MathJax from http://www.mathjax.org before deployment.
+# The default value is: http://cdn.mathjax.org/mathjax/latest.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest
+
+# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax
+# extension names that should be enabled during MathJax rendering. For example
+# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_EXTENSIONS =
+
+# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces
+# of code that will be used on startup of the MathJax code. See the MathJax site
+# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an
+# example see the documentation.
+# This tag requires that the tag USE_MATHJAX is set to YES.
+
+MATHJAX_CODEFILE =
+
+# When the SEARCHENGINE tag is enabled doxygen will generate a search box for
+# the HTML output. The underlying search engine uses javascript and DHTML and
+# should work on any modern browser. Note that when using HTML help
+# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET)
+# there is already a search function so this one should typically be disabled.
+# For large projects the javascript based search engine can be slow, then
+# enabling SERVER_BASED_SEARCH may provide a better solution. It is possible to
+# search using the keyboard; to jump to the search box use <access key> + S
+# (what the <access key> is depends on the OS and browser, but it is typically
+# <CTRL>, <ALT>/<option>, or both). Inside the search box use the <cursor down
+# key> to jump into the search results window, the results can be navigated
+# using the <cursor keys>. Press <Enter> to select an item or <escape> to cancel
+# the search. The filter options can be selected when the cursor is inside the
+# search box by pressing <Shift>+<cursor down>. Also here use the <cursor keys>
+# to select a filter and <Enter> or <escape> to activate or cancel the filter
+# option.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_HTML is set to YES.
+
+SEARCHENGINE = YES
+
+# When the SERVER_BASED_SEARCH tag is enabled the search engine will be
+# implemented using a web server instead of a web client using Javascript. There
+# are two flavours of web server based searching depending on the
+# EXTERNAL_SEARCH setting. When disabled, doxygen will generate a PHP script for
+# searching and an index file used by the script. When EXTERNAL_SEARCH is
+# enabled the indexing and searching needs to be provided by external tools. See
+# the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SERVER_BASED_SEARCH = NO
+
+# When EXTERNAL_SEARCH tag is enabled doxygen will no longer generate the PHP
+# script for searching. Instead the search results are written to an XML file
+# which needs to be processed by an external indexer. Doxygen will invoke an
+# external search engine pointed to by the SEARCHENGINE_URL option to obtain the
+# search results.
+#
+# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/).
+#
+# See the section "External Indexing and Searching" for details.
+# The default value is: NO.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH = NO
+
+# The SEARCHENGINE_URL should point to a search engine hosted by a web server
+# which will return the search results when EXTERNAL_SEARCH is enabled.
+#
+# Doxygen ships with an example indexer ( doxyindexer) and search engine
+# (doxysearch.cgi) which are based on the open source search engine library
+# Xapian (see: http://xapian.org/). See the section "External Indexing and
+# Searching" for details.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHENGINE_URL =
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the unindexed
+# search data is written to a file for indexing by an external tool. With the
+# SEARCHDATA_FILE tag the name of this file can be specified.
+# The default file is: searchdata.xml.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+SEARCHDATA_FILE = searchdata.xml
+
+# When SERVER_BASED_SEARCH and EXTERNAL_SEARCH are both enabled the
+# EXTERNAL_SEARCH_ID tag can be used as an identifier for the project. This is
+# useful in combination with EXTRA_SEARCH_MAPPINGS to search through multiple
+# projects and redirect the results back to the right project.
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTERNAL_SEARCH_ID =
+
+# The EXTRA_SEARCH_MAPPINGS tag can be used to enable searching through doxygen
+# projects other than the one defined by this configuration file, but that are
+# all added to the same external search index. Each project needs to have a
+# unique id set via EXTERNAL_SEARCH_ID. The search mapping then maps the id of
+# to a relative location where the documentation can be found. The format is:
+# EXTRA_SEARCH_MAPPINGS = tagname1=loc1 tagname2=loc2 ...
+# This tag requires that the tag SEARCHENGINE is set to YES.
+
+EXTRA_SEARCH_MAPPINGS =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_LATEX tag is set to YES doxygen will generate LaTeX output.
+# The default value is: YES.
+
+GENERATE_LATEX = YES
+
+# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_OUTPUT = latex
+
+# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
+# invoked.
+#
+# Note that when enabling USE_PDFLATEX this option is only used for generating
+# bitmaps for formulas in the HTML output, but not in the Makefile that is
+# written to the output directory.
+# The default file is: latex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_CMD_NAME = latex
+
+# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to generate
+# index for LaTeX.
+# The default file is: makeindex.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+MAKEINDEX_CMD_NAME = makeindex
+
+# If the COMPACT_LATEX tag is set to YES doxygen generates more compact LaTeX
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+COMPACT_LATEX = NO
+
+# The PAPER_TYPE tag can be used to set the paper type that is used by the
+# printer.
+# Possible values are: a4 (210 x 297 mm), letter (8.5 x 11 inches), legal (8.5 x
+# 14 inches) and executive (7.25 x 10.5 inches).
+# The default value is: a4.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PAPER_TYPE = a4
+
+# The EXTRA_PACKAGES tag can be used to specify one or more LaTeX package names
+# that should be included in the LaTeX output. To get the times font for
+# instance you can specify
+# EXTRA_PACKAGES=times
+# If left blank no extra packages will be included.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+EXTRA_PACKAGES =
+
+# The LATEX_HEADER tag can be used to specify a personal LaTeX header for the
+# generated LaTeX document. The header should contain everything until the first
+# chapter. If it is left blank doxygen will generate a standard header. See
+# section "Doxygen usage" for information on how to let doxygen write the
+# default header to a separate file.
+#
+# Note: Only use a user-defined header if you know what you are doing! The
+# following commands have a special meaning inside the header: $title,
+# $datetime, $date, $doxygenversion, $projectname, $projectnumber. Doxygen will
+# replace them by respectively the title of the page, the current date and time,
+# only the current date, the version number of doxygen, the project name (see
+# PROJECT_NAME), or the project number (see PROJECT_NUMBER).
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HEADER =
+
+# The LATEX_FOOTER tag can be used to specify a personal LaTeX footer for the
+# generated LaTeX document. The footer should contain everything after the last
+# chapter. If it is left blank doxygen will generate a standard footer.
+#
+# Note: Only use a user-defined footer if you know what you are doing!
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_FOOTER =
+
+# The LATEX_EXTRA_FILES tag can be used to specify one or more extra images or
+# other source files which should be copied to the LATEX_OUTPUT output
+# directory. Note that the files will be copied as-is; there are no commands or
+# markers available.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_EXTRA_FILES =
+
+# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated is
+# prepared for conversion to PDF (using ps2pdf or pdflatex). The PDF file will
+# contain links (just like the HTML output) instead of page references. This
+# makes the output suitable for online browsing using a PDF viewer.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+PDF_HYPERLINKS = YES
+
+# If the LATEX_PDFLATEX tag is set to YES, doxygen will use pdflatex to generate
+# the PDF file directly from the LaTeX files. Set this option to YES to get a
+# higher quality PDF documentation.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+USE_PDFLATEX = YES
+
+# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \batchmode
+# command to the generated LaTeX files. This will instruct LaTeX to keep running
+# if errors occur, instead of asking the user for help. This option is also used
+# when generating formulas in HTML.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BATCHMODE = NO
+
+# If the LATEX_HIDE_INDICES tag is set to YES then doxygen will not include the
+# index chapters (such as File Index, Compound Index, etc.) in the output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_HIDE_INDICES = NO
+
+# If the LATEX_SOURCE_CODE tag is set to YES then doxygen will include source
+# code with syntax highlighting in the LaTeX output.
+#
+# Note that which sources are shown also depends on other settings such as
+# SOURCE_BROWSER.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_SOURCE_CODE = NO
+
+# The LATEX_BIB_STYLE tag can be used to specify the style to use for the
+# bibliography, e.g. plainnat, or ieeetr. See
+# http://en.wikipedia.org/wiki/BibTeX and \cite for more info.
+# The default value is: plain.
+# This tag requires that the tag GENERATE_LATEX is set to YES.
+
+LATEX_BIB_STYLE = plain
+
+#---------------------------------------------------------------------------
+# Configuration options related to the RTF output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_RTF tag is set to YES doxygen will generate RTF output. The
+# RTF output is optimized for Word 97 and may not look too pretty with other RTF
+# readers/editors.
+# The default value is: NO.
+
+GENERATE_RTF = NO
+
+# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: rtf.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_OUTPUT = rtf
+
+# If the COMPACT_RTF tag is set to YES doxygen generates more compact RTF
+# documents. This may be useful for small projects and may help to save some
+# trees in general.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+COMPACT_RTF = NO
+
+# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated will
+# contain hyperlink fields. The RTF file will contain links (just like the HTML
+# output) instead of page references. This makes the output suitable for online
+# browsing using Word or some other Word compatible readers that support those
+# fields.
+#
+# Note: WordPad (write) and others do not support links.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_HYPERLINKS = NO
+
+# Load stylesheet definitions from file. Syntax is similar to doxygen's config
+# file, i.e. a series of assignments. You only have to provide replacements,
+# missing definitions are set to their default value.
+#
+# See also section "Doxygen usage" for information on how to generate the
+# default style sheet that doxygen normally uses.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_STYLESHEET_FILE =
+
+# Set optional variables used in the generation of an RTF document. Syntax is
+# similar to doxygen's config file. A template extensions file can be generated
+# using doxygen -e rtf extensionFile.
+# This tag requires that the tag GENERATE_RTF is set to YES.
+
+RTF_EXTENSIONS_FILE =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the man page output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_MAN tag is set to YES doxygen will generate man pages for
+# classes and files.
+# The default value is: NO.
+
+GENERATE_MAN = NO
+
+# The MAN_OUTPUT tag is used to specify where the man pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it. A directory man3 will be created inside the directory specified by
+# MAN_OUTPUT.
+# The default directory is: man.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_OUTPUT = man
+
+# The MAN_EXTENSION tag determines the extension that is added to the generated
+# man pages. In case the manual section does not start with a number, the number
+# 3 is prepended. The dot (.) at the beginning of the MAN_EXTENSION tag is
+# optional.
+# The default value is: .3.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_EXTENSION = .3
+
+# If the MAN_LINKS tag is set to YES and doxygen generates man output, then it
+# will generate one additional man file for each entity documented in the real
+# man page(s). These additional files only source the real man page, but without
+# them the man command would be unable to find the correct page.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_MAN is set to YES.
+
+MAN_LINKS = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the XML output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_XML tag is set to YES doxygen will generate an XML file that
+# captures the structure of the code including all documentation.
+# The default value is: NO.
+
+GENERATE_XML = NO
+
+# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
+# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of
+# it.
+# The default directory is: xml.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_OUTPUT = xml
+
+# The XML_SCHEMA tag can be used to specify a XML schema, which can be used by a
+# validating XML parser to check the syntax of the XML files.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_SCHEMA =
+
+# The XML_DTD tag can be used to specify a XML DTD, which can be used by a
+# validating XML parser to check the syntax of the XML files.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_DTD =
+
+# If the XML_PROGRAMLISTING tag is set to YES doxygen will dump the program
+# listings (including syntax highlighting and cross-referencing information) to
+# the XML output. Note that enabling this will significantly increase the size
+# of the XML output.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_XML is set to YES.
+
+XML_PROGRAMLISTING = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to the DOCBOOK output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_DOCBOOK tag is set to YES doxygen will generate Docbook files
+# that can be used to generate PDF.
+# The default value is: NO.
+
+GENERATE_DOCBOOK = NO
+
+# The DOCBOOK_OUTPUT tag is used to specify where the Docbook pages will be put.
+# If a relative path is entered the value of OUTPUT_DIRECTORY will be put in
+# front of it.
+# The default directory is: docbook.
+# This tag requires that the tag GENERATE_DOCBOOK is set to YES.
+
+DOCBOOK_OUTPUT = docbook
+
+#---------------------------------------------------------------------------
+# Configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_AUTOGEN_DEF tag is set to YES doxygen will generate an AutoGen
+# Definitions (see http://autogen.sf.net) file that captures the structure of
+# the code including all documentation. Note that this feature is still
+# experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_AUTOGEN_DEF = NO
+
+#---------------------------------------------------------------------------
+# Configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+
+# If the GENERATE_PERLMOD tag is set to YES doxygen will generate a Perl module
+# file that captures the structure of the code including all documentation.
+#
+# Note that this feature is still experimental and incomplete at the moment.
+# The default value is: NO.
+
+GENERATE_PERLMOD = NO
+
+# If the PERLMOD_LATEX tag is set to YES doxygen will generate the necessary
+# Makefile rules, Perl scripts and LaTeX code to be able to generate PDF and DVI
+# output from the Perl module output.
+# The default value is: NO.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_LATEX = NO
+
+# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be nicely
+# formatted so it can be parsed by a human reader. This is useful if you want to
+# understand what is going on. On the other hand, if this tag is set to NO the
+# size of the Perl module output will be much smaller and Perl will parse it
+# just the same.
+# The default value is: YES.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_PRETTY = YES
+
+# The names of the make variables in the generated doxyrules.make file are
+# prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. This is useful
+# so different doxyrules.make files included by the same Makefile don't
+# overwrite each other's variables.
+# This tag requires that the tag GENERATE_PERLMOD is set to YES.
+
+PERLMOD_MAKEVAR_PREFIX =
+
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+
+# If the ENABLE_PREPROCESSING tag is set to YES doxygen will evaluate all
+# C-preprocessor directives found in the sources and include files.
+# The default value is: YES.
+
+ENABLE_PREPROCESSING = YES
+
+# If the MACRO_EXPANSION tag is set to YES doxygen will expand all macro names
+# in the source code. If set to NO only conditional compilation will be
+# performed. Macro expansion can be done in a controlled way by setting
+# EXPAND_ONLY_PREDEF to YES.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+MACRO_EXPANSION = NO
+
+# If the EXPAND_ONLY_PREDEF and MACRO_EXPANSION tags are both set to YES then
+# the macro expansion is limited to the macros specified with the PREDEFINED and
+# EXPAND_AS_DEFINED tags.
+# The default value is: NO.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_ONLY_PREDEF = NO
+
+# If the SEARCH_INCLUDES tag is set to YES the includes files in the
+# INCLUDE_PATH will be searched if a #include is found.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SEARCH_INCLUDES = YES
+
+# The INCLUDE_PATH tag can be used to specify one or more directories that
+# contain include files that are not input files but should be processed by the
+# preprocessor.
+# This tag requires that the tag SEARCH_INCLUDES is set to YES.
+
+INCLUDE_PATH =
+
+# You can use the INCLUDE_FILE_PATTERNS tag to specify one or more wildcard
+# patterns (like *.h and *.hpp) to filter out the header-files in the
+# directories. If left blank, the patterns specified with FILE_PATTERNS will be
+# used.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+INCLUDE_FILE_PATTERNS =
+
+# The PREDEFINED tag can be used to specify one or more macro names that are
+# defined before the preprocessor is started (similar to the -D option of e.g.
+# gcc). The argument of the tag is a list of macros of the form: name or
+# name=definition (no spaces). If the definition and the "=" are omitted, "=1"
+# is assumed. To prevent a macro definition from being undefined via #undef or
+# recursively expanded use the := operator instead of the = operator.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+PREDEFINED =
+
+# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then this
+# tag can be used to specify a list of macro names that should be expanded. The
+# macro definition that is found in the sources will be used. Use the PREDEFINED
+# tag if you want to use a different macro definition that overrules the
+# definition found in the source code.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+EXPAND_AS_DEFINED =
+
+# If the SKIP_FUNCTION_MACROS tag is set to YES then doxygen's preprocessor will
+# remove all refrences to function-like macros that are alone on a line, have an
+# all uppercase name, and do not end with a semicolon. Such function macros are
+# typically used for boiler-plate code, and will confuse the parser if not
+# removed.
+# The default value is: YES.
+# This tag requires that the tag ENABLE_PREPROCESSING is set to YES.
+
+SKIP_FUNCTION_MACROS = YES
+
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+
+# The TAGFILES tag can be used to specify one or more tag files. For each tag
+# file the location of the external documentation should be added. The format of
+# a tag file without this location is as follows:
+# TAGFILES = file1 file2 ...
+# Adding location for the tag files is done as follows:
+# TAGFILES = file1=loc1 "file2 = loc2" ...
+# where loc1 and loc2 can be relative or absolute paths or URLs. See the
+# section "Linking to external documentation" for more information about the use
+# of tag files.
+# Note: Each tag file must have an unique name (where the name does NOT include
+# the path). If a tag file is not located in the directory in which doxygen is
+# run, you must also specify the path to the tagfile here.
+
+TAGFILES =
+
+# When a file name is specified after GENERATE_TAGFILE, doxygen will create a
+# tag file that is based on the input files it reads. See section "Linking to
+# external documentation" for more information about the usage of tag files.
+
+GENERATE_TAGFILE =
+
+# If the ALLEXTERNALS tag is set to YES all external class will be listed in the
+# class index. If set to NO only the inherited external classes will be listed.
+# The default value is: NO.
+
+ALLEXTERNALS = NO
+
+# If the EXTERNAL_GROUPS tag is set to YES all external groups will be listed in
+# the modules index. If set to NO, only the current project's groups will be
+# listed.
+# The default value is: YES.
+
+EXTERNAL_GROUPS = YES
+
+# If the EXTERNAL_PAGES tag is set to YES all external pages will be listed in
+# the related pages index. If set to NO, only the current project's pages will
+# be listed.
+# The default value is: YES.
+
+EXTERNAL_PAGES = YES
+
+# The PERL_PATH should be the absolute path and name of the perl script
+# interpreter (i.e. the result of 'which perl').
+# The default file (with absolute path) is: /usr/bin/perl.
+
+PERL_PATH = /usr/bin/perl
+
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+
+# If the CLASS_DIAGRAMS tag is set to YES doxygen will generate a class diagram
+# (in HTML and LaTeX) for classes with base or super classes. Setting the tag to
+# NO turns the diagrams off. Note that this option also works with HAVE_DOT
+# disabled, but it is recommended to install and use dot, since it yields more
+# powerful graphs.
+# The default value is: YES.
+
+CLASS_DIAGRAMS = YES
+
+# You can define message sequence charts within doxygen comments using the \msc
+# command. Doxygen will then run the mscgen tool (see:
+# http://www.mcternan.me.uk/mscgen/)) to produce the chart and insert it in the
+# documentation. The MSCGEN_PATH tag allows you to specify the directory where
+# the mscgen tool resides. If left empty the tool is assumed to be found in the
+# default search path.
+
+MSCGEN_PATH =
+
+# You can include diagrams made with dia in doxygen documentation. Doxygen will
+# then run dia to produce the diagram and insert it in the documentation. The
+# DIA_PATH tag allows you to specify the directory where the dia binary resides.
+# If left empty dia is assumed to be found in the default search path.
+
+DIA_PATH =
+
+# If set to YES, the inheritance and collaboration graphs will hide inheritance
+# and usage relations if the target is undocumented or is not a class.
+# The default value is: YES.
+
+HIDE_UNDOC_RELATIONS = YES
+
+# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
+# available from the path. This tool is part of Graphviz (see:
+# http://www.graphviz.org/), a graph visualization toolkit from AT&T and Lucent
+# Bell Labs. The other options in this section have no effect if this option is
+# set to NO
+# The default value is: NO.
+
+HAVE_DOT = NO
+
+# The DOT_NUM_THREADS specifies the number of dot invocations doxygen is allowed
+# to run in parallel. When set to 0 doxygen will base this on the number of
+# processors available in the system. You can set it explicitly to a value
+# larger than 0 to get control over the balance between CPU load and processing
+# speed.
+# Minimum value: 0, maximum value: 32, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_NUM_THREADS = 0
+
+# When you want a differently looking font n the dot files that doxygen
+# generates you can specify the font name using DOT_FONTNAME. You need to make
+# sure dot is able to find the font, which can be done by putting it in a
+# standard location or by setting the DOTFONTPATH environment variable or by
+# setting DOT_FONTPATH to the directory containing the font.
+# The default value is: Helvetica.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTNAME = Helvetica
+
+# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
+# dot graphs.
+# Minimum value: 4, maximum value: 24, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTSIZE = 10
+
+# By default doxygen will tell dot to use the default font as specified with
+# DOT_FONTNAME. If you specify a different font using DOT_FONTNAME you can set
+# the path where dot can find it using this tag.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_FONTPATH =
+
+# If the CLASS_GRAPH tag is set to YES then doxygen will generate a graph for
+# each documented class showing the direct and indirect inheritance relations.
+# Setting this tag to YES will force the CLASS_DIAGRAMS tag to NO.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CLASS_GRAPH = YES
+
+# If the COLLABORATION_GRAPH tag is set to YES then doxygen will generate a
+# graph for each documented class showing the direct and indirect implementation
+# dependencies (inheritance, containment, and class references variables) of the
+# class with other documented classes.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+COLLABORATION_GRAPH = YES
+
+# If the GROUP_GRAPHS tag is set to YES then doxygen will generate a graph for
+# groups, showing the direct groups dependencies.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GROUP_GRAPHS = YES
+
+# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
+# collaboration diagrams in a style similar to the OMG's Unified Modeling
+# Language.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LOOK = NO
+
+# If the UML_LOOK tag is enabled, the fields and methods are shown inside the
+# class node. If there are many fields or methods and many nodes the graph may
+# become too big to be useful. The UML_LIMIT_NUM_FIELDS threshold limits the
+# number of items for each type to make the size more manageable. Set this to 0
+# for no limit. Note that the threshold may be exceeded by 50% before the limit
+# is enforced. So when you set the threshold to 10, up to 15 fields may appear,
+# but if the number exceeds 15, the total amount of fields shown is limited to
+# 10.
+# Minimum value: 0, maximum value: 100, default value: 10.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+UML_LIMIT_NUM_FIELDS = 10
+
+# If the TEMPLATE_RELATIONS tag is set to YES then the inheritance and
+# collaboration graphs will show the relations between templates and their
+# instances.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+TEMPLATE_RELATIONS = NO
+
+# If the INCLUDE_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are set to
+# YES then doxygen will generate a graph for each documented file showing the
+# direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDE_GRAPH = YES
+
+# If the INCLUDED_BY_GRAPH, ENABLE_PREPROCESSING and SEARCH_INCLUDES tags are
+# set to YES then doxygen will generate a graph for each documented file showing
+# the direct and indirect include dependencies of the file with other documented
+# files.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INCLUDED_BY_GRAPH = YES
+
+# If the CALL_GRAPH tag is set to YES then doxygen will generate a call
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable call graphs for selected
+# functions only using the \callgraph command.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALL_GRAPH = NO
+
+# If the CALLER_GRAPH tag is set to YES then doxygen will generate a caller
+# dependency graph for every global function or class method.
+#
+# Note that enabling this option will significantly increase the time of a run.
+# So in most cases it will be better to enable caller graphs for selected
+# functions only using the \callergraph command.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+CALLER_GRAPH = NO
+
+# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
+# hierarchy of all classes instead of a textual one.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GRAPHICAL_HIERARCHY = YES
+
+# If the DIRECTORY_GRAPH tag is set to YES then doxygen will show the
+# dependencies a directory has on other directories in a graphical way. The
+# dependency relations are determined by the #include relations between the
+# files in the directories.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DIRECTORY_GRAPH = YES
+
+# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
+# generated by dot.
+# Note: If you choose svg you need to set HTML_FILE_EXTENSION to xhtml in order
+# to make the SVG files visible in IE 9+ (other browsers do not have this
+# requirement).
+# Possible values are: png, jpg, gif and svg.
+# The default value is: png.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_IMAGE_FORMAT = png
+
+# If DOT_IMAGE_FORMAT is set to svg, then this option can be set to YES to
+# enable generation of interactive SVG images that allow zooming and panning.
+#
+# Note that this requires a modern browser other than Internet Explorer. Tested
+# and working are Firefox, Chrome, Safari, and Opera.
+# Note: For IE 9+ you need to set HTML_FILE_EXTENSION to xhtml in order to make
+# the SVG files visible. Older versions of IE do not have SVG support.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+INTERACTIVE_SVG = NO
+
+# The DOT_PATH tag can be used to specify the path where the dot tool can be
+# found. If left blank, it is assumed the dot tool can be found in the path.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_PATH =
+
+# The DOTFILE_DIRS tag can be used to specify one or more directories that
+# contain dot files that are included in the documentation (see the \dotfile
+# command).
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOTFILE_DIRS =
+
+# The MSCFILE_DIRS tag can be used to specify one or more directories that
+# contain msc files that are included in the documentation (see the \mscfile
+# command).
+
+MSCFILE_DIRS =
+
+# The DIAFILE_DIRS tag can be used to specify one or more directories that
+# contain dia files that are included in the documentation (see the \diafile
+# command).
+
+DIAFILE_DIRS =
+
+# The DOT_GRAPH_MAX_NODES tag can be used to set the maximum number of nodes
+# that will be shown in the graph. If the number of nodes in a graph becomes
+# larger than this value, doxygen will truncate the graph, which is visualized
+# by representing a node as a red box. Note that doxygen if the number of direct
+# children of the root node in a graph is already larger than
+# DOT_GRAPH_MAX_NODES then the graph will not be shown at all. Also note that
+# the size of a graph can be further restricted by MAX_DOT_GRAPH_DEPTH.
+# Minimum value: 0, maximum value: 10000, default value: 50.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_GRAPH_MAX_NODES = 50
+
+# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the graphs
+# generated by dot. A depth value of 3 means that only nodes reachable from the
+# root by following a path via at most 3 edges will be shown. Nodes that lay
+# further from the root node will be omitted. Note that setting this option to 1
+# or 2 may greatly reduce the computation time needed for large code bases. Also
+# note that the size of a graph can be further restricted by
+# DOT_GRAPH_MAX_NODES. Using a depth of 0 means no depth restriction.
+# Minimum value: 0, maximum value: 1000, default value: 0.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+MAX_DOT_GRAPH_DEPTH = 0
+
+# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
+# background. This is disabled by default, because dot on Windows does not seem
+# to support this out of the box.
+#
+# Warning: Depending on the platform used, enabling this option may lead to
+# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
+# read).
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_TRANSPARENT = NO
+
+# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
+# files in one run (i.e. multiple -o and -T options on the command line). This
+# makes dot run faster, but since only newer versions of dot (>1.8.10) support
+# this, this feature is disabled by default.
+# The default value is: NO.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_MULTI_TARGETS = YES
+
+# If the GENERATE_LEGEND tag is set to YES doxygen will generate a legend page
+# explaining the meaning of the various boxes and arrows in the dot generated
+# graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+GENERATE_LEGEND = YES
+
+# If the DOT_CLEANUP tag is set to YES doxygen will remove the intermediate dot
+# files that are used to generate the various graphs.
+# The default value is: YES.
+# This tag requires that the tag HAVE_DOT is set to YES.
+
+DOT_CLEANUP = YES
diff --git a/simulation/frc_gazebo_plugins/scripts/frcgazebo b/simulation/frc_gazebo_plugins/scripts/frcgazebo
new file mode 100644
index 0000000..d0e9a75
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/scripts/frcgazebo
@@ -0,0 +1,63 @@
+#!/bin/bash
+#---------------------------------------------------------------------------
+# Copyright (c) 2018 FIRST. 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.
+#----------------------------------------------------------------------------
+
+#----------------------------------------------------------------------------
+# Invoke gazebo, giving it the environment variables
+# it needs to find the FRC plugins and models.
+#----------------------------------------------------------------------------
+usage() {
+ echo $1: Invoke Gazebo for FRC
+ echo Usage:
+ echo " $1 name-of-world-file"
+}
+
+d=`dirname "$0"`
+fulldir=`(cd "$d"; pwd)`
+sharedir=/usr/share/frcgazebo
+if [ -d "$fulldir/../share" ] ; then
+ sharedir=`(cd "$fulldir/../share/frcgazebo"; pwd)`
+fi
+
+# While we wait for the frc gazebo models to have a proper
+# home, we require the user to make them accessible
+if [ ! -d "$sharedir" ] ; then
+ cravedir=`(cd "$fulldir/../"; pwd)`
+ echo Error: you must manually place the models and world into $cravedir/share/frcgazebo
+ exit 2
+fi
+
+libsdir=/invalid/directory
+if [ -d "$fulldir/../libs" ] ; then
+ libsdir=`(cd "$fulldir/../libs"; pwd)`
+fi
+
+# Use exactly the file they gave us, or find it in ../share/frcgazebo/worlds,
+# or find it there by adding a .world extension
+world="$1"
+if [ ! -f "$world" ] ; then
+ world="$sharedir/worlds/$1"
+fi
+if [ ! -f "$world" ] ; then
+ world="$sharedir/worlds/$1.world"
+fi
+
+if [ $# -ne 1 -o "x${1:0:1}" = "x-" ] ; then
+ usage `basename $0`
+ exit 1
+fi
+if [ ! -f "$world" ] ; then
+ echo Could not find $1 directly or in $sharedir/worlds
+ exit 2
+fi
+
+export GAZEBO_MODEL_PATH="$sharedir/models":$GAZEBO_MODEL_PATH
+for x in `find "$libsdir" -type d -name shared` ; do
+ export GAZEBO_PLUGIN_PATH="$x:$GAZEBO_PLUGIN_PATH"
+done
+
+gazebo "$world"
diff --git a/simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp b/simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp
new file mode 100644
index 0000000..c7440eb
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp
@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "clock.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Clock)
+
+void Clock::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ gzmsg << "Initializing clock: " << topic << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Float64>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Clock::Update, this, _1));
+}
+
+void Clock::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 msg;
+ msg.set_data(info.simTime.Double());
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/clock/headers/clock.h b/simulation/frc_gazebo_plugins/src/clock/headers/clock.h
new file mode 100644
index 0000000..fcdc2bd
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clock/headers/clock.h
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for publishing the simulation time.
+ *
+ * This plugin publishes the simualtaion time in seconds every physics
+ * update.
+ *
+ * To add a clock to your robot, add the following XML to your robot
+ * model:
+ *
+ * <plugin name="my_clock" filename="libclock.so">
+ * <topic>~/my/topic</topic>
+ * </plugin>
+ *
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
+ *
+ * \todo Make WorldPlugin?
+ */
+class Clock : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the clock and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out time each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the time on this topic.
+ std::string topic;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/clockTest/cpp/clockTest.cpp b/simulation/frc_gazebo_plugins/src/clockTest/cpp/clockTest.cpp
new file mode 100644
index 0000000..275425c
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clockTest/cpp/clockTest.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <simulation/gz_msgs/msgs.h>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/gazebo_client.hh>
+#include <gazebo/msgs/msgs.hh>
+#include <gazebo/sensors/sensors.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "gtest/gtest.h"
+
+using namespace testing;
+
+static char* library;
+static char* world_sdf;
+static double latest_time;
+
+void cb(gazebo::msgs::ConstFloat64Ptr& msg) { latest_time = msg->data(); }
+
+TEST(ClockTests, test_clock) {
+ gazebo::physics::WorldPtr world;
+
+ ASSERT_TRUE(library);
+ ASSERT_TRUE(!access(library, X_OK | R_OK));
+ ASSERT_TRUE(world_sdf);
+ ASSERT_TRUE(!access(world_sdf, R_OK));
+
+ gazebo::addPlugin(library);
+ ASSERT_TRUE(gazebo::setupServer());
+
+ world = gazebo::loadWorld(world_sdf);
+ ASSERT_TRUE(world != NULL);
+
+ ASSERT_TRUE(gazebo::client::setup());
+
+ gazebo::transport::NodePtr node(new gazebo::transport::Node());
+ node->Init();
+
+ gazebo::transport::SubscriberPtr sub =
+ node->Subscribe("/gazebo/frc/time", cb);
+
+ gazebo::sensors::run_once(true);
+ gazebo::sensors::run_threads();
+ gazebo::common::Time::MSleep(1);
+
+ double start = latest_time;
+
+ for (unsigned int i = 0; i < 1000; ++i) {
+ gazebo::runWorld(world, 1);
+ gazebo::sensors::run_once();
+ gazebo::common::Time::MSleep(1);
+ }
+
+ double end = latest_time;
+
+ ASSERT_TRUE(end > start);
+ ASSERT_TRUE(gazebo::client::shutdown());
+ ASSERT_TRUE(gazebo::shutdown());
+}
+
+int main(int argc, char** argv) {
+ testing::InitGoogleTest(&argc, argv);
+
+ if (argc >= 1) library = argv[1];
+
+ if (argc >= 2) world_sdf = argv[2];
+
+ return RUN_ALL_TESTS();
+}
diff --git a/simulation/frc_gazebo_plugins/src/clockTest/world/clockTest.world b/simulation/frc_gazebo_plugins/src/clockTest/world/clockTest.world
new file mode 100644
index 0000000..e6f7cfd
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/clockTest/world/clockTest.world
@@ -0,0 +1,17 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+ <world name="default">
+ <scene>
+ <ambient>0.2 0.2 0.2 1</ambient>
+ <background>1 1 1 1</background>
+ <shadows>false</shadows>
+ <grid>false</grid>
+ <origin_visual>false</origin_visual>
+ </scene>
+ <model name='Clock'>
+ <plugin name='clock' filename='libclock.so'>
+ <topic>/gazebo/frc/time</topic>
+ </plugin>
+ </model>
+ </world>
+</sdf>
diff --git a/simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp b/simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp
new file mode 100644
index 0000000..8cc3039
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp
@@ -0,0 +1,60 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "dc_motor.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(DCMotor)
+
+void DCMotor::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+ signal = 0;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("multiplier")) {
+ multiplier = sdf->Get<double>("multiplier");
+ } else {
+ multiplier = 1;
+ }
+
+ gzmsg << "Initializing motor: " << topic << " joint=" << joint->GetName()
+ << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &DCMotor::Callback, this);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&DCMotor::Update, this, _1));
+}
+
+void DCMotor::Update(const gazebo::common::UpdateInfo& info) {
+ joint->SetForce(0, signal * multiplier);
+}
+
+void DCMotor::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ signal = msg->data();
+ if (signal < -1) {
+ signal = -1;
+ } else if (signal > 1) {
+ signal = 1;
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/dc_motor/headers/dc_motor.h b/simulation/frc_gazebo_plugins/src/dc_motor/headers/dc_motor.h
new file mode 100644
index 0000000..f9c2523
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/dc_motor/headers/dc_motor.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for controlling a joint with a DC motor.
+ *
+ * This plugin subscribes to a topic to get a signal in the range
+ * [-1,1]. Every physics update the joint's torque is set as
+ * multiplier*signal.
+ *
+ * To add a DC motor to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_motor" filename="libdc_motor.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <multiplier>Number</multiplier>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this Dc motor is attached to.
+ * - `topic`: Optional. Message type should be gazebo.msgs.Float64.
+ * - `multiplier`: Optional. Defaults to 1.
+ */
+class DCMotor : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the dc motor and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Update the torque on the joint from the dc motor each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read control signal from.
+ std::string topic;
+
+ /// \brief The pwm signal limited to the range [-1,1].
+ double signal;
+
+ /// \brief The magic torque multiplier. torque=multiplier*signal
+ double multiplier;
+
+ /// \brief The joint that this dc motor drives.
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for receiving msgs and storing the signal.
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer toe the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr sub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp b/simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp
new file mode 100644
index 0000000..e6511bb
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp
@@ -0,0 +1,134 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "drive_motor.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(DriveMotor)
+
+void DriveMotor::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+ signal = 0;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (!joint) {
+ gzerr << "Error initializing drive motor: could not get joint";
+ return;
+ }
+
+ parent = joint->GetParent();
+ if (!parent) {
+ gzerr << "Error initializing drive motor: could not get parent";
+ return;
+ }
+
+ child = joint->GetChild();
+ if (!child) {
+ gzerr << "Error initializing drive motor: could not get child";
+ return;
+ }
+
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("max_speed")) {
+ maxSpeed = sdf->Get<double>("max_speed");
+ } else {
+ maxSpeed = 0;
+ }
+
+ if (sdf->HasElement("multiplier")) {
+ multiplier = sdf->Get<double>("multiplier");
+ } else {
+ multiplier = 1;
+ }
+
+ if (sdf->HasElement("dx")) {
+ dx = sdf->Get<double>("dx");
+ } else {
+ dx = 0;
+ }
+
+ if (sdf->HasElement("dy")) {
+ dy = sdf->Get<double>("dy");
+ } else {
+ dy = 0;
+ }
+
+ if (sdf->HasElement("dz")) {
+ dz = sdf->Get<double>("dz");
+ } else {
+ dz = 0;
+ }
+
+ gzmsg << "Initializing drive motor: " << topic
+ << " parent=" << parent->GetName() << " directions=" << dx << " " << dy
+ << " " << dz << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &DriveMotor::Callback, this);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&DriveMotor::Update, this, _1));
+}
+
+static double computeForce(double input, double velocity, double max) {
+ double output = input;
+ if (max == 0.0) return output;
+ if (std::fabs(velocity) >= max) {
+ output = 0;
+ } else {
+ double reduce = (max - std::fabs(velocity)) / max;
+ output *= reduce;
+ }
+ return output;
+}
+
+void DriveMotor::Update(const gazebo::common::UpdateInfo& info) {
+#if GAZEBO_MAJOR_VERSION >= 8
+ ignition::math::Vector3d velocity = parent->RelativeLinearVel();
+#else
+ ignition::math::Vector3d velocity = parent->GetRelativeLinearVel().Ign();
+#endif
+
+ if (signal == 0) return;
+
+ double x = computeForce(signal * dx * multiplier, velocity.X(),
+ std::fabs(maxSpeed * dx));
+ double y = computeForce(signal * dy * multiplier, velocity.Y(),
+ std::fabs(maxSpeed * dy));
+ double z = computeForce(signal * dz * multiplier, velocity.Z(),
+ std::fabs(maxSpeed * dz));
+
+ ignition::math::Vector3d force(x, y, z);
+#if GAZEBO_MAJOR_VERSION >= 8
+ parent->AddLinkForce(force, child->RelativePose().Pos());
+#else
+ parent->AddLinkForce(force, child->GetRelativePose().Ign().Pos());
+#endif
+}
+
+void DriveMotor::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ signal = msg->data();
+ if (signal < -1) {
+ signal = -1;
+ } else if (signal > 1) {
+ signal = 1;
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/drive_motor/headers/drive_motor.h b/simulation/frc_gazebo_plugins/src/drive_motor/headers/drive_motor.h
new file mode 100644
index 0000000..2033223
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/drive_motor/headers/drive_motor.h
@@ -0,0 +1,126 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for simulating a drive motor
+ *
+ * This plugin attempts to overcome a limitation in gazebo.
+ * That is, most normal FRC robots rely on wheels that have good
+ * traction in one direction, and less traction in the opposite
+ * direction.
+ *
+ * Gazebo does not model that well (in fact, drive wheels are
+ * quite hard to simulate).
+ *
+ * So this plugin subscribes to a PWM output signal and applies
+ * a force to the chassis at the proscribed point in hopefully
+ * the correct direction. The SDF model can then have lower friction,
+ * and it should turn more naturally.
+ *
+ * This plugin also attempts to simulate the limitations of a drive
+ * motor, most notably the maximum speed any given motor can spin at.
+ * The initial implemention is quite naive; just a linear reduction
+ * in force as a product of velocity/max velocity.
+ *
+ * Nicely, this plugin let's you generate a force in any of
+ * three axes. That is helpful for simulating a mecanum drive.
+ *
+ * This plugin subscribes to a topic to get a signal in the range
+ * [-1,1]. Every physics update the joint's torque is set as
+ * multiplier*signal*direction.
+ *
+ * To add a drive motor to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_motor" filename="libdrive_motor.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <multiplier>Number</multiplier>
+ * <max_speed>Number</max_speed>
+ * <dx>-1, 0, or 1</dx>
+ * <dy>-1, 0, or 1</dy>
+ * <dz>-1, 0, or 1</dz>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this Dc motor is attached to.
+ * - `topic`: Optional. Message type should be gazebo.msgs.Float64.
+ * A typical topic looks like this:
+ * /gazebo/frc/simulator/pwm/<n>
+ * - `multiplier`: Optional. Defaults to 1. Force applied by this motor.
+ * This is force in Newtons.
+ * - `max_speed`: Optional. Defaults to no maximum.
+ * This is, in theory, meters/second. Note that friction
+ * and other forces will also slow down a robot.
+ * In practice, this term can be tuned until the robot feels right.
+ * - `dx`: These three constants must be set to either -1, 0, or 1
+ * - `dy`: This controls whether or not the motor produces force
+ * - `dz`: along a given axis, and what direction. Each defaults to 0.
+ * These are relative to the frame of the parent link of the joint.
+ * So they are usually relative to a chassis.
+ * The force is applied at the point that the joint connects to
+ * the parent link.
+ */
+class DriveMotor : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the dc motor and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Update the force on the parent of the joint from each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read control signal from.
+ std::string topic;
+
+ /// \brief The pwm signal limited to the range [-1,1].
+ double signal;
+
+ /// \brief The robot's maximum speed
+ double maxSpeed;
+
+ /// \brief The magic drive force multipliers. force=multiplier*signal
+ double multiplier;
+
+ /// \brief The directional constants limited to -1, 0, or 1.
+ double dx;
+ double dy;
+ double dz;
+
+ /// \brief The joint that this motor drives.
+ gazebo::physics::JointPtr joint;
+
+ /// \brief The parent of this joint; usually a chassis
+ gazebo::physics::LinkPtr parent;
+
+ /// \brief The child of this joint; usually a wheel
+ gazebo::physics::LinkPtr child;
+
+ /// \brief Callback for receiving msgs and storing the signal.
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer toe the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr sub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp b/simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp
new file mode 100644
index 0000000..37551f2
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "encoder.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Encoder)
+
+void Encoder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+ multiplier = 1.0;
+ zero = GetAngle();
+ stopped = true;
+ stop_value = 0;
+
+ if (sdf->HasElement("multiplier"))
+ multiplier = sdf->Get<double>("multiplier");
+
+ gzmsg << "Initializing encoder: " << topic << " joint=" << joint->GetName()
+ << " radians=" << radians << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ command_sub = node->Subscribe(topic + "/control", &Encoder::Callback, this);
+ pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
+ vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Encoder::Update, this, _1));
+}
+
+void Encoder::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 pos_msg, vel_msg;
+ if (stopped) {
+ pos_msg.set_data(stop_value * multiplier);
+ pos_pub->Publish(pos_msg);
+ vel_msg.set_data(0);
+ vel_pub->Publish(vel_msg);
+ } else {
+ pos_msg.set_data((GetAngle() - zero) * multiplier);
+ pos_pub->Publish(pos_msg);
+ vel_msg.set_data(GetVelocity() * multiplier);
+ vel_pub->Publish(vel_msg);
+ }
+}
+
+void Encoder::Callback(const gazebo::msgs::ConstStringPtr& msg) {
+ std::string command = msg->data();
+ if (command == "reset") {
+ zero = GetAngle();
+ } else if (command == "start") {
+ stopped = false;
+ zero = (GetAngle() - stop_value);
+ } else if (command == "stop") {
+ stopped = true;
+ stop_value = GetAngle();
+ } else {
+ gzerr << "WARNING: Encoder got unknown command '" << command << "'."
+ << std::endl;
+ }
+}
+
+double Encoder::GetAngle() {
+ if (radians) {
+ return joint->Position(0);
+ } else {
+ return joint->Position(0) * (180.0 / M_PI);
+ }
+}
+
+double Encoder::GetVelocity() {
+ if (radians) {
+ return joint->GetVelocity(0);
+ } else {
+ return joint->GetVelocity(0) * (180.0 / M_PI);
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/encoder/headers/encoder.h b/simulation/frc_gazebo_plugins/src/encoder/headers/encoder.h
new file mode 100644
index 0000000..c33f708
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/encoder/headers/encoder.h
@@ -0,0 +1,112 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for reading the speed and relative angle of a joint.
+ *
+ * This plugin publishes the angle since last reset and the speed of a
+ * given joint to subtopics of the given topic every physics
+ * update. There is also a control subtopic that takes three commands:
+ * "start", "stop" and "reset":
+ *
+ * - "start": Start counting ticks from the current count.
+ * - "stop": Stop counting ticks, pauses updates.
+ * - "reset": Set the current angle to zero.
+ *
+ * To add a encoder to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_encoder" filename="libencoder.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <units>{degrees, radians}</units>
+ * <multiplier>Number</multiplier>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this encoder is attached to.
+ * - `topic`: Optional. Used as the root for subtopics. `topic`/position
+ * (gazebo.msgs.Float64),
+ * `topic`/velocity (gazebo.msgs.Float64), `topic`/control
+ * (gazebo.msgs.String)
+ * The suggested value for topic is of the form
+ * ~/simulator/encoder/dio/<n>
+ * where <n> is the number of the first digital input channel
+ * used to formulate the encoder
+ *
+ * - `units`: Optional. Defaults to radians.
+ * - `multiplier`: Optional. Defaults to 1.
+ * This can be used to make the simulated encoder
+ * return a comparable number of ticks to a 'real' encoder
+ * Useful facts: A 'degrees' encoder will report 360 ticks/revolution.
+ * The k4X encoder type can add another multiple of 4 into the mix.
+ */
+class Encoder : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the encoder and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the encoder reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Root topic for subtopics on this topic.
+ std::string topic;
+
+ /// \brief Whether or not this encoder measures radians or degrees.
+ bool radians;
+
+ /// \brief A factor to mulitply this output by.
+ double multiplier;
+
+ /// \brief Whether or not the encoder has been stopped.
+ bool stopped;
+
+ /// \brief The zero value of the encoder.
+ double zero;
+
+ /// \brief The value the encoder stopped counting at
+ double stop_value;
+
+ /// \brief The joint that this encoder measures
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for handling control data
+ void Callback(const gazebo::msgs::ConstStringPtr& msg);
+
+ /// \brief Gets the current angle, taking into account whether to
+ /// return radians or degrees.
+ double GetAngle();
+
+ /// \brief Gets the current velocity, taking into account whether to
+ /// return radians/second or degrees/second.
+ double GetVelocity();
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr command_sub;
+
+ /// \brief Publisher handles.
+ gazebo::transport::PublisherPtr pos_pub, vel_pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp b/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
new file mode 100644
index 0000000..65d42b7
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
@@ -0,0 +1,111 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "gyro.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(Gyro)
+
+void Gyro::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ link = model->GetLink(sdf->Get<std::string>("link"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ std::string axisString = sdf->Get<std::string>("axis");
+ if (axisString == "roll") axis = Roll;
+ if (axisString == "pitch") axis = Pitch;
+ if (axisString == "yaw") axis = Yaw;
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+ zero = GetAngle();
+
+ gzmsg << "Initializing gyro: " << topic << " link=" << link->GetName()
+ << " axis=" << axis << " radians=" << radians << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ command_sub = node->Subscribe(topic + "/control", &Gyro::Callback, this);
+ pos_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/position");
+ vel_pub = node->Advertise<gazebo::msgs::Float64>(topic + "/velocity");
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Gyro::Update, this, _1));
+}
+
+void Gyro::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 pos_msg, vel_msg;
+ pos_msg.set_data(Limit(GetAngle() - zero));
+ pos_pub->Publish(pos_msg);
+ vel_msg.set_data(GetVelocity());
+ vel_pub->Publish(vel_msg);
+}
+
+void Gyro::Callback(const gazebo::msgs::ConstStringPtr& msg) {
+ std::string command = msg->data();
+ if (command == "reset") {
+ zero = GetAngle();
+ } else {
+ gzerr << "WARNING: Gyro got unknown command '" << command << "'."
+ << std::endl;
+ }
+}
+
+double Gyro::GetAngle() {
+ if (radians) {
+ return link->WorldCoGPose().Rot().Euler()[axis];
+ } else {
+ return link->WorldCoGPose().Rot().Euler()[axis] * (180.0 / M_PI);
+ }
+}
+
+double Gyro::GetVelocity() {
+ if (radians) {
+ return link->RelativeAngularVel()[axis];
+ } else {
+ return link->RelativeAngularVel()[axis] * (180.0 / M_PI);
+ }
+}
+
+double Gyro::Limit(double value) {
+ if (radians) {
+ while (true) {
+ if (value < -M_PI)
+ value += 2 * M_PI;
+ else if (value > M_PI)
+ value -= 2 * M_PI;
+ else
+ break;
+ }
+ } else {
+ while (true) {
+ if (value < -180)
+ value += 360;
+ else if (value > 180)
+ value -= 360;
+ else
+ break;
+ }
+ }
+ return value;
+}
diff --git a/simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h b/simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h
new file mode 100644
index 0000000..3faa144
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h
@@ -0,0 +1,98 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/// \brief The axis about which to measure rotation.
+typedef enum { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ } ROTATION;
+
+/**
+ * \brief Plugin for reading the speed and relative angle of a link.
+ *
+ * This plugin publishes the angle since last reset and the speed
+ * which a link is rotating about some axis to subtopics of the given
+ * topic every physics update. There is also a control topic that
+ * takes one command: "reset", which sets the current angle as zero.
+ *
+ * To add a gyro to your robot, add the following XML to your robot
+ * model:
+ *
+ * <plugin name="my_gyro" filename="libgyro.so">
+ * <link>Joint Name</link>
+ * <topic>~/my/topic</topic>
+ * <units>{degrees, radians}</units>
+ * </plugin>
+ *
+ * - `link`: Name of the link this potentiometer is attached to.
+ * - `topic`: Optional. Used as the root for subtopics. `topic`/position
+ * (gazebo.msgs.Float64),
+ * `topic`/velocity (gazebo.msgs.Float64), `topic`/control
+ * (gazebo.msgs.String)
+ * - `units`; Optional, defaults to radians.
+ */
+class Gyro : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the gyro and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the gyro reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the angle on this topic.
+ std::string topic;
+
+ /// \brief Whether or not this gyro measures radians or degrees.
+ bool radians;
+
+ /// \brief The axis to measure rotation about.
+ ROTATION axis;
+
+ /// \brief The zero value of the gyro.
+ double zero;
+
+ /// \brief The link that this gyro measures
+ gazebo::physics::LinkPtr link;
+
+ /// \brief Callback for handling control data
+ void Callback(const gazebo::msgs::ConstStringPtr& msg);
+
+ /// \brief Gets the current angle, taking into account whether to
+ /// return radians or degrees.
+ double GetAngle();
+
+ /// \brief Gets the current velocity, taking into account whether to
+ /// return radians/second or degrees/second.
+ double GetVelocity();
+
+ /// \brief Limit the value to either [-180,180] or [-PI,PI]
+ /// depending on whether or radians or degrees are being used.
+ double Limit(double value);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr command_sub;
+
+ /// \brief Publisher handles.
+ gazebo::transport::PublisherPtr pos_pub, vel_pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/external_limit_switch.cpp b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/external_limit_switch.cpp
new file mode 100644
index 0000000..c5780ae
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/external_limit_switch.cpp
@@ -0,0 +1,22 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "external_limit_switch.h"
+
+#include <string>
+
+ExternalLimitSwitch::ExternalLimitSwitch(sdf::ElementPtr sdf) {
+ sensor = std::dynamic_pointer_cast<gazebo::sensors::ContactSensor>(
+ gazebo::sensors::get_sensor(sdf->Get<std::string>("sensor")));
+
+ gzmsg << "\texternal limit switch: "
+ << " sensor=" << sensor->Name() << std::endl;
+}
+
+bool ExternalLimitSwitch::Get() {
+ return sensor->Contacts().contact().size() > 0;
+}
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp
new file mode 100644
index 0000000..adfd860
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "internal_limit_switch.h"
+
+#include <string>
+
+InternalLimitSwitch::InternalLimitSwitch(gazebo::physics::ModelPtr model,
+ sdf::ElementPtr sdf) {
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ min = sdf->Get<double>("min");
+ max = sdf->Get<double>("max");
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+
+ gzmsg << "\tinternal limit switch: "
+ << " type=" << joint->GetName() << " range=[" << min << "," << max
+ << "] radians=" << radians << std::endl;
+}
+
+bool InternalLimitSwitch::Get() {
+ double value;
+ if (radians) {
+ value = joint->Position(0);
+ } else {
+ value = joint->Position(0) * (180.0 / M_PI);
+ }
+ return value >= min && value <= max;
+}
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp
new file mode 100644
index 0000000..34b7ae3
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp
@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "limit_switch.h"
+
+#include <boost/algorithm/string/replace.hpp>
+
+GZ_REGISTER_MODEL_PLUGIN(LimitSwitch)
+
+void LimitSwitch::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+ invert = sdf->HasElement("invert");
+ std::string type = sdf->Get<std::string>("type");
+
+ gzmsg << "Initializing limit switch: " << topic << " type=" << type
+ << std::endl;
+ if (type == "internal") {
+ ls = new InternalLimitSwitch(model, sdf);
+ } else if (type == "external") {
+ ls = new ExternalLimitSwitch(sdf);
+ } else {
+ gzerr << "WARNING: unsupported limit switch type " << type;
+ }
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Bool>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&LimitSwitch::Update, this, _1));
+}
+
+void LimitSwitch::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Bool msg;
+ if (invert)
+ msg.set_data(!ls->Get());
+ else
+ msg.set_data(ls->Get());
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h
new file mode 100644
index 0000000..2114b71
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <boost/pointer_cast.hpp>
+#include <gazebo/gazebo.hh>
+#include <gazebo/sensors/sensors.hh>
+
+#ifdef _WIN32
+#include <Winsock2.h>
+#endif
+
+#include "switch.h"
+
+class ExternalLimitSwitch : public Switch {
+ public:
+ explicit ExternalLimitSwitch(sdf::ElementPtr sdf);
+
+ /// \brief Returns true when the switch is triggered.
+ virtual bool Get();
+
+ private:
+ gazebo::sensors::ContactSensorPtr sensor;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h
new file mode 100644
index 0000000..870e8e3
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+
+#ifdef _WIN32
+#include <Winsock2.h>
+#endif
+
+#include "switch.h"
+
+class InternalLimitSwitch : public Switch {
+ public:
+ InternalLimitSwitch(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Returns true when the switch is triggered.
+ virtual bool Get();
+
+ private:
+ gazebo::physics::JointPtr joint;
+ double min, max;
+ bool radians;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/limit_switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/limit_switch.h
new file mode 100644
index 0000000..23ae2cc
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/limit_switch.h
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#include "external_limit_switch.h"
+#include "internal_limit_switch.h"
+#include "simulation/gz_msgs/msgs.h"
+#include "switch.h"
+
+/**
+ * \brief Plugin for reading limit switches.
+ *
+ * This plugin publishes whether or not the limit switch has been
+ * triggered every physics update. There are two types of limit switches:
+ *
+ * - Internal: Measure joint limits. Triggerd if the joint is within
+ * some range.
+ * - External: Measure interactions with the outside world. Triggerd
+ * if some link is in collision.
+ *
+ * To add a limit swithch to your robot, add the following XML to your
+ * robot model.
+ *
+ * Internal:
+ *
+ * <plugin name="my_limit_switch" filename="liblimit_switch.so">
+ * <topic>~/my/topic</topic>
+ * <type>internal</type>
+ * <joint>Joint Name</joint>
+ * <units>{degrees, radians}</units>
+ * <min>Number</min>
+ * <max>Number</max>
+ * </plugin>
+ *
+ * External:
+ *
+ * <plugin name="my_limit_switch" filename="liblimit_switch.so">
+ * <topic>~/my/topic</topic>
+ * <type>external</type>
+ * <sensor>Sensor Name</sensor>
+ * </plugin>
+ *
+ * Common:
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Bool.
+ * Recommended values are of the form:
+ * /gazebo/frc/simulator/dio/n
+ * - `type`: Required. The type of limit switch that this is
+ * - `invert`: Optional. If given, the output meaning will be inverted
+ *
+ * Internal
+ * - `joint`: Name of the joint this potentiometer is attached to.
+ * - `units`: Optional. Defaults to radians.
+ * - `min`: Minimum angle considered triggered.
+ * - `max`: Maximum angle considered triggered.
+ *
+ * External
+ * - `sensor`: Name of the contact sensor that this limit switch uses.
+ */
+class LimitSwitch : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the limit switch and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the limit switch reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the limit switch value on this topic.
+ std::string topic;
+
+ /// \brief LimitSwitch object, currently internal or external.
+ Switch* ls;
+
+ /// \brief Indicate if we should invert the output
+ bool invert;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/limit_switch/headers/switch.h b/simulation/frc_gazebo_plugins/src/limit_switch/headers/switch.h
new file mode 100644
index 0000000..0387647
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/limit_switch/headers/switch.h
@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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
+
+class Switch {
+ public:
+ virtual ~Switch() = default;
+
+ /// \brief Returns true when the switch is triggered.
+ virtual bool Get() = 0;
+};
diff --git a/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp b/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp
new file mode 100644
index 0000000..f0e4c7e
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp
@@ -0,0 +1,95 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "pneumatic_piston.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(PneumaticPiston)
+
+void PneumaticPiston::Load(gazebo::physics::ModelPtr model,
+ sdf::ElementPtr sdf) {
+ this->model = model;
+ forward_signal = reverse_signal = false;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("reverse-topic")) {
+ reverse_topic = sdf->Get<std::string>("reverse-topic");
+ } else {
+ reverse_topic.clear();
+ }
+
+ forward_force = sdf->Get<double>("forward-force");
+ if (sdf->HasElement("reverse-force"))
+ reverse_force = -1.0 * sdf->Get<double>("reverse-force");
+
+ if (sdf->HasElement("direction") &&
+ sdf->Get<std::string>("direction") == "reversed") {
+ forward_force = -forward_force;
+ reverse_force = -reverse_force;
+ }
+
+ gzmsg << "Initializing piston: " << topic << " joint=" << joint->GetName()
+ << " forward_force=" << forward_force
+ << " reverse_force=" << reverse_force << std::endl;
+ if (!reverse_topic.empty())
+ gzmsg << "Reversing on topic " << reverse_topic << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &PneumaticPiston::ForwardCallback, this);
+ if (!reverse_topic.empty())
+ sub_reverse =
+ node->Subscribe(reverse_topic, &PneumaticPiston::ReverseCallback, this);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&PneumaticPiston::Update, this, _1));
+}
+
+void PneumaticPiston::Update(const gazebo::common::UpdateInfo& info) {
+ double force = 0.0;
+ if (forward_signal) {
+ force = forward_force;
+ } else {
+ /* For DoubleSolenoids, the second signal must be present
+ for us to apply the reverse force. For SingleSolenoids,
+ the lack of the forward signal suffices.
+ Note that a true simulation would not allow a SingleSolenoid to
+ have reverse force, but we put that in the hands of the model builder.*/
+ if (reverse_topic.empty() || reverse_signal) force = reverse_force;
+ }
+ joint->SetForce(0, force);
+}
+
+void PneumaticPiston::ForwardCallback(const gazebo::msgs::ConstBoolPtr& msg) {
+ forward_signal = msg->data();
+}
+
+void PneumaticPiston::ReverseCallback(const gazebo::msgs::ConstBoolPtr& msg) {
+ reverse_signal = msg->data();
+}
diff --git a/simulation/frc_gazebo_plugins/src/pneumatic_piston/headers/pneumatic_piston.h b/simulation/frc_gazebo_plugins/src/pneumatic_piston/headers/pneumatic_piston.h
new file mode 100644
index 0000000..ba8becf
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/pneumatic_piston/headers/pneumatic_piston.h
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for controlling a joint with a pneumatic piston.
+ *
+ * This plugin subscribes to topics to get the solenoid state for a piston
+ * It needs one signal for the forward signal. For a double solenoid,
+ * a second signal can be sent.
+ * Each signal is a boolean.
+ *
+ * Every physics update the joint's torque is set to reflect the
+ * signal, using the configured force
+ *
+ * To add a pneumatic piston to your robot, add the following XML to
+ * your robot model:
+ *
+ * <plugin name="my_piston" filename="libpneumatic_piston.so">
+ * <joint>Joint Name</joint>
+ * <topic>/gazebo/frc/simulator/pneumatics/1/1</topic>
+ * <reverse-topic>/gazebo/frc/simulator/pneumatics/1/2</reverse-topic>
+ * <direction>{forward, reversed}</direction>
+ * <forward-force>Number</forward-force>
+ * <reverse-force>Number</reverse-force>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this piston is attached to.
+ * - `topic`: Optional. Forward Solenoid signal name. type gazebo.msgs.Bool.
+ * If not given, the name given for the plugin will be used.
+ * A pattern of /gazebo/frc/simulator/pneumatics/1/n is good.
+ * The first number represents the PCM module. Only 1 is supported.
+ * The second number represents the channel on the PCM.
+ * - `topic-reverse`: Optional. If given, represents the reverse channel.
+ * Message type should be gazebo.msgs.Bool.
+ * - `direction`: Optional. Defaults to forward. Reversed if the piston
+ * pushes in the opposite direction of the joint axis.
+ * - `forward-force`: Force to apply in the forward direction.
+ * - `reverse-force`: Force to apply in the reverse direction.
+ * For a single solenoid, you would expect '0',
+ * but we allow model builders to provide a value.
+ *
+ */
+class PneumaticPiston : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the pneumatic piston and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Updat the force the piston applies on the joint.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read forward control signal from.
+ std::string topic;
+
+ /// \brief Topic to read reverse control signal from.
+ std::string reverse_topic;
+
+ /// \brief Whether the solenoid to open forward is on
+ bool forward_signal;
+
+ /// \brief Whether the solenoid to open in reverse is on
+ bool reverse_signal;
+
+ /// \brief The magic force multipliers for each direction.
+ double forward_force, reverse_force;
+
+ /// \brief The joint that this pneumatic piston actuates.
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for receiving msgs and updating the solenoid state
+ void ForwardCallback(const gazebo::msgs::ConstBoolPtr& msg);
+
+ /// \brief Callback for receiving msgs and updating the reverse solenoid state
+ void ReverseCallback(const gazebo::msgs::ConstBoolPtr& msg);
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Subscriber handle.
+ gazebo::transport::SubscriberPtr sub;
+
+ /// \brief Subscriber handle for reverse topic
+ gazebo::transport::SubscriberPtr sub_reverse;
+};
diff --git a/simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp b/simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp
new file mode 100644
index 0000000..140afd1
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp
@@ -0,0 +1,69 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "potentiometer.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(Potentiometer)
+
+void Potentiometer::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("units")) {
+ radians = sdf->Get<std::string>("units") != "degrees";
+ } else {
+ radians = true;
+ }
+
+ multiplier = 1.0;
+ if (sdf->HasElement("multiplier"))
+ multiplier = sdf->Get<double>("multiplier");
+
+ gzmsg << "Initializing potentiometer: " << topic
+ << " joint=" << joint->GetName() << " radians=" << radians
+ << " multiplier=" << multiplier << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Float64>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Potentiometer::Update, this, _1));
+}
+
+void Potentiometer::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 msg;
+ if (radians) {
+ msg.set_data(joint->Position(0) * multiplier);
+ } else {
+ msg.set_data(joint->Position(0) * (180.0 / M_PI) * multiplier);
+ }
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/potentiometer/headers/potentiometer.h b/simulation/frc_gazebo_plugins/src/potentiometer/headers/potentiometer.h
new file mode 100644
index 0000000..f9111cb
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/potentiometer/headers/potentiometer.h
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for reading the angle of a joint.
+ *
+ * This plugin publishes the angle of a joint to the topic every
+ * physics update. Supports reading in either radians or degrees.
+ *
+ * To add a potentiometer to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_pot" filename="libpotentiometer.so">
+ * <joint>Joint Name</joint>
+ * <topic>~/my/topic</topic>
+ * <units>{degrees, radians}</units>
+ * </plugin>
+ *
+ * - `joint`: Name of the joint this potentiometer is attached to.
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
+ * The default topic name will be the plugin name.
+ * Recommended topic names are of the form:
+ * /gazebo/frc/simulator/analog/n
+ * where n is the analog channel for the pot.
+ * - `multiplier`: Optional. Amount to multiply output with.
+ * Useful when a rotary pot returns something other than an angle
+ * - `units`: Optional. Defaults to radians.
+ */
+class Potentiometer : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the potentiometer and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the potentiometer reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the angle on this topic.
+ std::string topic;
+
+ /// \brief Whether or not this potentiometer measures radians or degrees.
+ bool radians;
+
+ /// \brief A scaling factor to apply to this potentiometer.
+ double multiplier;
+
+ /// \brief The joint that this potentiometer measures
+ gazebo::physics::JointPtr joint;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp b/simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp
new file mode 100644
index 0000000..a01f10f
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "rangefinder.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/sensors/sensors.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(Rangefinder)
+
+void Rangefinder::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+
+ // Parse SDF properties
+ sensor = std::dynamic_pointer_cast<gazebo::sensors::SonarSensor>(
+ gazebo::sensors::get_sensor(sdf->Get<std::string>("sensor")));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ gzmsg << "Initializing rangefinder: " << topic << " sensor=" << sensor->Name()
+ << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ pub = node->Advertise<gazebo::msgs::Float64>(topic);
+
+ // Connect to the world update event.
+ // This will trigger the Update function every Gazebo iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Rangefinder::Update, this, _1));
+}
+
+void Rangefinder::Update(const gazebo::common::UpdateInfo& info) {
+ gazebo::msgs::Float64 msg;
+ msg.set_data(sensor->Range());
+ pub->Publish(msg);
+}
diff --git a/simulation/frc_gazebo_plugins/src/rangefinder/headers/rangefinder.h b/simulation/frc_gazebo_plugins/src/rangefinder/headers/rangefinder.h
new file mode 100644
index 0000000..6a395b6
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/rangefinder/headers/rangefinder.h
@@ -0,0 +1,59 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for reading the range of obstacles.
+ *
+ * This plugin publishes the range of obstacles detected by a sonar
+ * rangefinder every physics update.
+ *
+ * To add a rangefinder to your robot, add the following XML to your
+ * robot model:
+ *
+ * <plugin name="my_rangefinder" filename="librangefinder.so">
+ * <sensor>Sensor Name</sensor>
+ * <topic>~/my/topic</topic>
+ * </plugin>
+ *
+ * - `sensor`: Name of the sonar sensor that this rangefinder uses.
+ * - `topic`: Optional. Message will be published as a gazebo.msgs.Float64.
+ */
+class Rangefinder : public gazebo::ModelPlugin {
+ public:
+ /// \brief Load the rangefinder and configures it according to the sdf.
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Sends out the rangefinder reading each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Publish the range on this topic.
+ std::string topic;
+
+ /// \brief The sonar sensor that this rangefinder uses
+ gazebo::sensors::SonarSensorPtr sensor;
+
+ /// \brief The model to which this is attached.
+ gazebo::physics::ModelPtr model;
+
+ /// \brief Pointer to the world update function.
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising.
+ gazebo::transport::NodePtr node;
+
+ /// \brief Publisher handle.
+ gazebo::transport::PublisherPtr pub;
+};
diff --git a/simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp b/simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp
new file mode 100644
index 0000000..ca9d361
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "servo.h"
+
+#include <boost/algorithm/string/replace.hpp>
+#include <gazebo/physics/physics.hh>
+#include <gazebo/transport/transport.hh>
+
+#ifdef _WIN32
+// Ensure that Winsock2.h is included before Windows.h, which can get
+// pulled in by anybody (e.g., Boost).
+#include <Winsock2.h>
+#endif
+
+GZ_REGISTER_MODEL_PLUGIN(Servo)
+
+void Servo::Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf) {
+ this->model = model;
+ signal = 0;
+
+ // parse SDF Properries
+ joint = model->GetJoint(sdf->Get<std::string>("joint"));
+ if (sdf->HasElement("topic")) {
+ topic = sdf->Get<std::string>("topic");
+ } else {
+ topic = "~/" + sdf->GetAttribute("name")->GetAsString();
+ }
+
+ if (sdf->HasElement("torque")) {
+ torque = sdf->Get<double>("torque");
+ } else {
+ torque = 5;
+ }
+
+ gzmsg << "initializing servo: " << topic << " joint=" << joint->GetName()
+ << " torque=" << torque << std::endl;
+
+ // Connect to Gazebo transport for messaging
+ std::string scoped_name =
+ model->GetWorld()->Name() + "::" + model->GetScopedName();
+ boost::replace_all(scoped_name, "::", "/");
+ node = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ node->Init(scoped_name);
+ sub = node->Subscribe(topic, &Servo::Callback, this);
+
+ // connect to the world update event
+ // this will call update every iteration
+ updateConn = gazebo::event::Events::ConnectWorldUpdateBegin(
+ boost::bind(&Servo::Update, this, _1));
+}
+
+void Servo::Update(const gazebo::common::UpdateInfo& info) {
+ // torque is in kg*cm
+ // joint->SetAngle(0,signal*180);
+ if (joint->Position(0) < signal) {
+ joint->SetForce(0, torque);
+ } else if (joint->Position(0) > signal) {
+ joint->SetForce(0, torque);
+ }
+ joint->SetForce(0, 0);
+}
+
+void Servo::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ signal = msg->data();
+ if (signal < -1) {
+ signal = -1;
+ } else if (signal > 1) {
+ signal = 1;
+ }
+}
diff --git a/simulation/frc_gazebo_plugins/src/servo/headers/servo.h b/simulation/frc_gazebo_plugins/src/servo/headers/servo.h
new file mode 100644
index 0000000..6d8ab08
--- /dev/null
+++ b/simulation/frc_gazebo_plugins/src/servo/headers/servo.h
@@ -0,0 +1,70 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo.hh>
+
+#include "simulation/gz_msgs/msgs.h"
+
+/**
+ * \brief Plugin for controlling a servo.
+ *
+ * This plugin subscribes to a topic to get a signal in the range
+ * [-1,1]. Every physics update the joint's torque is set as
+ * multiplier*signal.
+ *
+ * To add a servo to your robot, add the following XML to your robot
+ * model:
+ *
+ * <plugin name="my_servo" filename="libservo.so">
+ * <joint>Joint Name</joint>
+ * <topic>/gzebo/frc/simulator/pwm/1</topic>
+ * <zero_position>0</zero_position>
+ * </plugin>
+ *
+ * - `link`: Name of the link the servo is attached to.
+ * - `topic`: Optional. Message type should be gazebo.msgs.Float64.
+ */
+class Servo : public gazebo::ModelPlugin {
+ public:
+ /// \brief load the servo and configure it according to the sdf
+ void Load(gazebo::physics::ModelPtr model, sdf::ElementPtr sdf);
+
+ /// \brief Update the torque on the joint from the dc motor each timestep.
+ void Update(const gazebo::common::UpdateInfo& info);
+
+ private:
+ /// \brief Topic to read control signal from.
+ std::string topic;
+
+ /// \brief the pwm signal limited to the range [-1,1]
+ double signal;
+
+ /// \brief the torque of the motor in kg/cm
+ double torque;
+
+ /// \brief the joint that this servo moves
+ gazebo::physics::JointPtr joint;
+
+ /// \brief Callback for receiving msgs and storing the signal
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+ /// \brief The model to which this is attached
+ gazebo::physics::ModelPtr model;
+
+ /// \brief The pointer to the world update function
+ gazebo::event::ConnectionPtr updateConn;
+
+ /// \brief The node on which we're advertising torque
+ gazebo::transport::NodePtr node;
+
+ /// \brief The subscriber for the PWM signal
+ gazebo::transport::SubscriberPtr sub;
+};
diff --git a/simulation/gz_msgs/README.md b/simulation/gz_msgs/README.md
new file mode 100644
index 0000000..7df7a79
--- /dev/null
+++ b/simulation/gz_msgs/README.md
@@ -0,0 +1,12 @@
+gz_msgs
+=======
+gz_msgs is a library that allows the transmission of messages
+to and from Java and C++ programs.
+
+gz_msgs currently requires libprotobuf-dev on Debian like systems.
+
+If it's not found via pkg-config, then it's build is diabled.
+
+You can force it by specifying -PmakeSim on the gradle command line.
+
+If you are installing FRCSim with the script, then this *should* have be done for you.
diff --git a/simulation/gz_msgs/build.gradle b/simulation/gz_msgs/build.gradle
new file mode 100644
index 0000000..8264ceb
--- /dev/null
+++ b/simulation/gz_msgs/build.gradle
@@ -0,0 +1,95 @@
+plugins {
+ id 'cpp'
+ id 'java'
+ id 'com.google.protobuf' version '0.8.6'
+ id 'edu.wpi.first.NativeUtils'
+}
+
+description = "A C++ and Java library to pass FRC Simulation Messages in and out of Gazebo."
+
+/* The simulation does not run on real hardware; so we always skip Athena */
+ext.skipAthena = true
+ext.skipRaspbian = true
+apply from: "${rootDir}/shared/config.gradle"
+
+/* Use a sort of poor man's autoconf to find the protobuf development
+ files; on Debian, those are supplied by libprotobuf-dev.
+
+ This should get skipped on Windows.
+
+ TODO: Add Windows support for the simulation code */
+
+def protobuf_version = ""
+try {
+ protobuf_version = "pkg-config --modversion protobuf".execute().text.trim()
+ println "Protobuf version is [${protobuf_version}]"
+} catch(Exception ex) {
+}
+
+if (!protobuf_version?.trim()) {
+ println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
+ protobuf_version = "+"
+ if (project.hasProperty("makeSim")) {
+ /* Force the build even though we did not find protobuf. */
+ println "makeSim set. Forcing build - failure likely."
+ }
+ else {
+ ext.skip_gz_msgs = true
+ println "Skipping gz_msgs."
+ }
+}
+
+tasks.whenTaskAdded { task ->
+ task.onlyIf { !project.hasProperty('skip_gz_msgs') }
+}
+
+dependencies {
+ compile "com.google.protobuf:protobuf-java:${protobuf_version}"
+ compile "com.google.protobuf:protoc:${protobuf_version}"
+}
+
+/* There is a nice gradle plugin for protobuf, and the protoc tool
+ is included; using it simplifies our build process.
+ The trick is that we have to use the same version as the system
+ copy of libprotobuf-dev */
+protobuf {
+ protoc {
+ artifact = "com.google.protobuf:protoc:${protobuf_version}"
+ }
+
+ generatedFilesBaseDir = "$buildDir/generated"
+ generateProtoTasks {
+ all().each { task ->
+ task.builtins {
+ cpp {
+ outputSubDir = 'simulation/gz_msgs'
+ }
+ }
+ }
+ }
+}
+
+model {
+ components {
+ gz_msgs(NativeLibrarySpec) {
+ sources {
+ cpp {
+ source {
+ srcDir "$buildDir/generated/main/simulation/gz_msgs"
+ builtBy tasks.generateProto
+ }
+ exportedHeaders {
+ srcDir "src/include"
+ srcDir "$buildDir/generated/main"
+ }
+ }
+ }
+ /* We must compile with -fPIC to link the static library into an so */
+ binaries {
+ all {
+ cppCompiler.args "-fPIC"
+ }
+ }
+ }
+ }
+}
diff --git a/simulation/gz_msgs/src/include/simulation/gz_msgs/msgs.h b/simulation/gz_msgs/src/include/simulation/gz_msgs/msgs.h
new file mode 100644
index 0000000..e953ad5
--- /dev/null
+++ b/simulation/gz_msgs/src/include/simulation/gz_msgs/msgs.h
@@ -0,0 +1,47 @@
+/* This was originally auto generated by cmake.
+ However, it changes infrequently enough that it makes
+ sense to simply revise it by hand any time we change
+ the protobuf messages expressed in the .proto files */
+
+#ifndef _FRC_MSGS_H_
+#define _FRC_MSGS_H_
+
+#ifdef _WIN32
+ //include this before anything else includes windows.h
+ //putting this here saves putting it in more files
+ #include <Winsock2.h>
+#endif
+
+
+ #include "simulation/gz_msgs/bool.pb.h"
+ #include "simulation/gz_msgs/driver-station.pb.h"
+ #include "simulation/gz_msgs/float64.pb.h"
+ #include "simulation/gz_msgs/frc_joystick.pb.h"
+
+
+#include <gazebo/msgs/msgs.hh>
+#include <boost/shared_ptr.hpp>
+
+namespace gazebo {
+ namespace msgs {
+
+ typedef GzString String;
+
+ typedef boost::shared_ptr< gazebo::msgs::String > StringPtr;
+ typedef const boost::shared_ptr< const gazebo::msgs::String > ConstStringPtr;
+
+ typedef boost::shared_ptr< msgs::Float64 > Float64Ptr;
+ typedef const boost::shared_ptr< const msgs::Float64 > ConstFloat64Ptr;
+
+ typedef boost::shared_ptr< msgs::Bool > BoolPtr;
+ typedef const boost::shared_ptr< const msgs::Bool > ConstBoolPtr;
+
+ typedef boost::shared_ptr< msgs::FRCJoystick > FRCJoystickPtr;
+ typedef const boost::shared_ptr< const msgs::FRCJoystick > ConstFRCJoystickPtr;
+
+ typedef boost::shared_ptr< msgs::DriverStation > DriverStationPtr;
+ typedef const boost::shared_ptr< const msgs::DriverStation > ConstDriverStationPtr;
+ }
+}
+
+#endif /* _FRC_MSGS_H_ */
diff --git a/simulation/gz_msgs/src/main/proto/bool.proto b/simulation/gz_msgs/src/main/proto/bool.proto
new file mode 100644
index 0000000..90ab7fa
--- /dev/null
+++ b/simulation/gz_msgs/src/main/proto/bool.proto
@@ -0,0 +1,15 @@
+package gazebo.msgs;
+
+/// \ingroup gazebo_msgs
+/// \interface Bool
+/// \brief A message for boolean data
+/// \verbatim
+
+option java_outer_classname = "GzBool";
+
+message Bool
+{
+ required bool data = 1;
+}
+
+/// \endverbatim
diff --git a/simulation/gz_msgs/src/main/proto/driver-station.proto b/simulation/gz_msgs/src/main/proto/driver-station.proto
new file mode 100644
index 0000000..187e056
--- /dev/null
+++ b/simulation/gz_msgs/src/main/proto/driver-station.proto
@@ -0,0 +1,21 @@
+package gazebo.msgs;
+
+/// \ingroup gazebo_msgs
+/// \interface DriverStation
+/// \brief A message for DriverStation data
+/// \verbatim
+
+option java_outer_classname = "GzDriverStation";
+
+message DriverStation
+{
+ required bool enabled = 1;
+ enum State {
+ AUTO = 0;
+ TELEOP = 1;
+ TEST = 2;
+ }
+ required State state = 2;
+}
+
+/// \endverbatim
diff --git a/simulation/gz_msgs/src/main/proto/float64.proto b/simulation/gz_msgs/src/main/proto/float64.proto
new file mode 100644
index 0000000..dd3ddcc
--- /dev/null
+++ b/simulation/gz_msgs/src/main/proto/float64.proto
@@ -0,0 +1,15 @@
+package gazebo.msgs;
+
+/// \ingroup gazebo_msgs
+/// \interface Float64
+/// \brief A message for floating point data
+/// \verbatim
+
+option java_outer_classname = "GzFloat64";
+
+message Float64
+{
+ required double data = 1;
+}
+
+/// \endverbatim
diff --git a/simulation/gz_msgs/src/main/proto/frc_joystick.proto b/simulation/gz_msgs/src/main/proto/frc_joystick.proto
new file mode 100644
index 0000000..ec98aba
--- /dev/null
+++ b/simulation/gz_msgs/src/main/proto/frc_joystick.proto
@@ -0,0 +1,16 @@
+package gazebo.msgs;
+
+/// \ingroup gazebo_msgs
+/// \interface Joystick
+/// \brief A message for joystick data
+/// \verbatim
+
+option java_outer_classname = "GzFRCJoystick";
+
+message FRCJoystick
+{
+ repeated double axes = 1;
+ repeated bool buttons = 2;
+}
+
+/// \endverbatim
diff --git a/simulation/halsim_adx_gyro_accelerometer/build.gradle b/simulation/halsim_adx_gyro_accelerometer/build.gradle
new file mode 100644
index 0000000..c9f754d
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/build.gradle
@@ -0,0 +1,198 @@
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'visual-studio'
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: SingleNativeBuild
+apply plugin: ExtraTasks
+
+ext {
+ nativeName = 'halsim_adx_gyro_accelerometer'
+}
+
+apply from: "${rootDir}/shared/config.gradle"
+
+if (!project.hasProperty('onlyAthena')) {
+
+ ext {
+ sharedCvConfigs = [halsim_adx_gyro_accelerometerTest: []]
+ staticCvConfigs = [:]
+ useJava = false
+ useCpp = true
+ }
+ apply from: "${rootDir}/shared/opencv.gradle"
+
+ ext {
+ staticGtestConfigs = [:]
+ }
+ staticGtestConfigs["${nativeName}Test"] = []
+ apply from: "${rootDir}/shared/googletest.gradle"
+
+ project(':').libraryBuild.dependsOn build
+
+ ext {
+ chipObjectComponents = ["$nativeName".toString(), "${nativeName}Base".toString(), "${nativeName}Dev".toString(), "${nativeName}Test".toString()]
+ netCommComponents = ["$nativeName".toString(), "${nativeName}Base".toString(), "${nativeName}Dev".toString(), "${nativeName}Test".toString()]
+ useNiJava = false
+ }
+
+ apply from: "${rootDir}/shared/nilibraries.gradle"
+
+ model {
+ exportsConfigs {
+ halsim_adx_gyro_accelerometer(ExportsConfig) {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVbad_cast',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVbad_cast',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure']
+ }
+ }
+ components {
+ "${nativeName}Base"(NativeLibrarySpec) {
+ sources {
+ cpp {
+ source {
+ srcDirs = ['src/main/native/cpp']
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include'
+ }
+ }
+ }
+ binaries.all {
+ if (it instanceof SharedLibraryBinarySpec) {
+ it.buildable = false
+ return
+ }
+ if (it.targetPlatform.architecture.name == 'athena') {
+ it.buildable = false
+ return
+ }
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ }
+ }
+ "${nativeName}"(NativeLibrarySpec) {
+ sources {
+ cpp {
+ source {
+ srcDirs "${rootDir}/shared/singlelib"
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include'
+ }
+ }
+ }
+ binaries.all {
+ if (it.targetPlatform.architecture.name == 'athena') {
+ it.buildable = false
+ return
+ }
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ }
+ }
+ // By default, a development executable will be generated. This is to help the case of
+ // testing specific functionality of the library.
+ "${nativeName}Dev"(NativeExecutableSpec) {
+ targetBuildTypes 'debug'
+ sources {
+ cpp {
+ source {
+ srcDirs 'src/dev/native/cpp'
+ include '**/*.cpp'
+ lib library: "${nativeName}"
+ }
+ exportedHeaders {
+ srcDirs 'src/dev/native/include'
+ }
+ }
+ }
+ binaries.all {
+ if (it.targetPlatform.architecture.name == 'athena') {
+ it.buildable = false
+ return
+ }
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib library: nativeName, linkage: 'shared'
+ }
+ }
+ }
+ binaries {
+ withType(GoogleTestTestSuiteBinarySpec) {
+ if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+ lib project: ':cscore', library: 'cscore', linkage: 'shared'
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+ lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+ lib library: nativeName, linkage: 'shared'
+ } else {
+ it.buildable = false
+ }
+ }
+ }
+ }
+
+ apply from: "publish.gradle"
+}
+
+model {
+
+ testSuites {
+ if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+ for(NativeComponentSpec c : $.components) {
+ if (c.name == nativeName) {
+ testing c
+ break
+ }
+ }
+ sources {
+ cpp {
+ source {
+ srcDirs 'src/test/native/cpp'
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/test/native/include', 'src/main/native/cpp'
+ }
+ }
+ }
+ }
+ }
+ }
+ tasks {
+ def c = $.components
+ project.tasks.create('runCpp', Exec) {
+ def found = false
+ c.each {
+ if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
+ it.binaries.each {
+ if (!found) {
+ def arch = it.targetPlatform.architecture.name
+ if (arch == 'x86-64' || arch == 'x86') {
+ dependsOn it.tasks.install
+ commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+
+ found = true
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+tasks.withType(RunTestExecutable) {
+ args "--gtest_output=xml:test_detail.xml"
+ outputs.dir outputDir
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/publish.gradle b/simulation/halsim_adx_gyro_accelerometer/publish.gradle
new file mode 100644
index 0000000..11feda5
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/publish.gradle
@@ -0,0 +1,70 @@
+apply plugin: 'maven-publish'
+
+def pubVersion = ''
+if (project.hasProperty("publishVersion")) {
+ pubVersion = project.publishVersion
+} else {
+ pubVersion = WPILibVersion.version
+}
+
+def baseArtifactId = nativeName
+def artifactGroupId = 'edu.wpi.first.halsim'
+def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${nativeName}_CLS"
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task cppSourcesZip(type: Zip) {
+ destinationDir = outputsFolder
+ baseName = zipBaseName
+ classifier = "sources"
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/native/cpp') {
+ into '/'
+ }
+}
+
+task cppHeadersZip(type: Zip) {
+ destinationDir = outputsFolder
+ baseName = zipBaseName
+ classifier = "headers"
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/native/include') {
+ into '/'
+ }
+}
+
+build.dependsOn cppSourcesZip
+build.dependsOn cppHeadersZip
+
+addTaskToCopyAllOutputs(cppSourcesZip)
+addTaskToCopyAllOutputs(cppHeadersZip)
+
+model {
+ publishing {
+ def halsim_adx_gyro_accelerometerTaskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
+
+ publications {
+ cpp(MavenPublication) {
+ halsim_adx_gyro_accelerometerTaskList.each {
+ artifact it
+ }
+
+ artifact cppHeadersZip
+ artifact cppSourcesZip
+
+
+ artifactId = baseArtifactId
+ groupId artifactGroupId
+ version pubVersion
+ }
+ }
+ }
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/dev/native/cpp/main.cpp b/simulation/halsim_adx_gyro_accelerometer/src/dev/native/cpp/main.cpp
new file mode 100644
index 0000000..e324b44
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/dev/native/cpp/main.cpp
@@ -0,0 +1,8 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+int main() {}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp
new file mode 100644
index 0000000..f0650db
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_I2CAccelerometerData.cpp
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_I2CAccelerometerData.h"
+
+#include <cstring>
+
+#include <mockdata/I2CData.h>
+
+using namespace hal;
+
+const double ADXL345_I2CData::LSB = 1 / 0.00390625;
+
+static void ADXL345I2C_ReadBufferCallback(const char* name, void* param,
+ uint8_t* buffer, uint32_t count) {
+ ADXL345_I2CData* sim = static_cast<ADXL345_I2CData*>(param);
+ sim->HandleRead(buffer, count);
+}
+
+static void ADXL345I2C_WriteBufferCallback(const char* name, void* param,
+ const uint8_t* buffer,
+ uint32_t count) {
+ ADXL345_I2CData* sim = static_cast<ADXL345_I2CData*>(param);
+ sim->HandleWrite(buffer, count);
+}
+
+ADXL345_I2CData::ADXL345_I2CData(int port) : m_port(port) {
+ m_readCallbackId =
+ HALSIM_RegisterI2CReadCallback(port, ADXL345I2C_ReadBufferCallback, this);
+ m_writeCallbackId = HALSIM_RegisterI2CWriteCallback(
+ port, ADXL345I2C_WriteBufferCallback, this);
+}
+
+ADXL345_I2CData::~ADXL345_I2CData() {
+ HALSIM_CancelI2CReadCallback(m_port, m_readCallbackId);
+ HALSIM_CancelI2CWriteCallback(m_port, m_writeCallbackId);
+}
+
+bool ADXL345_I2CData::GetInitialized() const {
+ return HALSIM_GetI2CInitialized(m_port);
+}
+
+void ADXL345_I2CData::ADXL345_I2CData::HandleWrite(const uint8_t* buffer,
+ uint32_t count) {
+ m_lastWriteAddress = buffer[0];
+}
+
+void ADXL345_I2CData::HandleRead(uint8_t* buffer, uint32_t count) {
+ bool writeAll = count == 6;
+ int byteIndex = 0;
+
+ if (writeAll || m_lastWriteAddress == 0x32) {
+ int16_t val = static_cast<int16_t>(GetX() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+
+ if (writeAll || m_lastWriteAddress == 0x34) {
+ int16_t val = static_cast<int16_t>(GetY() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+
+ if (writeAll || m_lastWriteAddress == 0x36) {
+ int16_t val = static_cast<int16_t>(GetZ() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp
new file mode 100644
index 0000000..e60f4a7
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL345_SpiAccelerometerData.cpp
@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_SpiAccelerometerData.h"
+
+#include <cstring>
+
+#include <mockdata/SPIData.h>
+
+using namespace hal;
+
+const double ADXL345_SpiAccelerometer::LSB = 1 / 0.00390625;
+
+static void ADXL345SPI_ReadBufferCallback(const char* name, void* param,
+ uint8_t* buffer, uint32_t count) {
+ ADXL345_SpiAccelerometer* sim = static_cast<ADXL345_SpiAccelerometer*>(param);
+ sim->HandleRead(buffer, count);
+}
+
+static void ADXL345SPI_WriteBufferCallback(const char* name, void* param,
+ const uint8_t* buffer,
+ uint32_t count) {
+ ADXL345_SpiAccelerometer* sim = static_cast<ADXL345_SpiAccelerometer*>(param);
+ sim->HandleWrite(buffer, count);
+}
+
+ADXL345_SpiAccelerometer::ADXL345_SpiAccelerometer(int port) : m_port(port) {
+ m_readCallbackId =
+ HALSIM_RegisterSPIReadCallback(port, ADXL345SPI_ReadBufferCallback, this);
+ m_writeCallbackId = HALSIM_RegisterSPIWriteCallback(
+ port, ADXL345SPI_WriteBufferCallback, this);
+}
+
+ADXL345_SpiAccelerometer::~ADXL345_SpiAccelerometer() {
+ HALSIM_CancelSPIReadCallback(m_port, m_readCallbackId);
+ HALSIM_CancelSPIWriteCallback(m_port, m_writeCallbackId);
+}
+
+bool ADXL345_SpiAccelerometer::GetInitialized() const {
+ return HALSIM_GetSPIInitialized(m_port);
+}
+
+void ADXL345_SpiAccelerometer::HandleWrite(const uint8_t* buffer,
+ uint32_t count) {
+ m_lastWriteAddress = buffer[0] & 0xF;
+}
+
+void ADXL345_SpiAccelerometer::HandleRead(uint8_t* buffer, uint32_t count) {
+ bool writeAll = count == 7;
+ int byteIndex = 1;
+
+ if (writeAll || m_lastWriteAddress == 0x02) {
+ int16_t val = static_cast<int16_t>(GetX() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+
+ if (writeAll || m_lastWriteAddress == 0x04) {
+ int16_t val = static_cast<int16_t>(GetY() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+
+ if (writeAll || m_lastWriteAddress == 0x06) {
+ int16_t val = static_cast<int16_t>(GetZ() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp
new file mode 100644
index 0000000..306be89
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXL362_SpiAccelerometerData.cpp
@@ -0,0 +1,79 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL362_SpiAccelerometerData.h"
+
+#include <cstring>
+
+#include <mockdata/SPIData.h>
+
+using namespace hal;
+
+const double ADXL362_SpiAccelerometer::LSB = 1 / 0.001;
+
+static void ADXL362SPI_ReadBufferCallback(const char* name, void* param,
+ uint8_t* buffer, uint32_t count) {
+ ADXL362_SpiAccelerometer* sim = static_cast<ADXL362_SpiAccelerometer*>(param);
+ sim->HandleRead(buffer, count);
+}
+
+static void ADXL362SPI_WriteBufferCallback(const char* name, void* param,
+ const uint8_t* buffer,
+ uint32_t count) {
+ ADXL362_SpiAccelerometer* sim = static_cast<ADXL362_SpiAccelerometer*>(param);
+ sim->HandleWrite(buffer, count);
+}
+
+ADXL362_SpiAccelerometer::ADXL362_SpiAccelerometer(int port) : m_port(port) {
+ m_readCallbackId =
+ HALSIM_RegisterSPIReadCallback(port, ADXL362SPI_ReadBufferCallback, this);
+ m_writeCallbackId = HALSIM_RegisterSPIWriteCallback(
+ port, ADXL362SPI_WriteBufferCallback, this);
+}
+
+ADXL362_SpiAccelerometer::~ADXL362_SpiAccelerometer() {
+ HALSIM_CancelSPIReadCallback(m_port, m_readCallbackId);
+ HALSIM_CancelSPIWriteCallback(m_port, m_writeCallbackId);
+}
+bool ADXL362_SpiAccelerometer::GetInitialized() const {
+ return HALSIM_GetSPIInitialized(m_port);
+}
+
+void ADXL362_SpiAccelerometer::HandleWrite(const uint8_t* buffer,
+ uint32_t count) {
+ m_lastWriteAddress = buffer[1];
+}
+
+void ADXL362_SpiAccelerometer::HandleRead(uint8_t* buffer, uint32_t count) {
+ // Init check
+ if (m_lastWriteAddress == 0x02) {
+ uint32_t numToPut = 0xF20000;
+ std::memcpy(&buffer[0], &numToPut, sizeof(numToPut));
+ } else {
+ // Get Accelerations
+ bool writeAll = count == 8;
+ int byteIndex = 2;
+
+ if (writeAll || m_lastWriteAddress == 0x0E) {
+ int16_t val = static_cast<int16_t>(GetX() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+
+ if (writeAll || m_lastWriteAddress == 0x10) {
+ int16_t val = static_cast<int16_t>(GetY() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+
+ if (writeAll || m_lastWriteAddress == 0x12) {
+ int16_t val = static_cast<int16_t>(GetZ() * LSB);
+ std::memcpy(&buffer[byteIndex], &val, sizeof(val));
+ byteIndex += sizeof(val);
+ }
+ }
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp
new file mode 100644
index 0000000..5658b30
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ADXRS450_SpiGyroWrapperData.cpp
@@ -0,0 +1,132 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXRS450_SpiGyroWrapperData.h"
+
+#include <algorithm>
+#include <cmath>
+#include <cstring>
+
+#include <hal/HALBase.h>
+#include <mockdata/SPIData.h>
+
+#ifdef _WIN32
+#include "Winsock2.h"
+#pragma comment(lib, "ws2_32.lib")
+#else
+#include <arpa/inet.h>
+#endif
+
+using namespace hal;
+
+static constexpr double kSamplePeriod = 0.0005;
+
+const double ADXRS450_SpiGyroWrapper::kAngleLsb = 1 / 0.0125 / kSamplePeriod;
+const double ADXRS450_SpiGyroWrapper::kMaxAngleDeltaPerMessage = 0.1875;
+const int ADXRS450_SpiGyroWrapper::kPacketSize = 4 + 1; // +1 for timestamp
+
+template <class T>
+constexpr const T& clamp(const T& value, const T& low, const T& high) {
+ return std::max(low, std::min(value, high));
+}
+
+static void ADXRS450SPI_ReadBufferCallback(const char* name, void* param,
+ uint8_t* buffer, uint32_t count) {
+ auto sim = static_cast<ADXRS450_SpiGyroWrapper*>(param);
+ sim->HandleRead(buffer, count);
+}
+
+static void ADXRS450SPI_ReadAutoReceivedData(const char* name, void* param,
+ uint32_t* buffer,
+ int32_t numToRead,
+ int32_t* outputCount) {
+ auto sim = static_cast<ADXRS450_SpiGyroWrapper*>(param);
+ sim->HandleAutoReceiveData(buffer, numToRead, *outputCount);
+}
+
+ADXRS450_SpiGyroWrapper::ADXRS450_SpiGyroWrapper(int port) : m_port(port) {
+ m_readCallbackId = HALSIM_RegisterSPIReadCallback(
+ port, ADXRS450SPI_ReadBufferCallback, this);
+ m_autoReceiveReadCallbackId = HALSIM_RegisterSPIReadAutoReceivedDataCallback(
+ port, ADXRS450SPI_ReadAutoReceivedData, this);
+}
+
+ADXRS450_SpiGyroWrapper::~ADXRS450_SpiGyroWrapper() {
+ HALSIM_CancelSPIReadCallback(m_port, m_readCallbackId);
+ HALSIM_CancelSPIReadAutoReceivedDataCallback(m_port,
+ m_autoReceiveReadCallbackId);
+}
+bool ADXRS450_SpiGyroWrapper::GetInitialized() const {
+ return HALSIM_GetSPIInitialized(m_port);
+}
+
+void ADXRS450_SpiGyroWrapper::ResetData() {
+ std::lock_guard<wpi::recursive_spinlock> lock(m_angle.GetMutex());
+ m_angle.Reset(0.0);
+ m_angleDiff = 0;
+}
+
+void ADXRS450_SpiGyroWrapper::HandleRead(uint8_t* buffer, uint32_t count) {
+ int returnCode = 0x00400AE0;
+ std::memcpy(&buffer[0], &returnCode, sizeof(returnCode));
+}
+
+void ADXRS450_SpiGyroWrapper::HandleAutoReceiveData(uint32_t* buffer,
+ int32_t numToRead,
+ int32_t& outputCount) {
+ std::lock_guard<wpi::recursive_spinlock> lock(m_angle.GetMutex());
+ int32_t messagesToSend =
+ 1 + std::abs(m_angleDiff > 0
+ ? std::ceil(m_angleDiff / kMaxAngleDeltaPerMessage)
+ : std::floor(m_angleDiff / kMaxAngleDeltaPerMessage));
+
+ // Zero gets passed in during the "How much data do I need to read" step.
+ // Else it is actually reading the accumulator
+ if (numToRead == 0) {
+ outputCount = messagesToSend * kPacketSize;
+ return;
+ }
+
+ int valuesToRead = numToRead / kPacketSize;
+ std::memset(&buffer[0], 0, numToRead * sizeof(uint32_t));
+
+ int32_t status = 0;
+ uint32_t timestamp = HAL_GetFPGATime(&status);
+
+ for (int msgCtr = 0; msgCtr < valuesToRead; ++msgCtr) {
+ // force the first message to be a rate of 0 to init the timestamp
+ double cappedDiff = (msgCtr == 0)
+ ? 0
+ : clamp(m_angleDiff, -kMaxAngleDeltaPerMessage,
+ kMaxAngleDeltaPerMessage);
+
+ // first word is timestamp
+ buffer[msgCtr * kPacketSize] = timestamp;
+
+ int32_t valueToSend =
+ ((static_cast<int32_t>(cappedDiff * kAngleLsb) << 10) & (~0x0C00000E)) |
+ 0x04000000;
+
+ // following words have byte in LSB, in big endian order
+ for (int i = 4; i >= 1; --i) {
+ buffer[msgCtr * kPacketSize + i] =
+ static_cast<uint32_t>(valueToSend) & 0xffu;
+ valueToSend >>= 8;
+ }
+
+ m_angleDiff -= cappedDiff;
+ timestamp += kSamplePeriod * 1e6; // fpga time is in us
+ }
+}
+
+void ADXRS450_SpiGyroWrapper::SetAngle(double angle) {
+ std::lock_guard<wpi::recursive_spinlock> lock(m_angle.GetMutex());
+ if (m_angle != angle) {
+ m_angleDiff += angle - m_angle;
+ m_angle = angle;
+ }
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ThreeAxisAccelerometerData.cpp b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ThreeAxisAccelerometerData.cpp
new file mode 100644
index 0000000..f2483af
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/cpp/ThreeAxisAccelerometerData.cpp
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ThreeAxisAccelerometerData.h"
+
+using namespace hal;
+
+ThreeAxisAccelerometerData::ThreeAxisAccelerometerData() {}
+
+ThreeAxisAccelerometerData::~ThreeAxisAccelerometerData() {}
+void ThreeAxisAccelerometerData::ResetData() {
+ x.Reset(0.0);
+ y.Reset(0.0);
+ z.Reset(0.0);
+}
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h
new file mode 100644
index 0000000..a08e9f2
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_I2CAccelerometerData.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 "ThreeAxisAccelerometerData.h"
+
+namespace hal {
+class ADXL345_I2CData : public ThreeAxisAccelerometerData {
+ public:
+ explicit ADXL345_I2CData(int port);
+ virtual ~ADXL345_I2CData();
+
+ bool GetInitialized() const override;
+
+ void HandleWrite(const uint8_t* buffer, uint32_t count);
+ void HandleRead(uint8_t* buffer, uint32_t count);
+
+ private:
+ int m_port;
+ int m_writeCallbackId;
+ int m_readCallbackId;
+
+ int m_lastWriteAddress;
+
+ static const double LSB;
+};
+} // namespace hal
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h
new file mode 100644
index 0000000..23140cb
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL345_SpiAccelerometerData.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 "ThreeAxisAccelerometerData.h"
+
+namespace hal {
+class ADXL345_SpiAccelerometer : public ThreeAxisAccelerometerData {
+ public:
+ explicit ADXL345_SpiAccelerometer(int port);
+ virtual ~ADXL345_SpiAccelerometer();
+
+ bool GetInitialized() const override;
+
+ void HandleWrite(const uint8_t* buffer, uint32_t count);
+ void HandleRead(uint8_t* buffer, uint32_t count);
+
+ private:
+ int m_port;
+ int m_writeCallbackId;
+ int m_readCallbackId;
+
+ int m_lastWriteAddress;
+
+ static const double LSB;
+};
+} // namespace hal
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h
new file mode 100644
index 0000000..258efb8
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXL362_SpiAccelerometerData.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 "ThreeAxisAccelerometerData.h"
+
+namespace hal {
+class ADXL362_SpiAccelerometer : public ThreeAxisAccelerometerData {
+ public:
+ explicit ADXL362_SpiAccelerometer(int port);
+ virtual ~ADXL362_SpiAccelerometer();
+
+ bool GetInitialized() const override;
+
+ void HandleWrite(const uint8_t* buffer, uint32_t count);
+ void HandleRead(uint8_t* buffer, uint32_t count);
+
+ private:
+ int m_port;
+ int m_writeCallbackId;
+ int m_readCallbackId;
+
+ int m_lastWriteAddress;
+
+ static const double LSB;
+};
+} // namespace hal
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h
new file mode 100644
index 0000000..25e8376
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ADXRS450_SpiGyroWrapperData.h
@@ -0,0 +1,50 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <mockdata/SimDataValue.h>
+
+namespace hal {
+class ADXRS450_SpiGyroWrapper {
+ public:
+ explicit ADXRS450_SpiGyroWrapper(int port);
+ virtual ~ADXRS450_SpiGyroWrapper();
+
+ bool GetInitialized() const;
+
+ void HandleRead(uint8_t* buffer, uint32_t count);
+ void HandleAutoReceiveData(uint32_t* buffer, int32_t numToRead,
+ int32_t& outputCount);
+
+ int32_t RegisterAngleCallback(HAL_NotifyCallback callback, void* param,
+ HAL_Bool initialNotify) {
+ return m_angle.RegisterCallback(callback, param, initialNotify);
+ }
+ void CancelAngleCallback(int32_t uid) { m_angle.CancelCallback(uid); }
+ double GetAngle() { return m_angle; }
+ void SetAngle(double angle);
+
+ virtual void ResetData();
+
+ private:
+ int m_port;
+ int m_readCallbackId;
+ int m_autoReceiveReadCallbackId;
+
+ HAL_SIMDATAVALUE_DEFINE_NAME(Angle)
+
+ SimDataValue<double, MakeDouble, GetAngleName> m_angle{0.0};
+ double m_angleDiff = 0.0;
+
+ static const double kAngleLsb;
+ // The maximum difference that can fit inside of the shifted and masked data
+ // field, per transaction
+ static const double kMaxAngleDeltaPerMessage;
+ static const int kPacketSize;
+};
+} // namespace hal
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h
new file mode 100644
index 0000000..67412e5
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/main/native/include/ThreeAxisAccelerometerData.h
@@ -0,0 +1,39 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <mockdata/SimDataValue.h>
+
+namespace hal {
+class ThreeAxisAccelerometerData {
+ HAL_SIMDATAVALUE_DEFINE_NAME(X);
+ HAL_SIMDATAVALUE_DEFINE_NAME(Y);
+ HAL_SIMDATAVALUE_DEFINE_NAME(Z);
+
+ public:
+ ThreeAxisAccelerometerData();
+ virtual ~ThreeAxisAccelerometerData();
+
+ virtual bool GetInitialized() const = 0;
+
+ double GetX() { return x; }
+ void SetX(double x_) { x = x_; }
+
+ double GetY() { return y; }
+ void SetY(double y_) { y = y_; }
+
+ double GetZ() { return z; }
+ void SetZ(double z_) { z = z_; }
+
+ SimDataValue<double, MakeDouble, GetXName> x{0.0};
+ SimDataValue<double, MakeDouble, GetYName> y{0.0};
+ SimDataValue<double, MakeDouble, GetZName> z{0.0};
+
+ virtual void ResetData();
+};
+} // namespace hal
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
new file mode 100644
index 0000000..aa58861
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_I2CAccelerometerTest.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_I2CAccelerometerData.h"
+#include "frc/ADXL345_I2C.h"
+#include "gtest/gtest.h"
+
+class ADXL345_I2CAccelerometerTest
+ : public ::testing::TestWithParam<frc::I2C::Port> {};
+
+TEST_P(ADXL345_I2CAccelerometerTest, TestAccelerometer) {
+ const double EPSILON = 1 / 256.0;
+
+ frc::I2C::Port port = GetParam();
+
+ hal::ADXL345_I2CData sim{port};
+ frc::ADXL345_I2C accel{port};
+
+ EXPECT_NEAR(0, sim.GetX(), EPSILON);
+ EXPECT_NEAR(0, sim.GetY(), EPSILON);
+ EXPECT_NEAR(0, sim.GetZ(), EPSILON);
+
+ EXPECT_NEAR(0, accel.GetX(), EPSILON);
+ EXPECT_NEAR(0, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+
+ sim.SetX(1.56);
+ sim.SetY(-.653);
+ sim.SetZ(0.11);
+
+ EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
+ EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
+ EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
+
+ EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
+ EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
+}
+
+INSTANTIATE_TEST_CASE_P(ADXL345_I2CAccelerometerTest,
+ ADXL345_I2CAccelerometerTest,
+ ::testing::Values(frc::I2C::kOnboard,
+ frc::I2C::kMXP), );
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
new file mode 100644
index 0000000..548240d
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL345_SpiAccelerometerTest.cpp
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_SpiAccelerometerData.h"
+#include "frc/ADXL345_SPI.h"
+#include "gtest/gtest.h"
+
+class ADXL345_SpiAccelerometerTest
+ : public ::testing::TestWithParam<frc::SPI::Port> {};
+
+TEST_P(ADXL345_SpiAccelerometerTest, TestAccelerometer) {
+ const double EPSILON = 1 / 256.0;
+
+ frc::SPI::Port port = GetParam();
+
+ hal::ADXL345_SpiAccelerometer sim{port};
+ frc::ADXL345_SPI accel{port};
+
+ EXPECT_NEAR(0, sim.GetX(), EPSILON);
+ EXPECT_NEAR(0, sim.GetY(), EPSILON);
+ EXPECT_NEAR(0, sim.GetZ(), EPSILON);
+
+ EXPECT_NEAR(0, accel.GetX(), EPSILON);
+ EXPECT_NEAR(0, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+
+ sim.SetX(1.56);
+ sim.SetY(-.653);
+ sim.SetZ(0.11);
+
+ EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
+ EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
+ EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
+
+ EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
+ EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
+}
+
+INSTANTIATE_TEST_CASE_P(
+ ADXL345_SpiAccelerometerTest, ADXL345_SpiAccelerometerTest,
+ ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
+ frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
+ frc::SPI::kMXP), );
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
new file mode 100644
index 0000000..67efd18
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXL362_SpiAccelerometerTest.cpp
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL362_SpiAccelerometerData.h"
+#include "frc/ADXL362.h"
+#include "gtest/gtest.h"
+
+class ADXL362_SpiAccelerometerTest
+ : public ::testing::TestWithParam<frc::SPI::Port> {};
+
+TEST_P(ADXL362_SpiAccelerometerTest, TestAccelerometer) {
+ const double EPSILON = 1 / 256.0;
+
+ frc::SPI::Port port = GetParam();
+
+ hal::ADXL362_SpiAccelerometer sim{port};
+ frc::ADXL362 accel{port};
+
+ EXPECT_NEAR(0, sim.GetX(), EPSILON);
+ EXPECT_NEAR(0, sim.GetY(), EPSILON);
+ EXPECT_NEAR(0, sim.GetZ(), EPSILON);
+
+ EXPECT_NEAR(0, accel.GetX(), EPSILON);
+ EXPECT_NEAR(0, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+
+ sim.SetX(1.56);
+ sim.SetY(-.653);
+ sim.SetZ(0.11);
+
+ EXPECT_NEAR(1.56, sim.GetX(), EPSILON);
+ EXPECT_NEAR(-.653, sim.GetY(), EPSILON);
+ EXPECT_NEAR(0.11, sim.GetZ(), EPSILON);
+
+ EXPECT_NEAR(1.56, accel.GetX(), EPSILON);
+ EXPECT_NEAR(-.653, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0.11, accel.GetZ(), EPSILON);
+}
+
+INSTANTIATE_TEST_CASE_P(
+ ADXL362_SpiAccelerometerTest, ADXL362_SpiAccelerometerTest,
+ ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
+ frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
+ frc::SPI::kMXP), );
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
new file mode 100644
index 0000000..f1c14ca
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/ADXRS450_SpiGyroWrapperTest.cpp
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXRS450_SpiGyroWrapperData.h"
+#include "frc/ADXRS450_Gyro.h"
+#include "gtest/gtest.h"
+
+class ADXRS450_SpiGyroWrapperTest
+ : public ::testing::TestWithParam<frc::SPI::Port> {};
+
+TEST_P(ADXRS450_SpiGyroWrapperTest, TestAccelerometer) {
+#ifdef __APPLE__
+ // Disable test on mac, because of unknown failures
+ // TODO: Finally figure out the isse.
+ return;
+#else
+ const double EPSILON = .000001;
+
+ frc::SPI::Port port = GetParam();
+
+ hal::ADXRS450_SpiGyroWrapper sim{port};
+ frc::ADXRS450_Gyro gyro{port};
+
+ EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
+ EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
+
+ sim.SetAngle(32.56);
+ EXPECT_NEAR(32.56, sim.GetAngle(), EPSILON);
+ EXPECT_NEAR(32.56, gyro.GetAngle(), EPSILON);
+#endif
+}
+
+INSTANTIATE_TEST_CASE_P(
+ ADXRS450_SpiGyroWrapperTest, ADXRS450_SpiGyroWrapperTest,
+ ::testing::Values(frc::SPI::kOnboardCS0, frc::SPI::kOnboardCS1,
+ frc::SPI::kOnboardCS2, frc::SPI::kOnboardCS3,
+ frc::SPI::kMXP), );
diff --git a/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp
new file mode 100644
index 0000000..0e00efa
--- /dev/null
+++ b/simulation/halsim_adx_gyro_accelerometer/src/test/native/cpp/main.cpp
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+ HAL_Initialize(500, 0);
+ ::testing::InitGoogleTest(&argc, argv);
+ int ret = RUN_ALL_TESTS();
+ return ret;
+}
diff --git a/simulation/halsim_ds_nt/build.gradle b/simulation/halsim_ds_nt/build.gradle
new file mode 100644
index 0000000..fa02630
--- /dev/null
+++ b/simulation/halsim_ds_nt/build.gradle
@@ -0,0 +1,9 @@
+description = "A simulation shared object that uses NetworkTables to act as a stand-in for the FRC Driver Station"
+
+ext {
+ includeNtCore = true
+ includeWpiutil = true
+ pluginName = 'halsim_ds_nt'
+}
+
+apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
diff --git a/simulation/halsim_ds_nt/src/dev/native/cpp/main.cpp b/simulation/halsim_ds_nt/src/dev/native/cpp/main.cpp
new file mode 100644
index 0000000..e324b44
--- /dev/null
+++ b/simulation/halsim_ds_nt/src/dev/native/cpp/main.cpp
@@ -0,0 +1,8 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+int main() {}
diff --git a/simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp b/simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp
new file mode 100644
index 0000000..ef510e4
--- /dev/null
+++ b/simulation/halsim_ds_nt/src/main/native/cpp/HALSimDsNt.cpp
@@ -0,0 +1,194 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "HALSimDsNt.h"
+
+void HALSimDSNT::Initialize() {
+ rootTable =
+ nt::NetworkTableInstance::GetDefault().GetTable("sim")->GetSubTable(
+ "DS_CONTROL"); // Not to be confused with sim::DriverStation from
+ // HALSim LowFi
+
+ // LOOP TIMING //
+
+ auto timinghz = rootTable->GetEntry("timing_hz");
+ timinghz.ForceSetDouble(50);
+ timinghz.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ double valIn = ev.value->GetDouble();
+ double val = 0;
+ val = (valIn < 1 ? 1 : valIn > 100 ? 100 : valIn);
+
+ if (val != valIn) {
+ this->rootTable->GetEntry("timing_hz").ForceSetDouble(val);
+ Flush();
+ }
+
+ this->timingHz = val;
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ // MODES //
+
+ modeTable = rootTable->GetSubTable("mode");
+ auto mtele = modeTable->GetEntry("teleop?");
+ auto mauto = modeTable->GetEntry("auto?");
+ auto mtest = modeTable->GetEntry("test?");
+ auto enabled = modeTable->GetEntry("enabled?");
+ auto estop = modeTable->GetEntry("estop?");
+
+ mtele.ForceSetBoolean(true);
+ mauto.ForceSetBoolean(false);
+ mtest.ForceSetBoolean(false);
+ enabled.ForceSetBoolean(false);
+ estop.ForceSetBoolean(false);
+
+ mtele.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ this->HandleModePress(HALSimDSNT_Mode::teleop, ev.value->GetBoolean());
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ mauto.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ this->HandleModePress(HALSimDSNT_Mode::auton, ev.value->GetBoolean());
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ mtest.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ this->HandleModePress(HALSimDSNT_Mode::test, ev.value->GetBoolean());
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ enabled.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ std::lock_guard<wpi::mutex> lock(modeMutex);
+ if (!this->isEstop) {
+ this->isEnabled = ev.value->GetBoolean();
+ } else {
+ this->isEnabled = false;
+ }
+ this->DoModeUpdate();
+ this->UpdateModeButtons();
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ estop.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ std::lock_guard<wpi::mutex> lock(modeMutex);
+ this->isEstop = ev.value->GetBoolean();
+ if (this->isEstop) {
+ this->isEnabled = false;
+ }
+ this->DoModeUpdate();
+ this->UpdateModeButtons();
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ // ALLIANCES //
+
+ allianceTable = rootTable->GetSubTable("alliance");
+ auto allianceStation = allianceTable->GetEntry("station");
+ auto allianceColorRed = allianceTable->GetEntry("red?");
+
+ allianceStation.ForceSetDouble(1);
+ allianceColorRed.ForceSetBoolean(true);
+
+ allianceStation.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ double stnIn = ev.value->GetDouble();
+ double stn = 0;
+ stn = (stnIn > 3 ? 3 : stnIn < 1 ? 1 : stnIn);
+
+ if (stn != stnIn) {
+ this->allianceTable->GetEntry("station").ForceSetDouble(stn);
+ Flush();
+ }
+
+ this->allianceStation = stn;
+ this->DoAllianceUpdate();
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ allianceColorRed.AddListener(
+ [this](const nt::EntryNotification& ev) -> void {
+ this->isAllianceRed = ev.value->GetBoolean();
+ this->DoAllianceUpdate();
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ // FINAL LOGIC //
+
+ Flush();
+
+ loopThread = std::thread([this]() -> void {
+ this->running = true;
+ this->LoopFunc();
+ });
+ loopThread.detach();
+}
+
+void HALSimDSNT::HandleModePress(enum HALSimDSNT_Mode mode, bool isPressed) {
+ if (isPressed) {
+ if (mode != currentMode) {
+ std::lock_guard<wpi::mutex> lock(modeMutex);
+ currentMode = mode;
+ isEnabled = false;
+ this->DoModeUpdate();
+ }
+ }
+
+ this->UpdateModeButtons();
+}
+
+void HALSimDSNT::UpdateModeButtons() {
+ modeTable->GetEntry("teleop?").ForceSetBoolean(currentMode ==
+ HALSimDSNT_Mode::teleop);
+ modeTable->GetEntry("auto?").ForceSetBoolean(currentMode ==
+ HALSimDSNT_Mode::auton);
+ modeTable->GetEntry("test?").ForceSetBoolean(currentMode ==
+ HALSimDSNT_Mode::test);
+ modeTable->GetEntry("enabled?").ForceSetBoolean(isEnabled);
+ Flush();
+}
+
+void HALSimDSNT::DoModeUpdate() {
+ HALSIM_SetDriverStationAutonomous(currentMode == HALSimDSNT_Mode::auton);
+ HALSIM_SetDriverStationTest(currentMode == HALSimDSNT_Mode::test);
+ HALSIM_SetDriverStationEnabled(isEnabled);
+ if (isEnabled && !lastIsEnabled) {
+ currentMatchTime = 0;
+ }
+ lastIsEnabled = isEnabled;
+ HALSIM_SetDriverStationEStop(isEstop);
+ HALSIM_SetDriverStationFmsAttached(false);
+ HALSIM_SetDriverStationDsAttached(true);
+ HALSIM_NotifyDriverStationNewData();
+}
+
+void HALSimDSNT::DoAllianceUpdate() {
+ HALSIM_SetDriverStationAllianceStationId(static_cast<HAL_AllianceStationID>(
+ (isAllianceRed ? HAL_AllianceStationID_kRed1
+ : HAL_AllianceStationID_kBlue1) +
+ (static_cast<int32_t>(allianceStation) - 1)));
+}
+
+void HALSimDSNT::LoopFunc() {
+ while (running) {
+ double dt = 1000 / timingHz;
+ std::this_thread::sleep_for(
+ std::chrono::milliseconds(static_cast<int64_t>(dt)));
+ if (isEnabled) {
+ currentMatchTime = currentMatchTime + dt;
+ HALSIM_SetDriverStationMatchTime(currentMatchTime);
+ }
+ HALSIM_NotifyDriverStationNewData();
+ }
+}
+
+void HALSimDSNT::Flush() { rootTable->GetInstance().Flush(); }
diff --git a/simulation/halsim_ds_nt/src/main/native/cpp/main.cpp b/simulation/halsim_ds_nt/src/main/native/cpp/main.cpp
new file mode 100644
index 0000000..7090de9
--- /dev/null
+++ b/simulation/halsim_ds_nt/src/main/native/cpp/main.cpp
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <iostream>
+
+#include <HALSimDsNt.h>
+
+static HALSimDSNT dsnt;
+
+extern "C" {
+#if defined(WIN32) || defined(_WIN32)
+__declspec(dllexport)
+#endif
+ int HALSIM_InitExtension(void) {
+ std::cout << "DriverStationNT Initializing." << std::endl;
+
+ dsnt.Initialize();
+
+ std::cout << "DriverStationNT Initialized!" << std::endl;
+ return 0;
+}
+} // extern "C"
diff --git a/simulation/halsim_ds_nt/src/main/native/include/HALSimDsNt.h b/simulation/halsim_ds_nt/src/main/native/include/HALSimDsNt.h
new file mode 100644
index 0000000..21d19ee
--- /dev/null
+++ b/simulation/halsim_ds_nt/src/main/native/include/HALSimDsNt.h
@@ -0,0 +1,37 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <atomic>
+#include <memory>
+#include <thread>
+
+#include <mockdata/DriverStationData.h>
+#include <networktables/NetworkTableInstance.h>
+#include <wpi/mutex.h>
+
+enum HALSimDSNT_Mode { teleop, auton, test };
+
+class HALSimDSNT {
+ public:
+ std::shared_ptr<nt::NetworkTable> rootTable, modeTable, allianceTable;
+ enum HALSimDSNT_Mode currentMode;
+ bool isEnabled, lastIsEnabled, isEstop;
+ std::atomic<bool> isAllianceRed, running;
+ std::atomic<double> currentMatchTime, timingHz, allianceStation;
+ std::thread loopThread;
+ wpi::mutex modeMutex;
+
+ void Initialize();
+ void HandleModePress(enum HALSimDSNT_Mode mode, bool isPressed);
+ void UpdateModeButtons();
+ void DoModeUpdate();
+ void DoAllianceUpdate();
+ void LoopFunc();
+ void Flush();
+};
diff --git a/simulation/halsim_ds_socket/build.gradle b/simulation/halsim_ds_socket/build.gradle
new file mode 100644
index 0000000..0200980
--- /dev/null
+++ b/simulation/halsim_ds_socket/build.gradle
@@ -0,0 +1,58 @@
+description = "A plugin that listens on a socket so that you can use the real Driver Station software to connect to the simulation"
+
+ext {
+ includeWpiutil = true
+ pluginName = 'halsim_ds_socket'
+}
+
+apply plugin: 'google-test-test-suite'
+
+
+ext {
+ staticGtestConfigs = [:]
+}
+
+staticGtestConfigs["${pluginName}Test"] = []
+apply from: "${rootDir}/shared/googletest.gradle"
+
+apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
+
+
+model {
+ testSuites {
+ def comps = $.components
+ if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ "${pluginName}Test"(GoogleTestTestSuiteSpec) {
+ for(NativeComponentSpec c : comps) {
+ if (c.name == pluginName) {
+ testing c
+ break
+ }
+ }
+ sources {
+ cpp {
+ source {
+ srcDirs 'src/test/native/cpp'
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/test/native/include', 'src/main/native/cpp'
+ }
+ }
+ }
+ }
+ }
+ }
+ binaries {
+ withType(GoogleTestTestSuiteBinarySpec) {
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib library: pluginName, linkage: 'shared'
+ }
+ }
+}
+
+tasks.withType(RunTestExecutable) {
+ args "--gtest_output=xml:test_detail.xml"
+ outputs.dir outputDir
+}
diff --git a/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp
new file mode 100644
index 0000000..aba88fb
--- /dev/null
+++ b/simulation/halsim_ds_socket/src/dev/native/cpp/main.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <thread>
+
+#include <hal/HAL.h>
+#include <wpi/Format.h>
+#include <wpi/raw_ostream.h>
+
+extern "C" int HALSIM_InitExtension(void);
+
+int main() {
+ HAL_Initialize(500, 0);
+ HALSIM_InitExtension();
+
+ HAL_ObserveUserProgramStarting();
+
+ while (true) {
+ std::this_thread::sleep_for(std::chrono::milliseconds(100));
+ }
+}
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
new file mode 100644
index 0000000..92f1720
--- /dev/null
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
@@ -0,0 +1,312 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "DSCommPacket.h"
+
+#include <algorithm>
+#include <chrono>
+#include <cstring>
+#include <iostream>
+#include <thread>
+#include <vector>
+
+#include <mockdata/DriverStationData.h>
+#include <mockdata/MockHooks.h>
+#include <wpi/ArrayRef.h>
+#include <wpi/Format.h>
+
+using namespace halsim;
+
+DSCommPacket::DSCommPacket() {
+ for (auto& i : m_joystick_packets) {
+ i.ResetTcp();
+ i.ResetUdp();
+ }
+ matchInfo.gameSpecificMessageSize = 0;
+}
+
+/*----------------------------------------------------------------------------
+** The following methods help parse and hold information about the
+** driver station and it's joysticks.
+**--------------------------------------------------------------------------*/
+
+void DSCommPacket::SetControl(uint8_t control, uint8_t request) {
+ std::memset(&m_control_word, 0, sizeof(m_control_word));
+ m_control_word.enabled = (control & kEnabled) != 0;
+ m_control_word.autonomous = (control & kAutonomous) != 0;
+ m_control_word.test = (control & kTest) != 0;
+ m_control_word.eStop = (control & kEmergencyStop) != 0;
+ m_control_word.fmsAttached = (control & kFMS_Attached) != 0;
+ m_control_word.dsAttached = (request & kRequestNormalMask) != 0;
+
+ m_control_sent = control;
+}
+
+void DSCommPacket::SetAlliance(uint8_t station_code) {
+ m_alliance_station = static_cast<HAL_AllianceStationID>(station_code);
+}
+
+void DSCommPacket::ReadMatchtimeTag(wpi::ArrayRef<uint8_t> tagData) {
+ if (tagData.size() < 6) return;
+
+ uint32_t store = tagData[2] << 24;
+ store |= tagData[3] << 16;
+ store |= tagData[4] << 8;
+ store |= tagData[5];
+
+ static_assert(sizeof(uint32_t) == sizeof(float), "float must be 32 bits");
+
+ float matchTime = 0;
+
+ std::memcpy(&matchTime, &store, sizeof(float));
+ m_match_time = matchTime;
+}
+
+void DSCommPacket::ReadJoystickTag(wpi::ArrayRef<uint8_t> dataInput,
+ int index) {
+ DSCommJoystickPacket& stick = m_joystick_packets[index];
+ stick.ResetUdp();
+
+ if (dataInput.size() == 2) {
+ return;
+ }
+
+ dataInput = dataInput.slice(2);
+
+ // Read axes
+ int axesLength = dataInput[0];
+ for (int i = 0; i < axesLength; i++) {
+ int8_t value = dataInput[1 + i];
+ if (value < 0) {
+ stick.axes.axes[i] = value / 128.0;
+ } else {
+ stick.axes.axes[i] = value / 127.0;
+ }
+ }
+ stick.axes.count = axesLength;
+
+ dataInput = dataInput.slice(1 + axesLength);
+
+ // Read Buttons
+ int buttonCount = dataInput[0];
+ int numBytes = (buttonCount + 7) / 8;
+ stick.buttons.buttons = 0;
+ for (int i = 0; i < numBytes; i++) {
+ stick.buttons.buttons |= dataInput[1 + i] << (8 * (i));
+ }
+ stick.buttons.count = buttonCount;
+
+ dataInput = dataInput.slice(1 + numBytes);
+
+ int povsLength = dataInput[0];
+ for (int i = 0; i < povsLength * 2; i += 2) {
+ stick.povs.povs[i] = (dataInput[1 + i] << 8) | dataInput[2 + i];
+ }
+
+ stick.povs.count = povsLength;
+
+ return;
+}
+
+/*----------------------------------------------------------------------------
+** Communication methods
+**--------------------------------------------------------------------------*/
+void DSCommPacket::DecodeTCP(wpi::ArrayRef<uint8_t> packet) {
+ // No header
+ while (!packet.empty()) {
+ int tagLength = packet[0] << 8 | packet[1];
+ auto tagPacket = packet.slice(0, tagLength + 2);
+
+ if (tagLength == 0) {
+ return;
+ }
+
+ switch (packet[2]) {
+ case kJoystickNameTag:
+ ReadJoystickDescriptionTag(tagPacket);
+ break;
+ case kGameDataTag:
+ ReadGameSpecificMessageTag(tagPacket);
+ break;
+ case kMatchInfoTag:
+ ReadNewMatchInfoTag(tagPacket);
+ break;
+ }
+ packet = packet.slice(tagLength + 2);
+ }
+}
+
+void DSCommPacket::DecodeUDP(wpi::ArrayRef<uint8_t> packet) {
+ if (packet.size() < 6) return;
+ // Decode fixed header
+ m_hi = packet[0];
+ m_lo = packet[1];
+ // Comm Version is packet 2, ignore
+ SetControl(packet[3], packet[4]);
+ SetAlliance(packet[5]);
+
+ // Return if packet finished
+ if (packet.size() == 6) return;
+
+ // Else, handle tagged data
+ packet = packet.slice(6);
+
+ int joystickNum = 0;
+
+ // Loop to handle multiple tags
+ while (!packet.empty()) {
+ auto tagLength = packet[0];
+ auto tagPacket = packet.slice(0, tagLength + 1);
+
+ switch (packet[1]) {
+ case kJoystickDataTag:
+ ReadJoystickTag(tagPacket, joystickNum);
+ joystickNum++;
+ break;
+ case kMatchTimeTag:
+ ReadMatchtimeTag(tagPacket);
+ break;
+ }
+ packet = packet.slice(tagLength + 1);
+ }
+}
+
+void DSCommPacket::ReadNewMatchInfoTag(wpi::ArrayRef<uint8_t> data) {
+ // Size 2 bytes, tag 1 byte
+ if (data.size() <= 3) return;
+
+ int nameLength = std::min<size_t>(data[3], sizeof(matchInfo.eventName) - 1);
+
+ for (int i = 0; i < nameLength; i++) {
+ matchInfo.eventName[i] = data[4 + i];
+ }
+
+ matchInfo.eventName[nameLength] = '\0';
+
+ data = data.slice(4 + nameLength);
+
+ if (data.size() < 4) return;
+
+ matchInfo.matchType = static_cast<HAL_MatchType>(
+ data[0]); // None, Practice, Qualification, Elimination, Test
+ matchInfo.matchNumber = (data[1] << 8) | data[2];
+ matchInfo.replayNumber = data[3];
+
+ HALSIM_SetMatchInfo(&matchInfo);
+}
+
+void DSCommPacket::ReadGameSpecificMessageTag(wpi::ArrayRef<uint8_t> data) {
+ // Size 2 bytes, tag 1 byte
+ if (data.size() <= 3) return;
+
+ int length = std::min<size_t>(((data[0] << 8) | data[1]) - 1,
+ sizeof(matchInfo.gameSpecificMessage));
+ for (int i = 0; i < length; i++) {
+ matchInfo.gameSpecificMessage[i] = data[3 + i];
+ }
+
+ matchInfo.gameSpecificMessageSize = length;
+
+ HALSIM_SetMatchInfo(&matchInfo);
+}
+void DSCommPacket::ReadJoystickDescriptionTag(wpi::ArrayRef<uint8_t> data) {
+ if (data.size() < 3) return;
+ data = data.slice(3);
+ int joystickNum = data[0];
+ DSCommJoystickPacket& packet = m_joystick_packets[joystickNum];
+ packet.ResetTcp();
+ packet.descriptor.isXbox = data[1] != 0 ? 1 : 0;
+ packet.descriptor.type = data[2];
+ int nameLength =
+ std::min<size_t>(data[3], (sizeof(packet.descriptor.name) - 1));
+ for (int i = 0; i < nameLength; i++) {
+ packet.descriptor.name[i] = data[4 + i];
+ }
+ data = data.slice(4 + nameLength);
+ packet.descriptor.name[nameLength] = '\0';
+ int axesCount = data[0];
+ packet.descriptor.axisCount = axesCount;
+ for (int i = 0; i < axesCount; i++) {
+ packet.descriptor.axisTypes[i] = data[1 + i];
+ }
+ data = data.slice(1 + axesCount);
+
+ packet.descriptor.buttonCount = data[0];
+ packet.descriptor.povCount = data[1];
+}
+
+void DSCommPacket::SendJoysticks(void) {
+ for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+ DSCommJoystickPacket& packet = m_joystick_packets[i];
+ HALSIM_SetJoystickAxes(i, &packet.axes);
+ HALSIM_SetJoystickPOVs(i, &packet.povs);
+ HALSIM_SetJoystickButtons(i, &packet.buttons);
+ HALSIM_SetJoystickDescriptor(i, &packet.descriptor);
+ }
+}
+
+void DSCommPacket::SetupSendBuffer(wpi::raw_uv_ostream& buf) {
+ SetupSendHeader(buf);
+ SetupJoystickTag(buf);
+}
+
+void DSCommPacket::SetupSendHeader(wpi::raw_uv_ostream& buf) {
+ static constexpr uint8_t kCommVersion = 0x01;
+
+ // High low packet index, comm version
+ buf << m_hi << m_lo << kCommVersion;
+
+ // Control word and status check
+ buf << m_control_sent
+ << static_cast<uint8_t>(HALSIM_GetProgramStarted() ? kRobotHasCode : 0);
+
+ // Battery voltage high and low
+ buf << static_cast<uint8_t>(12) << static_cast<uint8_t>(0);
+
+ // Request (Always 0)
+ buf << static_cast<uint8_t>(0);
+}
+
+void DSCommPacket::SetupJoystickTag(wpi::raw_uv_ostream& buf) {
+ static constexpr uint8_t kHIDTag = 0x01;
+
+ // HID tags are sent 1 per device
+ int64_t outputs;
+ int32_t rightRumble;
+ int32_t leftRumble;
+ for (size_t i = 0; i < m_joystick_packets.size(); i++) {
+ // Length is 9, 1 tag and 8 data.
+ buf << static_cast<uint8_t>(9) << kHIDTag;
+ HALSIM_GetJoystickOutputs(i, &outputs, &leftRumble, &rightRumble);
+ auto op = static_cast<uint32_t>(outputs);
+ auto rr = static_cast<uint16_t>(rightRumble);
+ auto lr = static_cast<uint16_t>(leftRumble);
+ buf.write((op >> 24 & 0xFF));
+ buf.write((op >> 16 & 0xFF));
+ buf.write((op >> 8 & 0xFF));
+ buf.write((op & 0xFF));
+ buf.write((rr >> 8 & 0xFF));
+ buf.write((rr & 0xFF));
+ buf.write((lr >> 8 & 0xFF));
+ buf.write((lr & 0xFF));
+ }
+}
+
+void DSCommPacket::SendUDPToHALSim(void) {
+ SendJoysticks();
+
+ HALSIM_SetDriverStationMatchTime(m_match_time);
+ HALSIM_SetDriverStationEnabled(m_control_word.enabled);
+ HALSIM_SetDriverStationAutonomous(m_control_word.autonomous);
+ HALSIM_SetDriverStationTest(m_control_word.test);
+ HALSIM_SetDriverStationEStop(m_control_word.eStop);
+ HALSIM_SetDriverStationFmsAttached(m_control_word.fmsAttached);
+ HALSIM_SetDriverStationDsAttached(m_control_word.dsAttached);
+ HALSIM_SetDriverStationAllianceStationId(m_alliance_station);
+
+ HALSIM_NotifyDriverStationNewData();
+}
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
new file mode 100644
index 0000000..12cbf74
--- /dev/null
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -0,0 +1,190 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------
+** This extension reimplements enough of the FRC_Network layer to enable the
+** simulator to communicate with a driver station. That includes a
+** simple udp layer for communication.
+** The protocol does not appear to be well documented; this implementation
+** is based in part on the Toast ds_comms.cpp by Jaci and in part
+** by the protocol specification given by QDriverStation.
+**--------------------------------------------------------------------------*/
+
+#include <sys/types.h>
+
+#include <cstring>
+#include <iostream>
+
+#include <DSCommPacket.h>
+#include <wpi/EventLoopRunner.h>
+#include <wpi/StringRef.h>
+#include <wpi/raw_ostream.h>
+#include <wpi/raw_uv_ostream.h>
+#include <wpi/uv/Tcp.h>
+#include <wpi/uv/Timer.h>
+#include <wpi/uv/Udp.h>
+#include <wpi/uv/util.h>
+
+#if defined(Win32) || defined(_WIN32)
+#pragma comment(lib, "Ws2_32.lib")
+#endif
+
+using namespace wpi::uv;
+
+static std::unique_ptr<Buffer> singleByte;
+
+namespace {
+struct DataStore {
+ wpi::SmallVector<uint8_t, 128> m_frame;
+ size_t m_frameSize = std::numeric_limits<size_t>::max();
+ halsim::DSCommPacket* dsPacket;
+};
+} // namespace
+
+static SimpleBufferPool<4>& GetBufferPool() {
+ static SimpleBufferPool<4> bufferPool;
+ return bufferPool;
+}
+
+static void HandleTcpDataStream(Buffer& buf, size_t size, DataStore& store) {
+ wpi::StringRef data{buf.base, size};
+ while (!data.empty()) {
+ if (store.m_frameSize == std::numeric_limits<size_t>::max()) {
+ if (store.m_frame.size() < 2u) {
+ size_t toCopy = std::min(2u - store.m_frame.size(), data.size());
+ store.m_frame.append(data.bytes_begin(), data.bytes_begin() + toCopy);
+ data = data.drop_front(toCopy);
+ if (store.m_frame.size() < 2u) return; // need more data
+ }
+ store.m_frameSize = (static_cast<uint16_t>(store.m_frame[0]) << 8) |
+ static_cast<uint16_t>(store.m_frame[1]);
+ }
+ if (store.m_frameSize != std::numeric_limits<size_t>::max()) {
+ size_t need = store.m_frameSize - (store.m_frame.size() - 2);
+ size_t toCopy = std::min(need, data.size());
+ store.m_frame.append(data.bytes_begin(), data.bytes_begin() + toCopy);
+ data = data.drop_front(toCopy);
+ need -= toCopy;
+ if (need == 0) {
+ auto ds = store.dsPacket;
+ ds->DecodeTCP(store.m_frame);
+ store.m_frame.clear();
+ store.m_frameSize = std::numeric_limits<size_t>::max();
+ }
+ }
+ }
+}
+
+static void SetupTcp(wpi::uv::Loop& loop) {
+ auto tcp = Tcp::Create(loop);
+ auto tcpWaitTimer = Timer::Create(loop);
+
+ auto recStore = std::make_shared<DataStore>();
+ recStore->dsPacket = loop.GetData<halsim::DSCommPacket>().get();
+
+ tcp->SetData(recStore);
+
+ tcp->Bind("0.0.0.0", 1740);
+
+ tcp->Listen([t = tcp.get()] {
+ auto client = t->Accept();
+
+ client->data.connect([t](Buffer& buf, size_t len) {
+ HandleTcpDataStream(buf, len, *t->GetData<DataStore>());
+ });
+ client->StartRead();
+ client->end.connect([c = client.get()] { c->Close(); });
+ });
+}
+
+static void SetupUdp(wpi::uv::Loop& loop) {
+ auto udp = wpi::uv::Udp::Create(loop);
+ udp->Bind("0.0.0.0", 1110);
+
+ // Simulation mode packet
+ auto simLoopTimer = Timer::Create(loop);
+ struct sockaddr_in simAddr;
+ NameToAddr("127.0.0.1", 1135, &simAddr);
+ simLoopTimer->timeout.connect([ udpLocal = udp.get(), simAddr ] {
+ udpLocal->Send(simAddr, wpi::ArrayRef<Buffer>{singleByte.get(), 1},
+ [](auto buf, Error err) {
+ if (err) {
+ wpi::errs() << err.str() << "\n";
+ wpi::errs().flush();
+ }
+ });
+ });
+ simLoopTimer->Start(Timer::Time{100}, Timer::Time{100});
+
+ // UDP Receive then send
+ udp->received.connect([udpLocal = udp.get()](
+ Buffer & buf, size_t len, const sockaddr& recSock, unsigned int port) {
+ auto ds = udpLocal->GetLoop()->GetData<halsim::DSCommPacket>();
+ ds->DecodeUDP(
+ wpi::ArrayRef<uint8_t>{reinterpret_cast<uint8_t*>(buf.base), len});
+
+ struct sockaddr_in outAddr;
+ std::memcpy(&outAddr, &recSock, sizeof(sockaddr_in));
+ outAddr.sin_family = PF_INET;
+ outAddr.sin_port = htons(1150);
+
+ wpi::SmallVector<wpi::uv::Buffer, 4> sendBufs;
+ wpi::raw_uv_ostream stream{sendBufs, GetBufferPool()};
+ ds->SetupSendBuffer(stream);
+
+ udpLocal->Send(outAddr, sendBufs, [](auto bufs, Error err) {
+ GetBufferPool().Release(bufs);
+ if (err) {
+ wpi::errs() << err.str() << "\n";
+ wpi::errs().flush();
+ }
+ });
+ ds->SendUDPToHALSim();
+ });
+
+ udp->StartRecv();
+}
+
+static void SetupEventLoop(wpi::uv::Loop& loop) {
+ auto loopData = std::make_shared<halsim::DSCommPacket>();
+ loop.SetData(loopData);
+ SetupUdp(loop);
+ SetupTcp(loop);
+}
+
+static std::unique_ptr<wpi::EventLoopRunner> eventLoopRunner;
+
+/*----------------------------------------------------------------------------
+** Main entry point. We will start listen threads going, processing
+** against our driver station packet
+**--------------------------------------------------------------------------*/
+extern "C" {
+#if defined(WIN32) || defined(_WIN32)
+__declspec(dllexport)
+#endif
+ int HALSIM_InitExtension(void) {
+ static bool once = false;
+
+ if (once) {
+ std::cerr << "Error: cannot invoke HALSIM_InitExtension twice."
+ << std::endl;
+ return -1;
+ }
+ once = true;
+
+ std::cout << "DriverStationSocket Initializing." << std::endl;
+
+ singleByte = std::make_unique<Buffer>("0");
+
+ eventLoopRunner = std::make_unique<wpi::EventLoopRunner>();
+
+ eventLoopRunner->ExecAsync(SetupEventLoop);
+
+ std::cout << "DriverStationSocket Initialized!" << std::endl;
+ return 0;
+}
+} // extern "C"
diff --git a/simulation/halsim_ds_socket/src/main/native/include/DSCommJoystickPacket.h b/simulation/halsim_ds_socket/src/main/native/include/DSCommJoystickPacket.h
new file mode 100644
index 0000000..6f7e0bf
--- /dev/null
+++ b/simulation/halsim_ds_socket/src/main/native/include/DSCommJoystickPacket.h
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <cstring>
+
+#include <hal/DriverStationTypes.h>
+
+namespace halsim {
+
+typedef struct {
+ HAL_JoystickAxes axes;
+ HAL_JoystickButtons buttons;
+ HAL_JoystickPOVs povs;
+ HAL_JoystickDescriptor descriptor;
+
+ void ResetUdp() {
+ std::memset(&axes, 0, sizeof(axes));
+ std::memset(&buttons, 0, sizeof(buttons));
+ std::memset(&povs, 0, sizeof(povs));
+ }
+
+ void ResetTcp() { std::memset(&descriptor, 0, sizeof(descriptor)); }
+} DSCommJoystickPacket;
+
+} // namespace halsim
diff --git a/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h b/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
new file mode 100644
index 0000000..ebe36e4
--- /dev/null
+++ b/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <array>
+
+#include <DSCommJoystickPacket.h>
+#include <mockdata/DriverStationData.h>
+#include <wpi/ArrayRef.h>
+#include <wpi/raw_uv_ostream.h>
+
+class DSCommPacketTest;
+
+namespace halsim {
+
+class DSCommPacket {
+ friend class ::DSCommPacketTest;
+
+ public:
+ DSCommPacket(void);
+ void DecodeTCP(wpi::ArrayRef<uint8_t> packet);
+ void DecodeUDP(wpi::ArrayRef<uint8_t> packet);
+ void SendUDPToHALSim(void);
+ void SetupSendBuffer(wpi::raw_uv_ostream& buf);
+
+ /* TCP Tags */
+ static const uint8_t kGameDataTag = 0x0e;
+ static const uint8_t kJoystickNameTag = 0x02;
+ static const uint8_t kMatchInfoTag = 0x07;
+
+ /* UDP Tags*/
+ static const uint8_t kJoystickDataTag = 0x0c;
+ static const uint8_t kMatchTimeTag = 0x07;
+
+ /* Control word bits */
+ static const uint8_t kTest = 0x01;
+ static const uint8_t kEnabled = 0x04;
+ static const uint8_t kAutonomous = 0x02;
+ static const uint8_t kFMS_Attached = 0x08;
+ static const uint8_t kEmergencyStop = 0x80;
+
+ /* Control request bitmask */
+ static const uint8_t kRequestNormalMask = 0xF0;
+
+ /* Status bits */
+ static const uint8_t kRobotHasCode = 0x20;
+
+ private:
+ void SendJoysticks(void);
+ void SetControl(uint8_t control, uint8_t request);
+ void SetAlliance(uint8_t station_code);
+ void SetupSendHeader(wpi::raw_uv_ostream& buf);
+ void SetupJoystickTag(wpi::raw_uv_ostream& buf);
+ void ReadMatchtimeTag(wpi::ArrayRef<uint8_t> tagData);
+ void ReadJoystickTag(wpi::ArrayRef<uint8_t> data, int index);
+ void ReadNewMatchInfoTag(wpi::ArrayRef<uint8_t> data);
+ void ReadGameSpecificMessageTag(wpi::ArrayRef<uint8_t> data);
+ void ReadJoystickDescriptionTag(wpi::ArrayRef<uint8_t> data);
+
+ uint8_t m_hi;
+ uint8_t m_lo;
+ uint8_t m_control_sent;
+ HAL_ControlWord m_control_word;
+ HAL_AllianceStationID m_alliance_station;
+ HAL_MatchInfo matchInfo;
+ std::array<DSCommJoystickPacket, HAL_kMaxJoysticks> m_joystick_packets;
+ double m_match_time;
+};
+
+} // namespace halsim
diff --git a/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp b/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
new file mode 100644
index 0000000..a72aafc
--- /dev/null
+++ b/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
@@ -0,0 +1,146 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "DSCommPacket.h"
+#include "gtest/gtest.h"
+
+class DSCommPacketTest : public ::testing::Test {
+ public:
+ DSCommPacketTest() {}
+
+ void SendJoysticks() { commPacket.SendJoysticks(); }
+
+ halsim::DSCommJoystickPacket& ReadJoystickTag(wpi::ArrayRef<uint8_t> data,
+ int index) {
+ commPacket.ReadJoystickTag(data, index);
+ return commPacket.m_joystick_packets[index];
+ }
+
+ halsim::DSCommJoystickPacket& ReadDescriptorTag(wpi::ArrayRef<uint8_t> data) {
+ commPacket.ReadJoystickDescriptionTag(data);
+ return commPacket.m_joystick_packets[data[3]];
+ }
+
+ HAL_MatchInfo& ReadNewMatchInfoTag(wpi::ArrayRef<uint8_t> data) {
+ commPacket.ReadNewMatchInfoTag(data);
+ return commPacket.matchInfo;
+ }
+
+ HAL_MatchInfo& ReadGameSpecificTag(wpi::ArrayRef<uint8_t> data) {
+ commPacket.ReadGameSpecificMessageTag(data);
+ return commPacket.matchInfo;
+ }
+
+ protected:
+ halsim::DSCommPacket commPacket;
+};
+
+TEST_F(DSCommPacketTest, EmptyJoystickTag) {
+ for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+ uint8_t arr[2];
+ auto& data = ReadJoystickTag(arr, 0);
+ ASSERT_EQ(data.axes.count, 0);
+ ASSERT_EQ(data.povs.count, 0);
+ ASSERT_EQ(data.buttons.count, 0);
+ }
+}
+
+TEST_F(DSCommPacketTest, BlankJoystickTag) {
+ for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+ uint8_t arr[5];
+ arr[0] = 4;
+ arr[1] = 2;
+ arr[2] = 0;
+ arr[3] = 0;
+ arr[4] = 0;
+ auto& data = ReadJoystickTag(arr, 0);
+ ASSERT_EQ(data.axes.count, 0);
+ ASSERT_EQ(data.povs.count, 0);
+ ASSERT_EQ(data.buttons.count, 0);
+ }
+}
+
+TEST_F(DSCommPacketTest, MainJoystickTag) {
+ for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+ // 5 for base, 4 joystick, 12 buttons (2 bytes) 3 povs
+ uint8_t arr[5 + 4 + 2 + 6] = {// Size, Tag
+ 16, 12,
+ // Axes
+ 4, 0x9C, 0xCE, 0, 75,
+ // Buttons
+ 12, 0xFF, 0x0F,
+ // POVs
+ 3, 0, 50, 0, 100, 0x0F, 0x00};
+
+ auto& data = ReadJoystickTag(arr, 0);
+ ASSERT_EQ(data.axes.count, 4);
+ ASSERT_EQ(data.povs.count, 3);
+ ASSERT_EQ(data.buttons.count, 12);
+ }
+}
+
+TEST_F(DSCommPacketTest, DescriptorTag) {
+ for (int i = 0; i < HAL_kMaxJoysticks; i++) {
+ uint8_t arr[] = {// Size (2), tag
+ 0, 0, 7,
+ // Joystick index, Is Xbox, Type
+ static_cast<uint8_t>(i), 1, 0,
+ // NameLen, Name (Not null terminated)
+ 11, 'H', 'e', 'l', 'l', 'o', ' ', 'W', 'o', 'r', 'l', 'd',
+ // Axes count, Axes types
+ 4, 1, 2, 3, 4,
+ // Button count, pov count,
+ 12, 3};
+ arr[1] = sizeof(arr) - 2;
+ auto& data = ReadDescriptorTag(arr);
+ ASSERT_EQ(data.descriptor.isXbox, 1);
+ ASSERT_EQ(data.descriptor.type, 0);
+ ASSERT_STREQ(data.descriptor.name, "Hello World");
+ ASSERT_EQ(data.descriptor.axisCount, 4);
+ for (int i = 0; i < 4; i++) {
+ ASSERT_EQ(data.descriptor.axisTypes[i], i + 1);
+ }
+ ASSERT_EQ(data.descriptor.buttonCount, 12);
+ ASSERT_EQ(data.descriptor.povCount, 3);
+ }
+}
+
+TEST_F(DSCommPacketTest, MatchInfoTag) {
+ uint8_t arr[]{// Size (2), tag
+ 0, 0, 8,
+ // Event Name Len, Event Name
+ 4, 'W', 'C', 'B', 'C',
+ // Match type, Match num (2), replay num
+ 2, 0, 18, 1};
+ arr[1] = sizeof(arr) - 2;
+ auto& matchInfo = ReadNewMatchInfoTag(arr);
+ ASSERT_STREQ(matchInfo.eventName, "WCBC");
+ ASSERT_EQ(matchInfo.matchType, HAL_MatchType::HAL_kMatchType_qualification);
+ ASSERT_EQ(matchInfo.matchNumber, 18);
+ ASSERT_EQ(matchInfo.replayNumber, 1);
+}
+
+TEST_F(DSCommPacketTest, GameDataTag) {
+ uint8_t arr[]{
+ // Size (2), tag
+ 0,
+ 0,
+ 17,
+ // Match data (length is taglength - 1)
+ 'W',
+ 'C',
+ 'B',
+ 'C',
+ };
+ arr[1] = sizeof(arr) - 2;
+ auto& matchInfo = ReadGameSpecificTag(arr);
+ ASSERT_EQ(matchInfo.gameSpecificMessageSize, 4);
+ ASSERT_EQ(matchInfo.gameSpecificMessage[0], 'W');
+ ASSERT_EQ(matchInfo.gameSpecificMessage[1], 'C');
+ ASSERT_EQ(matchInfo.gameSpecificMessage[2], 'B');
+ ASSERT_EQ(matchInfo.gameSpecificMessage[3], 'C');
+}
diff --git a/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
new file mode 100644
index 0000000..aa4f4b0
--- /dev/null
+++ b/simulation/halsim_ds_socket/src/test/native/cpp/main.cpp
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+ HAL_Initialize(500, 0);
+ ::testing::InitGoogleTest(&argc, argv);
+ int ret = RUN_ALL_TESTS();
+ return ret;
+}
diff --git a/simulation/halsim_gazebo/build.gradle b/simulation/halsim_gazebo/build.gradle
new file mode 100644
index 0000000..d9c2217
--- /dev/null
+++ b/simulation/halsim_gazebo/build.gradle
@@ -0,0 +1,57 @@
+description = "A shared object library that will interface between a robot and the Gazebo plugins."
+
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: 'cpp'
+
+ext.skipAthena = true
+ext.skipRaspbian = true
+ext.pluginName = 'halsim_gazebo'
+
+/* If gz_msgs or gazebo is not available, do not attempt a build */
+def gazebo_version = ""
+def gazebo_cppflags = ""
+def gazebo_linker_args = ""
+
+try {
+ gazebo_version = "pkg-config --modversion gazebo".execute().text.trim()
+ println "Gazebo version is [${gazebo_version}]"
+ gazebo_cppflags = "pkg-config --cflags gazebo".execute().text.split()
+ gazebo_linker_args = "pkg-config --libs gazebo protobuf".execute().text.split()
+} catch(Exception ex) { }
+
+if (!gazebo_version?.trim()) {
+ println "Gazebo development files are not available. (pkg-config --modversion gazebo failed)"
+ if (project.hasProperty("makeSim")) {
+ /* Force the build even though we did not find protobuf. */
+ println "makeSim set. Forcing build - failure likely."
+ }
+ else {
+ ext.skip_frc_plugins = true
+ println "Skipping FRC Plugins."
+ }
+}
+
+evaluationDependsOn(":simulation:gz_msgs")
+def gz_msgs_project = project(":simulation:gz_msgs")
+
+if (!gz_msgs_project.hasProperty('skip_gz_msgs') && !project.hasProperty('skip_frc_plugins')) {
+
+ apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
+
+}
+
+model {
+ binaries {
+ all {
+ if (it instanceof StaticLibraryBinarySpec) {
+ it.buildable = false
+ return
+ }
+ linker.args gazebo_linker_args
+ cppCompiler.args gazebo_cppflags
+ lib project: ":simulation:gz_msgs", library: "gz_msgs", linkage: "static"
+ }
+ }
+}
+
+/* TODO: Publish this library */
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
new file mode 100644
index 0000000..60700c2
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "GazeboAnalogIn.h"
+
+#include <string>
+
+#include <hal/Power.h>
+#include <mockdata/AnalogInData.h>
+#include <mockdata/HAL_Value.h>
+#include <mockdata/NotifyListener.h>
+
+static void init_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboAnalogIn* ain = static_cast<GazeboAnalogIn*>(param);
+ ain->SetInitialized(value->data.v_boolean);
+ if (ain->IsInitialized()) {
+ ain->Listen();
+ }
+}
+
+GazeboAnalogIn::GazeboAnalogIn(int index, HALSimGazebo* halsim) {
+ m_index = index;
+ m_halsim = halsim;
+ m_sub = NULL;
+ HALSIM_RegisterAnalogInInitializedCallback(index, init_callback, this, true);
+}
+
+void GazeboAnalogIn::Listen() {
+ if (!m_sub)
+ m_sub = m_halsim->node.Subscribe<gazebo::msgs::Float64>(
+ "~/simulator/analog/" + std::to_string(m_index),
+ &GazeboAnalogIn::Callback, this);
+}
+
+void GazeboAnalogIn::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ /* This value is going to be divided by the 5V rail in the HAL, so
+ we multiply by that value to make the change neutral */
+ int32_t status;
+ HALSIM_SetAnalogInVoltage(m_index,
+ msg->data() * HAL_GetUserVoltage5V(&status));
+}
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
new file mode 100644
index 0000000..02f8387
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "GazeboDIO.h"
+
+#include <string>
+
+#include <mockdata/DIOData.h>
+#include <mockdata/HAL_Value.h>
+#include <mockdata/NotifyListener.h>
+
+static void init_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboDIO* dio = static_cast<GazeboDIO*>(param);
+ dio->SetInitialized(value->data.v_boolean);
+ if (dio->IsInitialized()) {
+ dio->Listen();
+ }
+}
+
+GazeboDIO::GazeboDIO(int index, HALSimGazebo* halsim) {
+ m_index = index;
+ m_halsim = halsim;
+ m_sub = NULL;
+ HALSIM_RegisterDIOInitializedCallback(index, init_callback, this, true);
+}
+
+void GazeboDIO::Listen() {
+ if (!m_sub)
+ m_sub = m_halsim->node.Subscribe<gazebo::msgs::Bool>(
+ "~/simulator/dio/" + std::to_string(m_index), &GazeboDIO::Callback,
+ this);
+}
+
+void GazeboDIO::Callback(const gazebo::msgs::ConstBoolPtr& msg) {
+ HALSIM_SetDIOValue(m_index, msg->data());
+}
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
new file mode 100644
index 0000000..778df7a
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
@@ -0,0 +1,75 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "GazeboEncoder.h"
+
+#include <string>
+
+#include <mockdata/EncoderData.h>
+#include <mockdata/HAL_Value.h>
+#include <mockdata/NotifyListener.h>
+
+static void encoder_init_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboEncoder* encoder = static_cast<GazeboEncoder*>(param);
+ encoder->SetInitialized(value->data.v_boolean);
+ if (encoder->IsInitialized()) {
+ encoder->Control("start");
+ encoder->Listen();
+ }
+}
+
+static void encoder_reset_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboEncoder* encoder = static_cast<GazeboEncoder*>(param);
+ if (encoder->IsInitialized() && value->data.v_boolean)
+ encoder->Control("reset");
+}
+
+static void encoder_reverse_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboEncoder* encoder = static_cast<GazeboEncoder*>(param);
+ if (encoder->IsInitialized()) encoder->SetReverse(value->data.v_boolean);
+}
+
+GazeboEncoder::GazeboEncoder(int index, HALSimGazebo* halsim) {
+ m_index = index;
+ m_halsim = halsim;
+ m_reverse = false;
+ m_pub = NULL;
+ m_sub = NULL;
+ HALSIM_RegisterEncoderInitializedCallback(index, encoder_init_callback, this,
+ true);
+ HALSIM_RegisterEncoderResetCallback(index, encoder_reset_callback, this,
+ true);
+ HALSIM_RegisterEncoderReverseDirectionCallback(
+ index, encoder_reverse_callback, this, true);
+}
+
+void GazeboEncoder::Control(const char* command) {
+ if (!m_pub) {
+ m_pub = m_halsim->node.Advertise<gazebo::msgs::String>(
+ "~/simulator/encoder/dio/" +
+ std::to_string(HALSIM_GetDigitalChannelA(m_index)) + "/control");
+ m_pub->WaitForConnection(gazebo::common::Time(1, 0));
+ }
+ gazebo::msgs::String msg;
+ msg.set_data(command);
+ if (m_pub) m_pub->Publish(msg);
+}
+
+void GazeboEncoder::Listen() {
+ if (!m_sub)
+ m_sub = m_halsim->node.Subscribe<gazebo::msgs::Float64>(
+ "~/simulator/encoder/dio/" +
+ std::to_string(HALSIM_GetDigitalChannelA(m_index)) + "/position",
+ &GazeboEncoder::Callback, this);
+}
+
+void GazeboEncoder::Callback(const gazebo::msgs::ConstFloat64Ptr& msg) {
+ HALSIM_SetEncoderCount(m_index, msg->data() * (m_reverse ? -1 : 1));
+}
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboNode.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboNode.cpp
new file mode 100644
index 0000000..13103b7
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboNode.cpp
@@ -0,0 +1,20 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "GazeboNode.h"
+
+bool GazeboNode::Connect() {
+ bool success = gazebo::client::setup();
+
+ if (success) {
+ main = gazebo::transport::NodePtr(new gazebo::transport::Node());
+ main->Init("frc");
+ gazebo::transport::run();
+ }
+
+ return success;
+}
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
new file mode 100644
index 0000000..de4188c
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "GazeboPCM.h"
+
+#include <string>
+
+#include <mockdata/HAL_Value.h>
+#include <mockdata/NotifyListener.h>
+#include <mockdata/PCMData.h>
+
+#include "simulation/gz_msgs/msgs.h"
+
+static void init_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboPCM* pcm = static_cast<GazeboPCM*>(param);
+ pcm->SetInitialized(value->data.v_boolean);
+}
+
+static void output_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboPCM* pcm = static_cast<GazeboPCM*>(param);
+ if (pcm->IsInitialized()) pcm->Publish(value->data.v_boolean);
+}
+
+GazeboPCM::GazeboPCM(int index, int channel, HALSimGazebo* halsim) {
+ m_index = index;
+ m_channel = channel;
+ m_halsim = halsim;
+ m_pub = NULL;
+ HALSIM_RegisterPCMSolenoidInitializedCallback(index, channel, init_callback,
+ this, true);
+ HALSIM_RegisterPCMSolenoidOutputCallback(index, channel, output_callback,
+ this, true);
+}
+
+void GazeboPCM::Publish(bool value) {
+ if (!m_pub) {
+ m_pub = m_halsim->node.Advertise<gazebo::msgs::Bool>(
+ "~/simulator/pneumatic/" + std::to_string(m_index + 1) + "/" +
+ std::to_string(m_channel));
+ m_pub->WaitForConnection(gazebo::common::Time(1, 0));
+ }
+ gazebo::msgs::Bool msg;
+ msg.set_data(value);
+ if (m_pub) m_pub->Publish(msg);
+}
+
+void GazeboPCM_SetPressureSwitch(int index, bool value) {
+ HALSIM_SetPCMPressureSwitch(index, value);
+}
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
new file mode 100644
index 0000000..1d07832
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "GazeboPWM.h"
+
+#include <string>
+
+#include <mockdata/HAL_Value.h>
+#include <mockdata/NotifyListener.h>
+#include <mockdata/PWMData.h>
+
+#include "simulation/gz_msgs/msgs.h"
+
+static void init_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
+ pwm->SetInitialized(value->data.v_boolean);
+}
+
+static void speed_callback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ GazeboPWM* pwm = static_cast<GazeboPWM*>(param);
+ if (pwm->IsInitialized()) pwm->Publish(value->data.v_double);
+}
+
+GazeboPWM::GazeboPWM(int port, HALSimGazebo* halsim) {
+ m_port = port;
+ m_halsim = halsim;
+ HALSIM_RegisterPWMInitializedCallback(port, init_callback, this, true);
+ HALSIM_RegisterPWMSpeedCallback(port, speed_callback, this, true);
+}
+
+void GazeboPWM::Publish(double value) {
+ if (!m_pub) {
+ m_pub = m_halsim->node.Advertise<gazebo::msgs::Float64>(
+ "~/simulator/pwm/" + std::to_string(m_port));
+ m_pub->WaitForConnection(gazebo::common::Time(1, 0));
+ }
+ gazebo::msgs::Float64 msg;
+ msg.set_data(value);
+ if (m_pub) m_pub->Publish(msg);
+}
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/main.cpp b/simulation/halsim_gazebo/src/main/native/cpp/main.cpp
new file mode 100644
index 0000000..fa1c85a
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/cpp/main.cpp
@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <iostream>
+
+#include <hal/Ports.h>
+
+#include "GazeboAnalogIn.h"
+#include "GazeboDIO.h"
+#include "GazeboEncoder.h"
+#include "GazeboPCM.h"
+#include "GazeboPWM.h"
+#include "HALSimGazebo.h"
+
+/* Currently, robots never terminate, so we keep a single static object
+ to access Gazebo with and it is never properly released or cleaned up. */
+static HALSimGazebo halsim;
+
+extern "C" {
+int HALSIM_InitExtension(void) {
+ std::cout << "Gazebo Simulator Initializing." << std::endl;
+
+ if (!halsim.node.Connect()) {
+ std::cerr << "Error: unable to connect to Gazebo. Is it running?."
+ << std::endl;
+ return -1;
+ }
+ std::cout << "Gazebo Simulator Connected." << std::endl;
+
+ for (int i = 0; i < HALSimGazebo::kPWMCount; i++)
+ halsim.pwms[i] = new GazeboPWM(i, &halsim);
+
+ for (int i = 0; i < HALSimGazebo::kPCMCount; i++)
+ halsim.pcms[i] = new GazeboPCM(0, i, &halsim);
+ GazeboPCM_SetPressureSwitch(0, true);
+
+ for (int i = 0; i < HALSimGazebo::kEncoderCount; i++)
+ halsim.encoders[i] = new GazeboEncoder(i, &halsim);
+
+ int analog_in_count = HAL_GetNumAnalogInputs();
+ for (int i = 0; i < analog_in_count; i++)
+ halsim.analog_inputs.push_back(new GazeboAnalogIn(i, &halsim));
+
+ int dio_count = HAL_GetNumDigitalChannels();
+ for (int i = 0; i < dio_count; i++)
+ halsim.dios.push_back(new GazeboDIO(i, &halsim));
+
+ return 0;
+}
+} // extern "C"
diff --git a/simulation/halsim_gazebo/src/main/native/include/GazeboAnalogIn.h b/simulation/halsim_gazebo/src/main/native/include/GazeboAnalogIn.h
new file mode 100644
index 0000000..9b1bbde
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/include/GazeboAnalogIn.h
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "HALSimGazebo.h"
+#include "simulation/gz_msgs/msgs.h"
+
+class GazeboAnalogIn {
+ public:
+ GazeboAnalogIn(int index, HALSimGazebo* halsim);
+ void SetInitialized(bool value) { m_initialized = value; }
+ bool IsInitialized(void) { return m_initialized; }
+ void Listen(void);
+
+ private:
+ HALSimGazebo* m_halsim;
+ int m_index;
+ bool m_initialized;
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+ gazebo::transport::SubscriberPtr m_sub;
+};
diff --git a/simulation/halsim_gazebo/src/main/native/include/GazeboDIO.h b/simulation/halsim_gazebo/src/main/native/include/GazeboDIO.h
new file mode 100644
index 0000000..e96650e
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/include/GazeboDIO.h
@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "HALSimGazebo.h"
+#include "simulation/gz_msgs/msgs.h"
+
+class GazeboDIO {
+ public:
+ GazeboDIO(int index, HALSimGazebo* halsim);
+ void SetInitialized(bool value) { m_initialized = value; }
+ bool IsInitialized(void) { return m_initialized; }
+ void Listen(void);
+
+ private:
+ HALSimGazebo* m_halsim;
+ int m_index;
+ bool m_initialized;
+ void Callback(const gazebo::msgs::ConstBoolPtr& msg);
+ gazebo::transport::SubscriberPtr m_sub;
+};
diff --git a/simulation/halsim_gazebo/src/main/native/include/GazeboEncoder.h b/simulation/halsim_gazebo/src/main/native/include/GazeboEncoder.h
new file mode 100644
index 0000000..fafeb6a
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/include/GazeboEncoder.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "HALSimGazebo.h"
+#include "simulation/gz_msgs/msgs.h"
+
+class GazeboEncoder {
+ public:
+ GazeboEncoder(int index, HALSimGazebo* halsim);
+ void SetInitialized(bool value) { m_initialized = value; }
+ bool IsInitialized(void) { return m_initialized; }
+ void SetReverse(bool value) { m_reverse = value; }
+ void Control(const char* command);
+ void Listen(void);
+
+ private:
+ HALSimGazebo* m_halsim;
+ int m_index;
+ bool m_initialized;
+ bool m_reverse;
+
+ void Callback(const gazebo::msgs::ConstFloat64Ptr& msg);
+
+ gazebo::transport::PublisherPtr m_pub;
+ gazebo::transport::SubscriberPtr m_sub;
+};
diff --git a/simulation/halsim_gazebo/src/main/native/include/GazeboNode.h b/simulation/halsim_gazebo/src/main/native/include/GazeboNode.h
new file mode 100644
index 0000000..cc68599
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/include/GazeboNode.h
@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 <string>
+
+#include <gazebo/gazebo_client.hh>
+#include <gazebo/transport/transport.hh>
+
+class GazeboNode {
+ public:
+ bool Connect();
+
+ template <typename M>
+ gazebo::transport::PublisherPtr Advertise(const std::string& topic,
+ int queueLimit = 10,
+ bool latch = false) {
+ return main->Advertise<M>(topic, queueLimit, latch);
+ }
+
+ template <typename M, typename T>
+ gazebo::transport::SubscriberPtr Subscribe(
+ const std::string& topic,
+ void (T::*fp)(const boost::shared_ptr<M const>&), T* obj,
+ bool latching = false) {
+ return main->Subscribe(topic, fp, obj, latching);
+ }
+
+ template <typename M>
+ gazebo::transport::SubscriberPtr Subscribe(
+ const std::string& topic, void (*fp)(const boost::shared_ptr<M const>&),
+ bool latching = false) {
+ return main->Subscribe(topic, fp, latching);
+ }
+
+ private:
+ gazebo::transport::NodePtr main;
+};
diff --git a/simulation/halsim_gazebo/src/main/native/include/GazeboPCM.h b/simulation/halsim_gazebo/src/main/native/include/GazeboPCM.h
new file mode 100644
index 0000000..d74b20f
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/include/GazeboPCM.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "HALSimGazebo.h"
+
+class GazeboPCM {
+ public:
+ GazeboPCM(int index, int channel, HALSimGazebo* halsim);
+ void Publish(bool value);
+ void SetInitialized(bool value) { m_initialized = value; }
+ bool IsInitialized(void) { return m_initialized; }
+
+ private:
+ HALSimGazebo* m_halsim;
+ int m_index;
+ int m_channel;
+
+ bool m_initialized;
+
+ gazebo::transport::PublisherPtr m_pub;
+};
+
+void GazeboPCM_SetPressureSwitch(int index, bool value);
diff --git a/simulation/halsim_gazebo/src/main/native/include/GazeboPWM.h b/simulation/halsim_gazebo/src/main/native/include/GazeboPWM.h
new file mode 100644
index 0000000..1321e8a
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/include/GazeboPWM.h
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 "HALSimGazebo.h"
+
+class GazeboPWM {
+ public:
+ GazeboPWM(int port, HALSimGazebo* halsim);
+ void SetInitialized(bool value) { m_initialized = value; }
+ bool IsInitialized(void) { return m_initialized; }
+ void Publish(double value);
+
+ private:
+ HALSimGazebo* m_halsim;
+ gazebo::transport::PublisherPtr m_pub;
+ bool m_initialized;
+ int m_port;
+};
diff --git a/simulation/halsim_gazebo/src/main/native/include/HALSimGazebo.h b/simulation/halsim_gazebo/src/main/native/include/HALSimGazebo.h
new file mode 100644
index 0000000..f7d8193
--- /dev/null
+++ b/simulation/halsim_gazebo/src/main/native/include/HALSimGazebo.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2014-2018 FIRST. 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 <vector>
+
+#include "GazeboNode.h"
+
+class GazeboPWM;
+class GazeboPCM;
+class GazeboEncoder;
+class GazeboAnalogIn;
+class GazeboDIO;
+
+class HALSimGazebo {
+ public:
+ static const int kPWMCount = 20;
+ static const int kPCMCount = 8;
+ static const int kEncoderCount = 8;
+
+ GazeboNode node;
+ GazeboPWM* pwms[kPWMCount];
+ GazeboPCM* pcms[kPCMCount];
+ GazeboEncoder* encoders[kEncoderCount];
+ std::vector<GazeboAnalogIn*> analog_inputs;
+ std::vector<GazeboDIO*> dios;
+};
diff --git a/simulation/halsim_lowfi/build.gradle b/simulation/halsim_lowfi/build.gradle
new file mode 100644
index 0000000..549a43c
--- /dev/null
+++ b/simulation/halsim_lowfi/build.gradle
@@ -0,0 +1,9 @@
+description = "A simulation shared object that publishes basic robot I/O to NetworkTables."
+
+ext {
+ includeNtCore = true
+ includeWpiutil = true
+ pluginName = 'halsim_lowfi'
+}
+
+apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
diff --git a/simulation/halsim_lowfi/src/dev/native/cpp/main.cpp b/simulation/halsim_lowfi/src/dev/native/cpp/main.cpp
new file mode 100644
index 0000000..e324b44
--- /dev/null
+++ b/simulation/halsim_lowfi/src/dev/native/cpp/main.cpp
@@ -0,0 +1,8 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+int main() {}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/HALSimLowFi.cpp b/simulation/halsim_lowfi/src/main/native/cpp/HALSimLowFi.cpp
new file mode 100644
index 0000000..f82efb7
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/HALSimLowFi.cpp
@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "HALSimLowFi.h"
+
+#include <wpi/Twine.h>
+
+void HALSimLowFi::Initialize() {
+ table = nt::NetworkTableInstance::GetDefault().GetTable("sim");
+}
+
+void HALSimNTProvider::Inject(std::shared_ptr<HALSimLowFi> parentArg,
+ std::string tableNameArg) {
+ parent = parentArg;
+ tableName = std::move(tableNameArg);
+ table = parent->table->GetSubTable(tableName);
+
+ this->Initialize();
+}
+
+void NTProviderBaseCallback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ auto info =
+ static_cast<struct HALSimNTProvider::NTProviderCallbackInfo*>(param);
+ uint32_t chan = static_cast<uint32_t>(info->channel);
+ auto provider = info->provider;
+ auto table = info->table;
+ provider->OnCallback(chan, table);
+}
+
+void HALSimNTProvider::InitializeDefault(
+ int numChannels, HALCbRegisterIndexedFunc registerFunc) {
+ this->numChannels = numChannels;
+ cbInfos.reserve(numChannels);
+ for (int i = 0; i < numChannels; i++) {
+ struct NTProviderCallbackInfo info = {
+ this, table->GetSubTable(tableName + wpi::Twine(i)), i};
+ cbInfos.emplace_back(info);
+ }
+
+ for (auto& info : cbInfos) {
+ registerFunc(info.channel, NTProviderBaseCallback, &info, true);
+ OnInitializedChannel(info.channel, info.table);
+ }
+}
+
+void HALSimNTProvider::InitializeDefaultSingle(
+ HALCbRegisterSingleFunc registerFunc) {
+ struct NTProviderCallbackInfo info = {this, table, 0};
+ cbInfos.push_back(info);
+
+ for (auto& info : cbInfos) {
+ registerFunc(NTProviderBaseCallback, &info, true);
+ }
+}
+
+void HALSimNTProvider::OnInitializedChannel(
+ uint32_t channel, std::shared_ptr<nt::NetworkTable> table) {}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Analog.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Analog.cpp
new file mode 100644
index 0000000..2d35c57
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Analog.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_Analog.h"
+
+#include <hal/Ports.h>
+#include <mockdata/AnalogInData.h>
+#include <mockdata/AnalogOutData.h>
+
+void HALSimNTProviderAnalogIn::Initialize() {
+ InitializeDefault(HAL_GetNumAnalogInputs(),
+ HALSIM_RegisterAnalogInAllCallbacks);
+}
+
+void HALSimNTProviderAnalogIn::OnCallback(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogInInitialized(chan));
+ table->GetEntry("avg_bits").SetDouble(HALSIM_GetAnalogInAverageBits(chan));
+ table->GetEntry("oversample_bits")
+ .SetDouble(HALSIM_GetAnalogInOversampleBits(chan));
+ table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogInVoltage(chan));
+
+ auto accum = table->GetSubTable("accum");
+ accum->GetEntry("init?").SetBoolean(
+ HALSIM_GetAnalogInAccumulatorInitialized(chan));
+ accum->GetEntry("value").SetDouble(HALSIM_GetAnalogInAccumulatorValue(chan));
+ accum->GetEntry("count").SetDouble(HALSIM_GetAnalogInAccumulatorCount(chan));
+ accum->GetEntry("center").SetDouble(
+ HALSIM_GetAnalogInAccumulatorCenter(chan));
+ accum->GetEntry("deadband")
+ .SetDouble(HALSIM_GetAnalogInAccumulatorDeadband(chan));
+}
+
+void HALSimNTProviderAnalogIn::OnInitializedChannel(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("voltage").AddListener(
+ [=](const nt::EntryNotification& ev) -> void {
+ HALSIM_SetAnalogInVoltage(chan, ev.value->GetDouble());
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+}
+
+void HALSimNTProviderAnalogOut::Initialize() {
+ InitializeDefault(HAL_GetNumAnalogOutputs(),
+ HALSIM_RegisterAnalogOutAllCallbacks);
+}
+
+void HALSimNTProviderAnalogOut::OnCallback(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("init?").SetBoolean(HALSIM_GetAnalogOutInitialized(chan));
+ table->GetEntry("voltage").SetDouble(HALSIM_GetAnalogOutVoltage(chan));
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DIO.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DIO.cpp
new file mode 100644
index 0000000..f4ed9d6
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DIO.cpp
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_DIO.h"
+
+#include <hal/Ports.h>
+#include <mockdata/DIOData.h>
+
+void HALSimNTProviderDIO::Initialize() {
+ InitializeDefault(HAL_GetNumDigitalChannels(),
+ HALSIM_RegisterDIOAllCallbacks);
+}
+
+void HALSimNTProviderDIO::OnCallback(uint32_t chan,
+ std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("init?").SetBoolean(HALSIM_GetDIOInitialized(chan));
+ table->GetEntry("value").SetBoolean(HALSIM_GetDIOValue(chan));
+ table->GetEntry("pulse_length").SetDouble(HALSIM_GetDIOPulseLength(chan));
+ table->GetEntry("input?").SetBoolean(HALSIM_GetDIOIsInput(chan));
+}
+
+void HALSimNTProviderDIO::OnInitializedChannel(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("value").AddListener(
+ [=](const nt::EntryNotification& ev) -> void {
+ if (HALSIM_GetDIOIsInput(chan)) {
+ HALSIM_SetDIOValue(chan, ev.value->GetBoolean());
+ }
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DriverStation.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DriverStation.cpp
new file mode 100644
index 0000000..e02d646
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_DriverStation.cpp
@@ -0,0 +1,61 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_DriverStation.h"
+
+#include <hal/Ports.h>
+#include <mockdata/DriverStationData.h>
+
+void HALSimNTProviderDriverStation::Initialize() {
+ InitializeDefaultSingle(HALSIM_RegisterDriverStationAllCallbacks);
+}
+
+void HALSimNTProviderDriverStation::OnCallback(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ bool auton = HALSIM_GetDriverStationAutonomous(),
+ test = HALSIM_GetDriverStationTest(),
+ enabled = HALSIM_GetDriverStationEnabled();
+
+ bool teleop = (!auton && !test && enabled);
+
+ table->GetEntry("enabled?").SetBoolean(enabled);
+ table->GetEntry("autonomous?").SetBoolean(auton);
+ table->GetEntry("test?").SetBoolean(test);
+ table->GetEntry("teleop?").SetBoolean(teleop);
+ table->GetEntry("estop?").SetBoolean(HALSIM_GetDriverStationEStop());
+ table->GetEntry("fms?").SetBoolean(HALSIM_GetDriverStationFmsAttached());
+ table->GetEntry("ds?").SetBoolean(HALSIM_GetDriverStationDsAttached());
+ table->GetEntry("match_time").SetDouble(HALSIM_GetDriverStationMatchTime());
+
+ // TODO: Joysticks
+
+ auto alliance = table->GetSubTable("alliance");
+ auto allianceValue = HALSIM_GetDriverStationAllianceStationId();
+ alliance->GetEntry("color").SetString(
+ (allianceValue == HAL_AllianceStationID_kRed1 ||
+ allianceValue == HAL_AllianceStationID_kRed2 ||
+ allianceValue == HAL_AllianceStationID_kRed3)
+ ? "red"
+ : "blue");
+ int station = 0;
+
+ switch (allianceValue) {
+ case HAL_AllianceStationID_kRed1:
+ case HAL_AllianceStationID_kBlue1:
+ station = 1;
+ break;
+ case HAL_AllianceStationID_kRed2:
+ case HAL_AllianceStationID_kBlue2:
+ station = 2;
+ break;
+ case HAL_AllianceStationID_kRed3:
+ case HAL_AllianceStationID_kBlue3:
+ station = 3;
+ break;
+ }
+ alliance->GetEntry("station").SetDouble(station);
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Encoder.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Encoder.cpp
new file mode 100644
index 0000000..ca012ab
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Encoder.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_Encoder.h"
+
+#include <hal/Ports.h>
+#include <mockdata/EncoderData.h>
+
+void HALSimNTProviderEncoder::Initialize() {
+ InitializeDefault(HAL_GetNumEncoders(), HALSIM_RegisterEncoderAllCallbacks);
+}
+
+void HALSimNTProviderEncoder::OnCallback(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("init?").SetBoolean(HALSIM_GetEncoderInitialized(chan));
+ table->GetEntry("count").SetDouble(HALSIM_GetEncoderCount(chan));
+ table->GetEntry("period").SetDouble(HALSIM_GetEncoderPeriod(chan));
+ table->GetEntry("reset?").SetBoolean(HALSIM_GetEncoderReset(chan));
+ table->GetEntry("max_period").SetDouble(HALSIM_GetEncoderMaxPeriod(chan));
+ table->GetEntry("direction").SetBoolean(HALSIM_GetEncoderDirection(chan));
+ table->GetEntry("reverse_direction?")
+ .SetBoolean(HALSIM_GetEncoderReverseDirection(chan));
+ table->GetEntry("samples_to_avg")
+ .SetDouble(HALSIM_GetEncoderSamplesToAverage(chan));
+}
+
+void HALSimNTProviderEncoder::OnInitializedChannel(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("count").AddListener(
+ [=](const nt::EntryNotification& ev) -> void {
+ HALSIM_SetEncoderCount(chan,
+ static_cast<int32_t>(ev.value->GetDouble()));
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+
+ table->GetEntry("direction")
+ .AddListener(
+ [=](const nt::EntryNotification& ev) -> void {
+ HALSIM_SetEncoderDirection(chan, ev.value->GetBoolean());
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_PWM.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_PWM.cpp
new file mode 100644
index 0000000..5786eee
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_PWM.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_PWM.h"
+
+#include <hal/Ports.h>
+#include <mockdata/PWMData.h>
+
+void HALSimNTProviderPWM::Initialize() {
+ InitializeDefault(HAL_GetNumPWMChannels(), HALSIM_RegisterPWMAllCallbacks);
+}
+
+void HALSimNTProviderPWM::OnCallback(uint32_t chan,
+ std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("init?").SetBoolean(HALSIM_GetPWMInitialized(chan));
+ table->GetEntry("speed").SetDouble(HALSIM_GetPWMSpeed(chan));
+ table->GetEntry("position").SetDouble(HALSIM_GetPWMPosition(chan));
+ table->GetEntry("raw").SetDouble(HALSIM_GetPWMRawValue(chan));
+ table->GetEntry("period_scale").SetDouble(HALSIM_GetPWMPeriodScale(chan));
+ table->GetEntry("zero_latch?").SetBoolean(HALSIM_GetPWMZeroLatch(chan));
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Relay.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Relay.cpp
new file mode 100644
index 0000000..249a1c3
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_Relay.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_Relay.h"
+
+#include <hal/Ports.h>
+#include <mockdata/RelayData.h>
+
+void HALSimNTProviderRelay::Initialize() {
+ InitializeDefault(HAL_GetNumRelayHeaders(), HALSIM_RegisterRelayAllCallbacks);
+}
+
+void HALSimNTProviderRelay::OnCallback(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("init_fwd?")
+ .SetBoolean(HALSIM_GetRelayInitializedForward(chan));
+ table->GetEntry("init_rvs?")
+ .SetBoolean(HALSIM_GetRelayInitializedReverse(chan));
+ table->GetEntry("fwd?").SetBoolean(HALSIM_GetRelayForward(chan));
+ table->GetEntry("rvs?").SetBoolean(HALSIM_GetRelayReverse(chan));
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_RoboRIO.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_RoboRIO.cpp
new file mode 100644
index 0000000..c3eaa25
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_RoboRIO.cpp
@@ -0,0 +1,51 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_RoboRIO.h"
+
+#include <hal/Ports.h>
+#include <mockdata/RoboRioData.h>
+
+void HALSimNTProviderRoboRIO::Initialize() {
+ InitializeDefault(1, HALSIM_RegisterRoboRioAllCallbacks);
+}
+
+void HALSimNTProviderRoboRIO::OnCallback(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("fpga_button?").SetBoolean(HALSIM_GetRoboRioFPGAButton(chan));
+
+ table->GetEntry("vin_voltage").SetDouble(HALSIM_GetRoboRioVInVoltage(chan));
+ table->GetEntry("vin_current").SetDouble(HALSIM_GetRoboRioVInCurrent(chan));
+
+ auto t6v = table->GetSubTable("6V");
+ t6v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage6V(chan));
+ t6v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent6V(chan));
+ t6v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive6V(chan));
+ t6v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults6V(chan));
+
+ auto t5v = table->GetSubTable("5V");
+ t5v->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage5V(chan));
+ t5v->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent5V(chan));
+ t5v->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive5V(chan));
+ t5v->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults5V(chan));
+
+ auto t3v3 = table->GetSubTable("3V3");
+ t3v3->GetEntry("voltage").SetDouble(HALSIM_GetRoboRioUserVoltage3V3(chan));
+ t3v3->GetEntry("current").SetDouble(HALSIM_GetRoboRioUserCurrent3V3(chan));
+ t3v3->GetEntry("active?").SetBoolean(HALSIM_GetRoboRioUserActive3V3(chan));
+ t3v3->GetEntry("faults").SetDouble(HALSIM_GetRoboRioUserFaults3V3(chan));
+}
+
+void HALSimNTProviderRoboRIO::OnInitializedChannel(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("fpga_button?")
+ .AddListener(
+ [=](const nt::EntryNotification& ev) -> void {
+ HALSIM_SetRoboRioFPGAButton(chan, ev.value->GetBoolean());
+ },
+ NT_NotifyKind::NT_NOTIFY_UPDATE);
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_dPWM.cpp b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_dPWM.cpp
new file mode 100644
index 0000000..e2bb74a
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/NTProvider_dPWM.cpp
@@ -0,0 +1,23 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "NTProvider_dPWM.h"
+
+#include <hal/Ports.h>
+#include <mockdata/DigitalPWMData.h>
+
+void HALSimNTProviderDigitalPWM::Initialize() {
+ InitializeDefault(HAL_GetNumDigitalPWMOutputs(),
+ HALSIM_RegisterDigitalPWMAllCallbacks);
+}
+
+void HALSimNTProviderDigitalPWM::OnCallback(
+ uint32_t chan, std::shared_ptr<nt::NetworkTable> table) {
+ table->GetEntry("init?").SetBoolean(HALSIM_GetDigitalPWMInitialized(chan));
+ table->GetEntry("dio_pin").SetDouble(HALSIM_GetDigitalPWMPin(chan));
+ table->GetEntry("duty_cycle").SetDouble(HALSIM_GetDigitalPWMDutyCycle(chan));
+}
diff --git a/simulation/halsim_lowfi/src/main/native/cpp/main.cpp b/simulation/halsim_lowfi/src/main/native/cpp/main.cpp
new file mode 100644
index 0000000..b94a634
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/cpp/main.cpp
@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <iostream>
+
+#include <HALSimLowFi.h>
+#include <NTProvider_Analog.h>
+#include <NTProvider_DIO.h>
+#include <NTProvider_DriverStation.h>
+#include <NTProvider_Encoder.h>
+#include <NTProvider_PWM.h>
+#include <NTProvider_Relay.h>
+#include <NTProvider_RoboRIO.h>
+#include <NTProvider_dPWM.h>
+
+static HALSimLowFi halsim_lowfi;
+
+static HALSimNTProviderPWM pwm_provider;
+static HALSimNTProviderDigitalPWM dpwm_provider;
+static HALSimNTProviderDIO dio_provider;
+static HALSimNTProviderAnalogIn ai_provider;
+static HALSimNTProviderAnalogOut ao_provider;
+static HALSimNTProviderDriverStation ds_provider;
+static HALSimNTProviderEncoder encoder_provider;
+static HALSimNTProviderRelay relay_provider;
+static HALSimNTProviderRoboRIO roborio_provider;
+
+extern "C" {
+#if defined(WIN32) || defined(_WIN32)
+__declspec(dllexport)
+#endif
+ int HALSIM_InitExtension(void) {
+ std::cout << "NetworkTables LowFi Simulator Initializing." << std::endl;
+ halsim_lowfi.Initialize();
+ halsim_lowfi.table->GetInstance().StartServer("networktables.ini");
+ halsim_lowfi.table->GetInstance().SetUpdateRate(0.05);
+ auto lowfi = std::make_shared<HALSimLowFi>(halsim_lowfi);
+
+ pwm_provider.Inject(lowfi, "PWM");
+ dpwm_provider.Inject(lowfi, "dPWM");
+ dio_provider.Inject(lowfi, "DIO");
+ ai_provider.Inject(lowfi, "AI");
+ ao_provider.Inject(lowfi, "AO");
+ ds_provider.Inject(lowfi, "DriverStation");
+ encoder_provider.Inject(lowfi, "Encoder");
+ relay_provider.Inject(lowfi, "Relay");
+ roborio_provider.Inject(lowfi, "RoboRIO");
+
+ std::cout << "NetworkTables LowFi Simulator Initialized!" << std::endl;
+ return 0;
+}
+} // extern "C"
diff --git a/simulation/halsim_lowfi/src/main/native/include/HALSimLowFi.h b/simulation/halsim_lowfi/src/main/native/include/HALSimLowFi.h
new file mode 100644
index 0000000..28faed0
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/HALSimLowFi.h
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <cinttypes>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include <mockdata/NotifyListener.h>
+#include <networktables/NetworkTableInstance.h>
+
+class HALSimLowFi {
+ public:
+ std::shared_ptr<nt::NetworkTable> table;
+ void Initialize();
+};
+
+typedef void (*HALCbRegisterIndexedFunc)(int32_t index,
+ HAL_NotifyCallback callback,
+ void* param, HAL_Bool initialNotify);
+typedef void (*HALCbRegisterSingleFunc)(HAL_NotifyCallback callback,
+ void* param, HAL_Bool initialNotify);
+
+void NTProviderBaseCallback(const char* name, void* param,
+ const struct HAL_Value* value);
+
+class HALSimNTProvider {
+ public:
+ struct NTProviderCallbackInfo {
+ HALSimNTProvider* provider;
+ std::shared_ptr<nt::NetworkTable> table;
+ int channel;
+ };
+
+ void Inject(std::shared_ptr<HALSimLowFi> parent, std::string table);
+ // Initialize is called by inject.
+ virtual void Initialize() = 0;
+ virtual void InitializeDefault(int numChannels,
+ HALCbRegisterIndexedFunc registerFunc);
+ virtual void InitializeDefaultSingle(HALCbRegisterSingleFunc registerFunc);
+ virtual void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) = 0;
+ virtual void OnInitializedChannel(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table);
+
+ int numChannels;
+ std::string tableName;
+
+ std::shared_ptr<HALSimLowFi> parent;
+ std::shared_ptr<nt::NetworkTable> table;
+ std::vector<NTProviderCallbackInfo> cbInfos;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_Analog.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_Analog.h
new file mode 100644
index 0000000..8672b46
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_Analog.h
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderAnalogIn : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+ void OnInitializedChannel(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
+
+class HALSimNTProviderAnalogOut : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_DIO.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_DIO.h
new file mode 100644
index 0000000..b584b48
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_DIO.h
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderDIO : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+ void OnInitializedChannel(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_DriverStation.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_DriverStation.h
new file mode 100644
index 0000000..5041b02
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_DriverStation.h
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderDriverStation : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_Encoder.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_Encoder.h
new file mode 100644
index 0000000..f3ef70f
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_Encoder.h
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderEncoder : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+ void OnInitializedChannel(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_PWM.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_PWM.h
new file mode 100644
index 0000000..47c416e
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_PWM.h
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderPWM : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_Relay.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_Relay.h
new file mode 100644
index 0000000..cc8439a
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_Relay.h
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderRelay : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_RoboRIO.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_RoboRIO.h
new file mode 100644
index 0000000..055b6e6
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_RoboRIO.h
@@ -0,0 +1,21 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderRoboRIO : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+ void OnInitializedChannel(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_lowfi/src/main/native/include/NTProvider_dPWM.h b/simulation/halsim_lowfi/src/main/native/include/NTProvider_dPWM.h
new file mode 100644
index 0000000..0af607f
--- /dev/null
+++ b/simulation/halsim_lowfi/src/main/native/include/NTProvider_dPWM.h
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <HALSimLowFi.h>
+
+class HALSimNTProviderDigitalPWM : public HALSimNTProvider {
+ public:
+ void Initialize() override;
+ void OnCallback(uint32_t channel,
+ std::shared_ptr<nt::NetworkTable> table) override;
+};
diff --git a/simulation/halsim_print/build.gradle b/simulation/halsim_print/build.gradle
new file mode 100644
index 0000000..dd0a347
--- /dev/null
+++ b/simulation/halsim_print/build.gradle
@@ -0,0 +1,7 @@
+description = "A simulation shared object that simply prints robot behaviors"
+
+ext {
+ pluginName = 'halsim_print'
+}
+
+apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
diff --git a/simulation/halsim_print/src/dev/native/cpp/main.cpp b/simulation/halsim_print/src/dev/native/cpp/main.cpp
new file mode 100644
index 0000000..d9f92e9
--- /dev/null
+++ b/simulation/halsim_print/src/dev/native/cpp/main.cpp
@@ -0,0 +1,16 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <chrono>
+#include <thread>
+
+#include <hal/HAL.h>
+
+int main() {
+ HAL_Initialize(500, 0);
+ std::this_thread::sleep_for(std::chrono::seconds(2));
+}
diff --git a/simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp b/simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp
new file mode 100644
index 0000000..fe82ccd
--- /dev/null
+++ b/simulation/halsim_print/src/main/native/cpp/PrintPWM.cpp
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "PrintPWM.h"
+
+#include <iostream>
+
+#include <mockdata/HAL_Value.h>
+#include <mockdata/NotifyListener.h>
+#include <mockdata/PWMData.h>
+
+static void PWMCallback(const char* name, void* param,
+ const struct HAL_Value* value) {
+ auto pwm = static_cast<PrintPWM*>(param);
+ pwm->Publish(value->data.v_double);
+}
+
+PrintPWM::PrintPWM(int port) {
+ m_port = port;
+ HALSIM_RegisterPWMSpeedCallback(port, PWMCallback, this, false);
+}
+
+void PrintPWM::Publish(double value) {
+ std::cout << "PWM " << m_port << ": " << value << std::endl;
+}
diff --git a/simulation/halsim_print/src/main/native/cpp/main.cpp b/simulation/halsim_print/src/main/native/cpp/main.cpp
new file mode 100644
index 0000000..55327ee
--- /dev/null
+++ b/simulation/halsim_print/src/main/native/cpp/main.cpp
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <iostream>
+
+#include <hal/Ports.h>
+
+#include "HALSimPrint.h"
+#include "PrintPWM.h"
+
+// Currently, robots never terminate, so we keep a single static object and it
+// is never properly released or cleaned up.
+static HALSimPrint halsim;
+
+extern "C" {
+#if defined(WIN32) || defined(_WIN32)
+__declspec(dllexport)
+#endif
+ int HALSIM_InitExtension(void) {
+ std::cout << "Print Simulator Initializing." << std::endl;
+
+ int pwmCount = HAL_GetNumPWMChannels();
+ halsim.m_pwms.reserve(pwmCount);
+ for (int i = 0; i < pwmCount; i++) halsim.m_pwms.emplace_back(i);
+
+ return 0;
+}
+} // extern "C"
diff --git a/simulation/halsim_print/src/main/native/include/HALSimPrint.h b/simulation/halsim_print/src/main/native/include/HALSimPrint.h
new file mode 100644
index 0000000..69dafec
--- /dev/null
+++ b/simulation/halsim_print/src/main/native/include/HALSimPrint.h
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 <vector>
+
+class PrintPWM;
+
+class HALSimPrint {
+ public:
+ std::vector<PrintPWM> m_pwms;
+};
diff --git a/simulation/halsim_print/src/main/native/include/PrintPWM.h b/simulation/halsim_print/src/main/native/include/PrintPWM.h
new file mode 100644
index 0000000..98803ff
--- /dev/null
+++ b/simulation/halsim_print/src/main/native/include/PrintPWM.h
@@ -0,0 +1,19 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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 "HALSimPrint.h"
+
+class PrintPWM {
+ public:
+ explicit PrintPWM(int port);
+ void Publish(double value);
+
+ private:
+ int m_port;
+};
diff --git a/simulation/lowfi_simulation/build.gradle b/simulation/lowfi_simulation/build.gradle
new file mode 100644
index 0000000..2b97416
--- /dev/null
+++ b/simulation/lowfi_simulation/build.gradle
@@ -0,0 +1,201 @@
+apply plugin: 'cpp'
+apply plugin: 'google-test-test-suite'
+apply plugin: 'visual-studio'
+apply plugin: 'edu.wpi.first.NativeUtils'
+apply plugin: SingleNativeBuild
+apply plugin: ExtraTasks
+
+
+ext {
+ nativeName = 'lowfi_sim'
+}
+
+apply from: "${rootDir}/shared/config.gradle"
+
+if (!project.hasProperty('onlyAthena')) {
+
+ ext {
+ sharedCvConfigs = [lowfi_simTest: []]
+ staticCvConfigs = [:]
+ useJava = false
+ useCpp = true
+ }
+ apply from: "${rootDir}/shared/opencv.gradle"
+
+ ext {
+ staticGtestConfigs = [:]
+ }
+ staticGtestConfigs["${nativeName}Test"] = []
+ apply from: "${rootDir}/shared/googletest.gradle"
+
+ project(':').libraryBuild.dependsOn build
+
+ ext {
+ chipObjectComponents = ["$nativeName".toString(), "${nativeName}Dev".toString(), "${nativeName}Base".toString(),
+ "${nativeName}Test".toString()]
+ netCommComponents = ["$nativeName".toString(), "${nativeName}Dev".toString(), "${nativeName}Base".toString(),
+ "${nativeName}Test".toString()]
+ useNiJava = false
+ }
+
+ apply from: "${rootDir}/shared/nilibraries.gradle"
+
+ model {
+ exportsConfigs {
+ lowfi_sim(ExportsConfig) {
+ x86ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVbad_cast',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure']
+ x64ExcludeSymbols = ['_CT??_R0?AV_System_error', '_CT??_R0?AVexception', '_CT??_R0?AVfailure',
+ '_CT??_R0?AVbad_cast',
+ '_CT??_R0?AVruntime_error', '_CT??_R0?AVsystem_error', '_CTA5?AVfailure',
+ '_TI5?AVfailure']
+ }
+ }
+ components {
+ "${nativeName}Base"(NativeLibrarySpec) {
+ sources {
+ cpp {
+ source {
+ srcDirs = ['src/main/native/cpp']
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include'
+ }
+ }
+ }
+ binaries.all {
+ if (it instanceof SharedLibraryBinarySpec) {
+ it.buildable = false
+ return
+ }
+ if (it.targetPlatform.architecture.name == 'athena') {
+ it.buildable = false
+ return
+ }
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
+ }
+ }
+ "${nativeName}"(NativeLibrarySpec) {
+ sources {
+ cpp {
+ source {
+ srcDirs "${rootDir}/shared/singlelib"
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/main/native/include'
+ }
+ }
+ }
+ binaries.all {
+ if (it.targetPlatform.architecture.name == 'athena') {
+ it.buildable = false
+ return
+ }
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
+ }
+ }
+ // By default, a development executable will be generated. This is to help the case of
+ // testing specific functionality of the library.
+ "${nativeName}Dev"(NativeExecutableSpec) {
+ targetBuildTypes 'debug'
+ sources {
+ cpp {
+ source {
+ srcDirs 'src/dev/native/cpp'
+ include '**/*.cpp'
+ lib library: "${nativeName}"
+ }
+ exportedHeaders {
+ srcDirs 'src/dev/native/include'
+ }
+ }
+ }
+ binaries.all {
+ if (it.targetPlatform.architecture.name == 'athena') {
+ it.buildable = false
+ return
+ }
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
+ lib library: nativeName, linkage: 'shared'
+ }
+ }
+ }
+ binaries {
+ withType(GoogleTestTestSuiteBinarySpec) {
+ lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+ lib project: ':cscore', library: 'cscore', linkage: 'shared'
+ project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ lib project: ':cameraserver', library: 'cameraserver', linkage: 'shared'
+ lib project: ':wpilibc', library: 'wpilibc', linkage: 'shared'
+ lib project: ':simulation:halsim_adx_gyro_accelerometer', library: 'halsim_adx_gyro_accelerometer', linkage: 'shared'
+ lib library: nativeName, linkage: 'shared'
+ }
+ }
+ }
+
+ apply from: "publish.gradle"
+}
+
+model {
+
+ testSuites {
+ if (!project.hasProperty('onlyAthena') && !project.hasProperty('onlyRaspbian')) {
+ "${nativeName}Test"(GoogleTestTestSuiteSpec) {
+ for(NativeComponentSpec c : $.components) {
+ if (c.name == nativeName) {
+ testing c
+ break
+ }
+ }
+ sources {
+ cpp {
+ source {
+ srcDirs 'src/test/native/cpp'
+ include '**/*.cpp'
+ }
+ exportedHeaders {
+ srcDirs 'src/test/native/include', 'src/main/native/cpp'
+ }
+ }
+ }
+ }
+ }
+ }
+ tasks {
+ def c = $.components
+ project.tasks.create('runCpp', Exec) {
+ def found = false
+ c.each {
+ if (it in NativeExecutableSpec && it.name == "${nativeName}Dev") {
+ it.binaries.each {
+ if (!found) {
+ def arch = it.targetPlatform.architecture.name
+ if (arch == 'x86-64' || arch == 'x86') {
+ dependsOn it.tasks.install
+ commandLine it.tasks.install.runScriptFile.get().asFile.toString()
+
+ found = true
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+tasks.withType(RunTestExecutable) {
+ args "--gtest_output=xml:test_detail.xml"
+ outputs.dir outputDir
+}
diff --git a/simulation/lowfi_simulation/publish.gradle b/simulation/lowfi_simulation/publish.gradle
new file mode 100644
index 0000000..4143cd2
--- /dev/null
+++ b/simulation/lowfi_simulation/publish.gradle
@@ -0,0 +1,71 @@
+apply plugin: 'maven-publish'
+
+def pubVersion = ''
+if (project.hasProperty("publishVersion")) {
+ pubVersion = project.publishVersion
+} else {
+ pubVersion = WPILibVersion.version
+}
+
+def baseArtifactId = nativeName
+def artifactGroupId = 'edu.wpi.first.halsim'
+def zipBaseName = "_GROUP_edu_wpi_first_halsim_ID_${nativeName}_CLS"
+
+def outputsFolder = file("$project.buildDir/outputs")
+
+task cppSourcesZip(type: Zip) {
+ destinationDir = outputsFolder
+ baseName = zipBaseName
+ classifier = "sources"
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/native/cpp') {
+ into '/'
+ }
+}
+
+task cppHeadersZip(type: Zip) {
+ destinationDir = outputsFolder
+ baseName = zipBaseName
+ classifier = "headers"
+
+ from(licenseFile) {
+ into '/'
+ }
+
+ from('src/main/native/include') {
+ into '/'
+ }
+}
+
+build.dependsOn cppSourcesZip
+build.dependsOn cppHeadersZip
+
+addTaskToCopyAllOutputs(cppSourcesZip)
+addTaskToCopyAllOutputs(cppHeadersZip)
+
+
+model {
+ publishing {
+ def lowfiSimTaskList = createComponentZipTasks($.components, [nativeName], zipBaseName, Zip, project, includeStandardZipFormat)
+
+ publications {
+ cpp(MavenPublication) {
+ lowfiSimTaskList.each {
+ artifact it
+ }
+
+ artifact cppHeadersZip
+ artifact cppSourcesZip
+
+
+ artifactId = baseArtifactId
+ groupId artifactGroupId
+ version pubVersion
+ }
+ }
+ }
+}
diff --git a/simulation/lowfi_simulation/src/dev/native/cpp/main.cpp b/simulation/lowfi_simulation/src/dev/native/cpp/main.cpp
new file mode 100644
index 0000000..4dc5f43
--- /dev/null
+++ b/simulation/lowfi_simulation/src/dev/native/cpp/main.cpp
@@ -0,0 +1,15 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <iostream>
+
+#include <hal/HAL.h>
+
+int main() {
+ std::cout << "Hello World" << std::endl;
+ std::cout << HAL_GetRuntimeType() << std::endl;
+}
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/MotorEncoderConnector.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/MotorEncoderConnector.cpp
new file mode 100644
index 0000000..5e530e6
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/MotorEncoderConnector.cpp
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/MotorEncoderConnector.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+MotorEncoderConnector::MotorEncoderConnector(MotorSim& motorController,
+ EncoderSim& encoder)
+ : motorSimulator(motorController), encoderSimulator(encoder) {}
+
+void MotorEncoderConnector::Update() {
+ encoderSimulator.SetPosition(motorSimulator.GetPosition());
+ encoderSimulator.SetVelocity(motorSimulator.GetVelocity());
+}
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/SimulatorComponentBase.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/SimulatorComponentBase.cpp
new file mode 100644
index 0000000..a65de3b
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/SimulatorComponentBase.cpp
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/SimulatorComponentBase.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+const std::string& SimulatorComponentBase::GetDisplayName() const {
+ return m_name;
+}
+
+void SimulatorComponentBase::SetDisplayName(const std::string& displayName) {
+ m_name = displayName;
+}
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/motormodel/SimpleMotorModel.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/motormodel/SimpleMotorModel.cpp
new file mode 100644
index 0000000..226a836
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/motormodel/SimpleMotorModel.cpp
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/motormodel/SimpleMotorModel.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+SimpleMotorModel::SimpleMotorModel(double maxSpeed) : m_maxSpeed(maxSpeed) {}
+
+void SimpleMotorModel::Reset() {
+ m_position = 0;
+ m_velocity = 0;
+}
+
+void SimpleMotorModel::SetVoltage(double voltage) {
+ m_voltagePercentage = voltage / kMaxExpectedVoltage;
+}
+
+void SimpleMotorModel::Update(double elapsedTime) {
+ m_velocity = m_maxSpeed * m_voltagePercentage;
+ m_position += m_velocity * elapsedTime;
+}
+
+double SimpleMotorModel::GetPosition() const { return m_position; }
+
+double SimpleMotorModel::GetVelocity() const { return m_velocity; }
+
+double SimpleMotorModel::GetAcceleration() const { return 0; }
+
+double SimpleMotorModel::GetCurrent() const { return 0; }
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
new file mode 100644
index 0000000..915d838
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.cpp
@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+ADXLThreeAxisAccelerometerSim::ADXLThreeAxisAccelerometerSim(
+ hal::ThreeAxisAccelerometerData& accelerometerWrapper)
+ : m_accelerometerWrapper(accelerometerWrapper),
+ m_xWrapper(
+ [data = &m_accelerometerWrapper] { return data->GetInitialized(); },
+ [data = &m_accelerometerWrapper](double x) { data->x = x; },
+ [data = &m_accelerometerWrapper] { return data->GetX(); }),
+
+ m_yWrapper(
+ [data = &m_accelerometerWrapper] { return data->GetInitialized(); },
+ [data = &m_accelerometerWrapper](double y) { data->y = y; },
+ [data = &m_accelerometerWrapper] { return data->GetY(); }),
+
+ m_zWrapper(
+ [data = &m_accelerometerWrapper] { return data->GetInitialized(); },
+ [data = &m_accelerometerWrapper](double z) { data->z = z; },
+ [data = &m_accelerometerWrapper] { return data->GetZ(); }) {}
+
+AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetXWrapper() {
+ return m_xWrapper;
+}
+
+AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetYWrapper() {
+ return m_yWrapper;
+}
+
+AccelerometerSim& ADXLThreeAxisAccelerometerSim::GetZWrapper() {
+ return m_zWrapper;
+}
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
new file mode 100644
index 0000000..b1daf17
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.cpp
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+ADXRS450_SpiGyroSim::ADXRS450_SpiGyroSim(int spiPort)
+ : m_gyroWrapper(spiPort) {}
+
+bool ADXRS450_SpiGyroSim::IsWrapperInitialized() const {
+ return m_gyroWrapper.GetInitialized();
+}
+
+void ADXRS450_SpiGyroSim::SetAngle(double angle) {
+ m_gyroWrapper.SetAngle(angle);
+}
+
+double ADXRS450_SpiGyroSim::GetAngle() { return m_gyroWrapper.GetAngle(); }
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp
new file mode 100644
index 0000000..63619cc
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiAnalogGyroSim.cpp
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/wpisimulators/WpiAnalogGyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+WpiAnalogGyroSim::WpiAnalogGyroSim(int index) : m_gyroSimulator(index) {}
+
+bool WpiAnalogGyroSim::IsWrapperInitialized() const {
+ return m_gyroSimulator.GetInitialized();
+}
+
+void WpiAnalogGyroSim::SetAngle(double angle) {
+ m_gyroSimulator.SetAngle(angle);
+}
+
+double WpiAnalogGyroSim::GetAngle() { return m_gyroSimulator.GetAngle(); }
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiEncoderSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiEncoderSim.cpp
new file mode 100644
index 0000000..7425efe
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiEncoderSim.cpp
@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/wpisimulators/WpiEncoderSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+WpiEncoderSim::WpiEncoderSim(int index) : m_encoderSimulator(index) {}
+
+bool WpiEncoderSim::IsWrapperInitialized() const {
+ return m_encoderSimulator.GetInitialized();
+}
+
+void WpiEncoderSim::SetPosition(double position) {
+ m_encoderSimulator.SetCount(
+ static_cast<int>(position / m_encoderSimulator.GetDistancePerPulse()));
+}
+
+void WpiEncoderSim::SetVelocity(double velocity) {
+ m_encoderSimulator.SetPeriod(1.0 / velocity);
+}
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiMotorSim.cpp b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiMotorSim.cpp
new file mode 100644
index 0000000..0b08cf2
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/cpp/lowfisim/wpisimulators/WpiMotorSim.cpp
@@ -0,0 +1,41 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "lowfisim/wpisimulators/WpiMotorSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+WpiMotorSim::WpiMotorSim(int index, MotorModel& motorModelSimulator)
+ : m_motorModelSimulation(motorModelSimulator), m_pwmSimulator(index) {}
+
+void WpiMotorSim::Update(double elapsedTime) {
+ m_motorModelSimulation.SetVoltage(m_pwmSimulator.GetSpeed() *
+ kDefaultVoltage);
+ m_motorModelSimulation.Update(elapsedTime);
+}
+
+bool WpiMotorSim::IsWrapperInitialized() const {
+ return m_pwmSimulator.GetInitialized();
+}
+
+double WpiMotorSim::GetPosition() const {
+ return m_motorModelSimulation.GetPosition();
+}
+
+double WpiMotorSim::GetVelocity() const {
+ return m_motorModelSimulation.GetVelocity();
+}
+
+double WpiMotorSim::GetAcceleration() const {
+ return m_motorModelSimulation.GetAcceleration();
+}
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
new file mode 100644
index 0000000..fc9a456
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/AccelerometerSim.h
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "lowfisim/SimulatorComponent.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class AccelerometerSim : public virtual SimulatorComponent {
+ public:
+ virtual double GetAcceleration() = 0;
+ virtual void SetAcceleration(double acceleration) = 0;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
new file mode 100644
index 0000000..a16f94c
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/EncoderSim.h
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "lowfisim/SimulatorComponent.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class EncoderSim : public virtual SimulatorComponent {
+ public:
+ virtual void SetPosition(double position) = 0;
+ virtual void SetVelocity(double velocity) = 0;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
new file mode 100644
index 0000000..dcaa28f
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/GyroSim.h
@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "lowfisim/SimulatorComponent.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class GyroSim : public virtual SimulatorComponent {
+ public:
+ virtual void SetAngle(double angle) = 0;
+ virtual double GetAngle() = 0;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorEncoderConnector.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorEncoderConnector.h
new file mode 100644
index 0000000..0cf4873
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorEncoderConnector.h
@@ -0,0 +1,30 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "EncoderSim.h"
+#include "MotorSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class MotorEncoderConnector {
+ public:
+ MotorEncoderConnector(MotorSim& motorController, EncoderSim& encoder);
+
+ void Update();
+
+ private:
+ MotorSim& motorSimulator;
+ EncoderSim& encoderSimulator;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
new file mode 100644
index 0000000..e880048
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/MotorSim.h
@@ -0,0 +1,25 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "lowfisim/SimulatorComponent.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class MotorSim : public virtual SimulatorComponent {
+ public:
+ virtual double GetPosition() const = 0;
+ virtual double GetVelocity() const = 0;
+ virtual double GetAcceleration() const = 0;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
new file mode 100644
index 0000000..4c10cfe
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleAccelerometerSim.h
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <functional>
+
+#include "lowfisim/AccelerometerSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleAccelerometerSim : public SimulatorComponentBase,
+ public AccelerometerSim {
+ public:
+ using SimulatorComponentBase::GetDisplayName;
+
+ SimpleAccelerometerSim(const std::function<bool(void)>& initializedFunction,
+ const std::function<void(double)>& setterFunction,
+ const std::function<double(void)>& getterFunction)
+ : m_isInitializedFunction(initializedFunction),
+ m_setAccelerationFunction(setterFunction),
+ m_getAccelerationFunction(getterFunction) {}
+ double GetAcceleration() override { return m_getAccelerationFunction(); }
+
+ void SetAcceleration(double acceleration) override {
+ m_setAccelerationFunction(acceleration);
+ }
+
+ bool IsWrapperInitialized() const override {
+ return m_isInitializedFunction();
+ }
+
+ private:
+ std::function<bool(void)> m_isInitializedFunction;
+ std::function<void(double)> m_setAccelerationFunction;
+ std::function<double(void)> m_getAccelerationFunction;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h
new file mode 100644
index 0000000..ea69247
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimpleGyroSim.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <functional>
+
+#include "lowfisim/GyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleGyroSim : public GyroSim {
+ public:
+ SimpleGyroSim(std::function<void(double)>& setterFunction,
+ std::function<double(void)>& getterFunction)
+ : m_setAngleFunction(setterFunction),
+ m_getAngleFunction(getterFunction) {}
+ double GetAngle() override { return m_getAngleFunction(); }
+
+ void SetAngle(double angle) override { m_setAngleFunction(angle); }
+
+ private:
+ std::function<void(double)> m_setAngleFunction;
+ std::function<double(void)> m_getAngleFunction;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h
new file mode 100644
index 0000000..4eb5e99
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponent.h
@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <string>
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimulatorComponent {
+ public:
+ virtual ~SimulatorComponent() = default;
+
+ virtual bool IsWrapperInitialized() const = 0;
+
+ virtual const std::string& GetDisplayName() const = 0;
+
+ virtual void SetDisplayName(const std::string& displayName) = 0;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h
new file mode 100644
index 0000000..c29e68c
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/SimulatorComponentBase.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 <string>
+
+#include "lowfisim/SimulatorComponent.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimulatorComponentBase : public virtual SimulatorComponent {
+ public:
+ SimulatorComponentBase() = default;
+ virtual ~SimulatorComponentBase() = default;
+
+ const std::string& GetDisplayName() const override;
+
+ void SetDisplayName(const std::string& displayName) override;
+
+ private:
+ std::string m_name;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/MotorModel.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/MotorModel.h
new file mode 100644
index 0000000..aeffcb7
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/MotorModel.h
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class MotorModel {
+ public:
+ virtual void Reset() = 0;
+ virtual void SetVoltage(double voltage) = 0;
+ virtual void Update(double elapsedTime) = 0;
+
+ virtual double GetPosition() const = 0;
+ virtual double GetVelocity() const = 0;
+ virtual double GetAcceleration() const = 0;
+ virtual double GetCurrent() const = 0;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/SimpleMotorModel.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/SimpleMotorModel.h
new file mode 100644
index 0000000..ccfc3b9
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/motormodel/SimpleMotorModel.h
@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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 "lowfisim/motormodel/MotorModel.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class SimpleMotorModel : public MotorModel {
+ public:
+ explicit SimpleMotorModel(double maxSpeed);
+
+ void Reset() override;
+ void SetVoltage(double voltage) override;
+ void Update(double elapsedTime) override;
+
+ double GetPosition() const override;
+ double GetVelocity() const override;
+ double GetAcceleration() const override;
+ double GetCurrent() const override;
+
+ protected:
+ double m_maxSpeed;
+ double m_voltagePercentage{0};
+ double m_position{0};
+ double m_velocity{0};
+
+ static constexpr double kMaxExpectedVoltage = 12;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h
new file mode 100644
index 0000000..0b63f2e
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h
@@ -0,0 +1,35 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "ThreeAxisAccelerometerData.h"
+#include "lowfisim/SimpleAccelerometerSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class ADXLThreeAxisAccelerometerSim {
+ public:
+ ADXLThreeAxisAccelerometerSim(
+ hal::ThreeAxisAccelerometerData& accelerometerWrapper);
+
+ AccelerometerSim& GetXWrapper();
+ AccelerometerSim& GetYWrapper();
+ AccelerometerSim& GetZWrapper();
+
+ protected:
+ hal::ThreeAxisAccelerometerData& m_accelerometerWrapper;
+ SimpleAccelerometerSim m_xWrapper;
+ SimpleAccelerometerSim m_yWrapper;
+ SimpleAccelerometerSim m_zWrapper;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
new file mode 100644
index 0000000..9b23320
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "ADXRS450_SpiGyroWrapperData.h"
+#include "lowfisim/GyroSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class ADXRS450_SpiGyroSim : public SimulatorComponentBase, public GyroSim {
+ public:
+ explicit ADXRS450_SpiGyroSim(int spiPort);
+
+ bool IsWrapperInitialized() const override;
+
+ void SetAngle(double angle) override;
+ double GetAngle() override;
+
+ protected:
+ hal::ADXRS450_SpiGyroWrapper m_gyroWrapper;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
new file mode 100644
index 0000000..8741cb2
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiAnalogGyroSim.h
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "lowfisim/GyroSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
+#include "simulation/AnalogGyroSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class WpiAnalogGyroSim : public SimulatorComponentBase, public GyroSim {
+ public:
+ explicit WpiAnalogGyroSim(int index);
+
+ bool IsWrapperInitialized() const override;
+
+ void SetAngle(double angle) override;
+ double GetAngle() override;
+
+ protected:
+ frc::sim::AnalogGyroSim m_gyroSimulator;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h
new file mode 100644
index 0000000..6460d8b
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiEncoderSim.h
@@ -0,0 +1,32 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "lowfisim/EncoderSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
+#include "simulation/EncoderSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class WpiEncoderSim : public SimulatorComponentBase, public EncoderSim {
+ public:
+ explicit WpiEncoderSim(int index);
+ bool IsWrapperInitialized() const override;
+
+ void SetPosition(double position) override;
+ void SetVelocity(double velocity) override;
+
+ protected:
+ frc::sim::EncoderSim m_encoderSimulator;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h
new file mode 100644
index 0000000..d24e831
--- /dev/null
+++ b/simulation/lowfi_simulation/src/main/native/include/lowfisim/wpisimulators/WpiMotorSim.h
@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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 "lowfisim/MotorSim.h"
+#include "lowfisim/SimulatorComponentBase.h"
+#include "lowfisim/motormodel/MotorModel.h"
+#include "simulation/PWMSim.h"
+
+namespace frc {
+namespace sim {
+namespace lowfi {
+
+class WpiMotorSim : public SimulatorComponentBase, public MotorSim {
+ public:
+ explicit WpiMotorSim(int index, MotorModel& motorModelSimulator);
+ bool IsWrapperInitialized() const override;
+
+ void Update(double elapsedTime);
+ double GetPosition() const override;
+ double GetVelocity() const override;
+ double GetAcceleration() const override;
+
+ private:
+ MotorModel& m_motorModelSimulation;
+ frc::sim::PWMSim m_pwmSimulator;
+
+ static constexpr double kDefaultVoltage = 12.0;
+};
+
+} // namespace lowfi
+} // namespace sim
+} // namespace frc
diff --git a/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
new file mode 100644
index 0000000..b51a63a
--- /dev/null
+++ b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/AccelerometerSimulatorTest.cpp
@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXL345_I2CAccelerometerData.h"
+#include "frc/ADXL345_I2C.h"
+#include "gtest/gtest.h"
+#include "lowfisim/wpisimulators/ADXLThreeAxisAccelerometerSim.h"
+
+TEST(AccelerometerTests, TestADXL345_I2CAccelerometerWrapper) {
+ const double EPSILON = 1 / 256.0;
+
+ frc::I2C::Port port = frc::I2C::kOnboard;
+
+ hal::ADXL345_I2CData rawAdxSim(port);
+ frc::sim::lowfi::ADXLThreeAxisAccelerometerSim accelerometerSim(rawAdxSim);
+ frc::sim::lowfi::AccelerometerSim& xWrapper = accelerometerSim.GetXWrapper();
+ frc::sim::lowfi::AccelerometerSim& yWrapper = accelerometerSim.GetYWrapper();
+ frc::sim::lowfi::AccelerometerSim& zWrapper = accelerometerSim.GetZWrapper();
+ EXPECT_FALSE(xWrapper.IsWrapperInitialized());
+ EXPECT_FALSE(yWrapper.IsWrapperInitialized());
+ EXPECT_FALSE(zWrapper.IsWrapperInitialized());
+
+ frc::ADXL345_I2C accel{port};
+ EXPECT_NEAR(0, accel.GetX(), EPSILON);
+ EXPECT_NEAR(0, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+ EXPECT_TRUE(xWrapper.IsWrapperInitialized());
+ EXPECT_TRUE(yWrapper.IsWrapperInitialized());
+ EXPECT_TRUE(zWrapper.IsWrapperInitialized());
+
+ xWrapper.SetAcceleration(1.45);
+ EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
+ EXPECT_NEAR(0, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+ EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
+ EXPECT_NEAR(0, yWrapper.GetAcceleration(), EPSILON);
+ EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
+
+ yWrapper.SetAcceleration(-.67);
+ EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
+ EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
+ EXPECT_NEAR(0, accel.GetZ(), EPSILON);
+ EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
+ EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
+ EXPECT_NEAR(0, zWrapper.GetAcceleration(), EPSILON);
+
+ zWrapper.SetAcceleration(2.42);
+ EXPECT_NEAR(1.45, accel.GetX(), EPSILON);
+ EXPECT_NEAR(-.67, accel.GetY(), EPSILON);
+ EXPECT_NEAR(2.42, accel.GetZ(), EPSILON);
+ EXPECT_NEAR(1.45, xWrapper.GetAcceleration(), EPSILON);
+ EXPECT_NEAR(-.67, yWrapper.GetAcceleration(), EPSILON);
+ EXPECT_NEAR(2.42, zWrapper.GetAcceleration(), EPSILON);
+}
diff --git a/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
new file mode 100644
index 0000000..6cd0b2b
--- /dev/null
+++ b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/GyroSimulatorTest.cpp
@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "ADXRS450_SpiGyroWrapperData.h"
+#include "frc/ADXRS450_Gyro.h"
+#include "frc/AnalogGyro.h"
+#include "gtest/gtest.h"
+#include "lowfisim/wpisimulators/ADXRS450_SpiGyroSim.h"
+#include "lowfisim/wpisimulators/WpiAnalogGyroSim.h"
+
+void TestGyro(frc::sim::lowfi::GyroSim& sim, frc::Gyro& gyro) {
+ const double EPSILON = .00001;
+
+ EXPECT_NEAR(0, gyro.GetAngle(), EPSILON);
+ EXPECT_NEAR(0, sim.GetAngle(), EPSILON);
+
+ sim.SetAngle(45.13);
+ EXPECT_NEAR(45.13, gyro.GetAngle(), EPSILON);
+ EXPECT_NEAR(45.13, sim.GetAngle(), EPSILON);
+}
+
+TEST(GyroSimulatorTests, TestAnalogGyro) {
+ int port = 1;
+ frc::sim::lowfi::WpiAnalogGyroSim sim{port};
+ EXPECT_FALSE(sim.IsWrapperInitialized());
+
+ frc::AnalogGyro gyro{port};
+ EXPECT_TRUE(sim.IsWrapperInitialized());
+
+ TestGyro(sim, gyro);
+}
+
+TEST(GyroSimulatorTests, TestSpiGyro) {
+ frc::SPI::Port port = frc::SPI::kOnboardCS0;
+
+ frc::sim::lowfi::ADXRS450_SpiGyroSim sim{port};
+ EXPECT_FALSE(sim.IsWrapperInitialized());
+
+ frc::ADXRS450_Gyro gyro{port};
+ EXPECT_TRUE(sim.IsWrapperInitialized());
+
+ TestGyro(sim, gyro);
+}
diff --git a/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/MotorEncoderSimulatorTest.cpp b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/MotorEncoderSimulatorTest.cpp
new file mode 100644
index 0000000..83e9ddc
--- /dev/null
+++ b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/MotorEncoderSimulatorTest.cpp
@@ -0,0 +1,110 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/Encoder.h"
+#include "frc/Talon.h"
+#include "gtest/gtest.h"
+#include "lowfisim/MotorEncoderConnector.h"
+#include "lowfisim/motormodel/SimpleMotorModel.h"
+#include "lowfisim/wpisimulators/WpiEncoderSim.h"
+#include "lowfisim/wpisimulators/WpiMotorSim.h"
+
+TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseFullSpeed) {
+ frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
+ frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
+ frc::sim::lowfi::WpiEncoderSim encoderSim(0);
+ frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
+
+ EXPECT_FALSE(motorSim.IsWrapperInitialized());
+ EXPECT_FALSE(encoderSim.IsWrapperInitialized());
+ frc::Talon talon{3};
+ frc::Encoder encoder{3, 1};
+ EXPECT_TRUE(motorSim.IsWrapperInitialized());
+ EXPECT_TRUE(encoderSim.IsWrapperInitialized());
+
+ talon.Set(-1);
+ motorSim.Update(1);
+ connector.Update();
+
+ // Position
+ EXPECT_EQ(-6000, encoder.Get());
+ EXPECT_DOUBLE_EQ(-6000, encoder.GetDistance());
+
+ // Velocity
+ EXPECT_DOUBLE_EQ(-1.0 / 6000, encoder.GetPeriod());
+ EXPECT_DOUBLE_EQ(-6000, encoder.GetRate());
+}
+
+TEST(MotorEncoderConnectorTest, TestWithoutDistancePerPulseRealisitcUpdate) {
+ frc::Talon talon{3};
+ frc::Encoder encoder{3, 1};
+
+ frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
+ frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
+ frc::sim::lowfi::WpiEncoderSim encoderSim(0);
+ frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
+
+ talon.Set(0.5);
+ motorSim.Update(.02);
+ connector.Update();
+
+ // Position
+ EXPECT_EQ(60, encoder.Get());
+ EXPECT_DOUBLE_EQ(60, encoder.GetDistance());
+
+ // Velocity
+ EXPECT_DOUBLE_EQ(1.0 / 3000, encoder.GetPeriod());
+ EXPECT_DOUBLE_EQ(3000, encoder.GetRate());
+}
+
+TEST(MotorEncoderConnectorTest, TestWithDistancePerPulseFullSpeed) {
+ frc::Talon talon{3};
+ frc::Encoder encoder{3, 1};
+ encoder.SetDistancePerPulse(.001);
+
+ frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
+ frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
+ frc::sim::lowfi::WpiEncoderSim encoderSim(0);
+ frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
+
+ talon.Set(-1);
+
+ motorSim.Update(1);
+ connector.Update();
+
+ // Position
+ EXPECT_EQ(-6000000, encoder.Get());
+ EXPECT_DOUBLE_EQ(-6000, encoder.GetDistance());
+
+ // Velocity
+ EXPECT_EQ(-1.0 / 6000, encoder.GetPeriod());
+ EXPECT_DOUBLE_EQ(-6, encoder.GetRate());
+}
+
+TEST(MotorEncoderConnectorTest, TestWithDistancePerPulseRealistic) {
+ frc::Talon talon{3};
+ frc::Encoder encoder{3, 1};
+ encoder.SetDistancePerPulse(.001);
+
+ frc::sim::lowfi::SimpleMotorModel motorModelSim(6000);
+ frc::sim::lowfi::WpiMotorSim motorSim(3, motorModelSim);
+ frc::sim::lowfi::WpiEncoderSim encoderSim(0);
+ frc::sim::lowfi::MotorEncoderConnector connector(motorSim, encoderSim);
+
+ talon.Set(0.5);
+
+ motorSim.Update(.02);
+ connector.Update();
+
+ // Position
+ EXPECT_EQ(60000, encoder.Get());
+ EXPECT_DOUBLE_EQ(60, encoder.GetDistance());
+
+ // Velocity
+ EXPECT_EQ(1.0 / 3000, encoder.GetPeriod());
+ EXPECT_DOUBLE_EQ(3, encoder.GetRate());
+}
diff --git a/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/motormodel/SimpleMotorModelSimulationTest.cpp b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/motormodel/SimpleMotorModelSimulationTest.cpp
new file mode 100644
index 0000000..e60cf1e
--- /dev/null
+++ b/simulation/lowfi_simulation/src/test/native/cpp/lowfisim/motormodel/SimpleMotorModelSimulationTest.cpp
@@ -0,0 +1,33 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "gtest/gtest.h"
+#include "lowfisim/motormodel/SimpleMotorModel.h"
+
+TEST(SimpleMotorModelSimulationTest, TestSimpleModel) {
+ frc::sim::lowfi::SimpleMotorModel motorModelSim(200);
+
+ // Test forward voltage
+ motorModelSim.SetVoltage(6);
+ motorModelSim.Update(.5);
+
+ EXPECT_DOUBLE_EQ(50, motorModelSim.GetPosition());
+ EXPECT_DOUBLE_EQ(100, motorModelSim.GetVelocity());
+
+ // Test Reset
+ motorModelSim.Reset();
+ EXPECT_DOUBLE_EQ(0, motorModelSim.GetPosition());
+ EXPECT_DOUBLE_EQ(0, motorModelSim.GetVelocity());
+
+ // Test negative voltage
+ motorModelSim.Reset();
+ motorModelSim.SetVoltage(-3);
+ motorModelSim.Update(.06);
+
+ EXPECT_DOUBLE_EQ(-3, motorModelSim.GetPosition());
+ EXPECT_DOUBLE_EQ(-50, motorModelSim.GetVelocity());
+}
diff --git a/simulation/lowfi_simulation/src/test/native/cpp/main.cpp b/simulation/lowfi_simulation/src/test/native/cpp/main.cpp
new file mode 100644
index 0000000..0e00efa
--- /dev/null
+++ b/simulation/lowfi_simulation/src/test/native/cpp/main.cpp
@@ -0,0 +1,17 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2015-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include <hal/HAL.h>
+
+#include "gtest/gtest.h"
+
+int main(int argc, char** argv) {
+ HAL_Initialize(500, 0);
+ ::testing::InitGoogleTest(&argc, argv);
+ int ret = RUN_ALL_TESTS();
+ return ret;
+}