Squashed 'third_party/allwpilib/' changes from e4b91005cf..83f1860047
83f1860047 [wpilib] Add/update documentation to PneumaticBase and subclasses (NFC) (#4881)
9872e676d8 [commands] Make Subsystem destructor virtual (#4892)
25db20e49d [hal] Fix segfault in various HAL functions (#4891)
b0c6724eed [glass] Add hamburger menu icon to titlebars (#4874)
f0fa8205ac Add missing compiler flags and fix warnings (#4889)
42fc4cb6bc [wpiutil] SafeThread: Provide start/stop hooks (#4880)
cc166c98d2 [templates] Add Command-based skeleton template (#4861)
3f51f10ad3 [build] Update to 2023v3 image (#4886)
1562eae74a [ntcore] Refactor meta-topic decoding from glass (#4809)
b632b288a3 Fix usages of std::min and std::max to be windows safe (#4887)
c11bd2720f [wpilibc] Add internal function to reset Shuffleboard instance (#4884)
f1151d375f [ntcore] Add method to get server time offset (#4847)
fe1b62647f [hal,wpilib] Update documentation for getComments (NFC) (#4879)
c49a45abbd [build] Fix examples linking in incorrect jni library (#4873)
bc3d01a721 [build] Add platform check to doxygen plugin (#4862)
bc473240ae Add Jetbrains Fleet folder to .gitignore (#4872)
2121bd5fb8 [wpimath] Remove RKF45 (#4870)
835f8470d6 [build] Fix roborio cross-compiler on arm hosts (#4864)
6cfe5de00d [ntcore] Don't deadlock server on early destroy (#4863)
2ac41f3edc [hal, wpilib] Add RobotController.getComments() (#4463)
26bdbf3d41 Java optimization and formatting fixes (#4857)
92149efa11 Spelling and grammar cleanups (#4849)
176fddeb4c [commands] Add functions to HID classes to allow use of axes as BooleanEvents/Triggers (#4762)
87a34af367 [templates] Add bindings to command-based template (#4838)
4534e75787 [examples] Remove redundant MotorControl example (#4837)
1cbebaa2f7 [commands] Remove final semicolon from test macro definition (#4859)
6efb9ee405 [commands] Add constructor for SwerveControllerCommand that takes a HolonomicDriveController (#4785)
1e7fcd5637 [cscore] Change run loop functions to not be mac specific (#4854)
1f940e2b60 [apriltag] Add C++ wrappers, rewrite Java/JNI to match (#4842)
a6d127aedf [build] Add missing task dependency in wpilibjExamples (#4852)
b893b3d6d3 [cscore] Add support for USB cameras on macOS (#4846)
1696a490fa [glass] Add support for alternate NT ports (#4848)
40a22d69bc [glass] Add support for alternate NT ports (#4848)
e84dbfede0 [wpilib] GenericHID: Add rumble both option (#4843)
8aa9dbfa90 [examples] Link apriltag package in examples build.gradle (#4845)
eda2fa8a17 [build] Update Spotless (#4840)
d20594db0d Fix typos (#4839)
dd8ecfdd54 [commands] Fix typo in waitUntil docs (NFC) (#4841)
17ceebfff4 [apriltag] Clean up apriltag JNI (#4823)
8b74ab389d [examples] RapidReactCommandBot: Fix array indices (#4833)
1aad3489c2 [sim] Implement PD total current and power (#4830)
2744991771 [wpimath] Fix docs in SwerveModulePosition (#4825)
ffbf6a1fa2 [commands] Disable regularly failing unit test (#4824)
fbabd0ef15 [commands] Enhance Command Sendable implementations (#4822)
7713f68772 [hal] Use atomic rather then mutex for DS Data updates (#4787)
701995d6cc [examples] Update Command-based starter project (#4778)
bf7068ac27 [wpilibc] Add missing PPS implementation for C++ (#4821)
aae0f52ca6 [ntcore] NetworkTable: fix visibility of get/set value (#4820)
ee02fb7ba7 [hal] Add support for Pulse-Per-Second signal (#4819)
518916ba02 [wpilib] Fix DS mode thread event being manual reset accidentally (#4818)
3997c6635b [hal] Update to new image, use new TCP notify callback and new duty cycle API (#4774)
cc8675a4e5 [examples] Add comment on how to view elevator sim (NFC) (#4482)
fb2c170b6e [ntcore] Simplify local startup (#4803)
7ba8a9ee1f [wpimath] ProfiledPIDController: Add to SendableRegistry (#4656)
c569d8e523 [wpilib] Joystick.getMagnitude(): use hypot() function (#4816)
2a5e89fa97 [apriltag] Improve description of pose coordinates (NFC) (#4810)
cc003c6c38 [apriltag] Fix AprilTagFieldLayout JSON name (#4814)
5522916123 [commands] CommandXBoxController bumper documentation fix (NFC) (#4815)
967b30de3a [glass] Fix NT view UpdateClients() bug (#4808)
3270d4fc86 [wpimath] Rewrite pose estimator docs (#4807)
be39678447 [apriltag] Add test to ensure apriltagjni loads (#4805)
61c75deb2a [commands] Test no-op behavior of scheduling a scheduled command (#4806)
a865f48e96 [ntcore] Pass pub/sub options as a unified PubSubOptions struct (#4794)
f66a667321 [commands] Fix incorrect Trigger docs (NFC) (#4792)
f8d4e9866e [ntcore] Clean up ntcore_test.h (#4804)
7e84ea891f [wpimath] Fix ComputerVisionUtil transform example in parameter docs (NFC) (#4800)
da3ec1be10 [wpimath] Change terminology for ArmFeedforward gravity gain (NFC) (#4791)
944dd7265d [wpilibc] Add C++ Notifier error handling, update java notifier error message (#4795)
6948cea67a [wpiutil] Fix MemoryBuffer initialization (#4797)
a31459bce6 [wpiutil] Fix UnescapeCString overflow when inputSize < 2 (#4796)
4a0ad6b48c [wpimath] Rotation2d: Add reference to angleModulus in docs (NFC) (#4786)
e6552d272e [ntcore] Remove table multi-subscriber (#4789)
bde383f763 [hal] Replace const char* with std::string_view in Driver Station sim functions (#4532)
5a52b51443 [hal] Add RobotController.getSerialNumber() (#4783)
69a66ec5ec [wpilib] Fix multiple motor safety issues (#4784)
989c9fb29a [wpimath] Revert Rotation2D change that limits angles (#4781)
0f5b08ec69 [wpigui] Update imgui to 1.89.1+ (#4780)
fba191099c [examples] AddressableLED: Add unit test (#4779)
b390cad095 [wpilibj] Consistently use ErrorMessages.requireNonNullParam (#4776)
b9772214d9 [wpilib] Sendable: Don't call setter for getter changes
342c375a71 [ntcore] Add subscriber option to exclude single publisher
b0e4053087 [ntcore] Use int for options instead of double
f3e666b7bb [cscore] Convert YUYV and UYVY directly to grayscale (#4777)
b300518bd1 [hal] Add CAN Stream API to Java through JNI bindings (#4193)
be27171236 [wpilibj] Shuffleboard: Check for null sendable (#4772)
4bbdbdfb48 [commands] Move GroupedCommands to CommandScheduler (#4728)
f18fd41ac3 [wpimath] Remove broken and obsoleted ComputerVisionUtil functions (#4775)
2d0faecf4f [glass] DataSource: Add spinlock to protect value (#4771)
348bd107fc [hal] Add CANManufacturer for The Thrifty Bot (#4773)
3149dc64b8 [examples] HatchbotInlined: Use Subsystem factories (#4765)
8618dd4160 [glass, wpilib] Replace remaining references to Speed Controller with Motor Controller (#4769)
72e21a1ed1 [apriltag] Use wpilibsuite fork of apriltag (#4764)
eab0d929e6 [commands] CommandGenericHID POV methods: Fix docs (NFC) (#4760)
6789869663 [wpilib] Call set(0) rather than disable for stopMotor (#4763)
c9dea2968d [cscore] Emit warning that USB Camera isn't supported on OSX (#4766)
8f402645f5 [commands] Fix PIDSubsystem setSetpoint behavior (#4759)
f24ad1d715 [build] Upgrade to googletest 1.12.1 (#4752)
ff88756864 [wpimath] Add new DCMotor functions for alternative calculations and reduction calculation (#4749)
f58873db8e [wpimath] Remove extra terms in matrix for pose estimator docs (#4756)
37e969b41a [wpimath] Add constructors to pose estimators with default standard deviations (#4754)
13cdc29382 [ci] Rename comment command from "/wpiformat" to "/format" (#4755)
6e23985ae6 [examples] Add main include directory to test builds (#4751)
66bb0ffb2c [examples] Add unit testing infrastructure (#4646)
74cc86c4c5 [wpimath] Make transform tests use pose/transform equality operators (#4675)
e22d8cc343 [wpimath] Use Odometry for internal state in Pose Estimation (#4668)
68dba92630 [ci] Update mac and windows builds to Java 17 (#4750)
23bfc2d9ab [sim] Remove unmaintained Gazebo support (#4736)
1f1461e254 [wpilib] Add method to enable/disable LiveWindow in test mode (#4678)
eae68fc165 [wpimath] Add tolerance for Rotation3d rotation matrix special orthogonality (#4744)
4c4545fb4b [apriltag] Suppress warning (#4743)
16ffaa754d [docs] Generate docs for apriltag subproject (#4745)
5e74ff26d8 [apriltag, build] Update native utils, add apriltag impl and JNI (#4733)
53875419a1 [hal] Allow overriding stderr printing by HAL_SendError (#4742)
aa6499e920 [ntcore] Fix special topic multi-subscriber handling (#4740)
df70351107 [build] Fix cmake install of thirdparty includes (#4741)
e9bd50ff9b [glass] NT view: clear meta-topic info on disconnect (#4732)
9b319fd56b [ntcore] Add sub option for local vs remote changes (#4731)
18d28ec5e3 [ntcore] Remove duplicate value checking from ClientImpl
bdfb625211 [ntcore] Send duplicate values to network if necessary
21003e34eb [commands] Update Subsystem factories and example to return CommandBase (#4729)
70080457d5 [commands] Refactor ProxyScheduleCommand, SelectCommand into ProxyCommand (#4534)
e82cd5147b [wpilib] Tweak Color HSV formula and use in AddressableLED (#4724)
ec124bb662 [commands] Allow unsetting a subsystem's default command (#4621)
2b2aa8eef7 [examples] Update all examples to use NWU coordinate conventions (#4725)
cb38bacfe8 [commands] Revert to original Trigger implementation (#4673)
15561338d5 [commands] Remove one more default command isFinished check (#4727)
ca35a2e097 Add simgui files to .gitignore (#4726)
20dbae0cee [examples] Renovate command-based examples (#4409)
1a59737f40 [commands] Add convenience factories (#4460)
42b6d4e3f7 Use defaulted comparison operators in C++ (#4723)
135c13958f [wpigui] Add FontAwesome (#4713)
ffbfc61532 [ntcore] Add NetworkTable table-specific listeners (#4640)
8958b2a4da [commands] Add property tests for command compositions (#4715)
e4ac09077c [wpilib] Add link to MotorSafety article (#4720)
f40de0c120 [commands] Add C++ factory templates (#4686)
51fa3e851f [build] cmake: Use FetchContent instead of ExternalProject (#4714)
1da84b2255 [wpigui] Reload fonts to scale rather than preloading (#4712)
e43e2fbc84 [wpiutil] StringExtras: Add UnescapeCString (#4707)
5804d8fa84 [ntcore] Server: Properly handle multiple subscribers (#4717)
169ef5fabf [glass] Update NT view for topicsOnly and sendAll changes (#4718)
148759ef54 [examples] CANPDP: Expand properties shown (#4687)
58ed112b51 [commands] RepeatCommand: restart on following iteration (#4706)
dd1da77d20 [readme] Fix broken CI badge (#4710)
7cda85df20 [build] Check Gradle plugin repo last to fix CI (#4711)
7ed9b13277 [build] Bump version plugin to fix null tag (#4705)
6b4f26225d [apriltag] Fix pluralization of apriltag artifacts (#4671)
b2d2924b72 [cscore] Add Y16 image support (#4702)
34ec89c041 [wpilibc] Shuffleboard SimpleWidget: Return pointer instead of reference (#4703)
e15200068d [ci] Disable HW testbench runs (#4704)
d5200db6cd [wpimath] Rename HolonomicDriveController.calculate params (#4683)
2ee3d86de4 [wpimath] Clarify Rotation3d roll-pitch-yaw direction (#4699)
9f0a8b930f [cscore] Use MFVideoFormat_L8 for Gray on Windows (#4701)
2bca43779e [cscore] Add UYVY image support (#4700)
4307d0ee8b [glass] Plot: allow for more than 11 plots (#4685)
3fe8d355a1 [examples] StateSpaceDifferentialDriveSimulation: Use encoder reversed constants (#4682)
b44034dadc [ntcore] Allow duplicate client IDs on server (#4676)
52d2c53888 [commands] Rename Java factory wait() to waitSeconds() (#4684)
76e918f71e [build] Fix JNI artifacts linking to incorrect libraries (#4680)
0bee875aff [commands] Change C++ CommandPtr to use CommandBase (#4677)
98e922313b [glass] Don't check IsConnected for NT widgets (#4674)
9a36373b8f [apriltag] Switch 2022 apriltag layout length and width values (#4670)
cf8faa9e67 [wpilib] Update values on controllable sendables (#4667)
5ec067c1f8 [ntcore] Implement keep duplicates pub/sub flag (#4666)
e962fd2916 [ntcore] Allow numeric-compatible value sets (#4620)
88bd67e7de [ci] Update clang repositories to jammy (#4665)
902e8686d3 [wpimath] Rework odometry APIs to improve feature parity (#4645)
e2d49181da Update to native utils 2023.8.0 (#4664)
149bac55b1 [cscore] Add Arducam OV9281 exposure quirk (#4663)
88f7a3ccb9 [wpimath] Fix Pose relativeTo documentation (#4661)
8acce443f0 [examples] Fix swerve examples to use getDistance for turning encoder (#4652)
295a1f8f3b [ntcore] Fix WaitForListenerQueue (#4662)
388e7a4265 [ntcore] Provide mechanism to reset internals of NT instance (#4653)
13aceea8dc [apriltag] Fix FieldDimensions argument order (#4659)
c203f3f0a9 [apriltag] Fix documentation for AprilTagFieldLayout (#4657)
f54d495c90 Fix non initialized hal functionality during motor safety init (#4658)
e6392a1570 [cmd] Change factories return type to CommandBase (#4655)
53904e7cf4 [apriltag] Split AprilTag functionality to a separate library (#4578)
2e88a496c2 [wpimath] Add support for swerve joystick normalization (#4516)
ce4c45df13 [wpimath] Rework function signatures for Pose Estimation / Odometry (#4642)
0401597d3b [readme] Add wpinet to MavenArtifacts.md (#4651)
2e5f9e45bb [wpimath] Remove encoder reset comments on Swerve, Mecanum Odometry and Pose Estimation (#4643)
e4b5795fc7 [docs] Disable Doxygen for memory to fix search (#4636)
03d0ea188c [build] cmake: Add missing wpinet to installed config file (#4637)
3082bd236b [build] Move version file to its own source set (#4638)
b7ca860417 [build] Use build cache for sign step (#4635)
64838e6367 [commands] Remove unsafe default command isFinished check (#4411)
1269d2b901 [myRobot] Disable spotbugs (#4565)
14d8506b72 [wpimath] Fix units docs for LinearSystemId::IdentifyDrivetrainSystem() (#4600)
d1d458db2b [wpimath] Constrain Rotation2d range to -pi to pi (#4611)
f656e99245 [readme] Add links to development build documentation (#4481)
6dd937cef7 [commands] Fix Trigger API docs (NFC) (#4599)
49047c85b9 [commands] Report error on C++ CommandPtr use-after-move (#4575)
d07267fed1 [ci] Upgrade containers to Ubuntu 22.04 and remove libclang installation (#4633)
b53ce1d3f0 [build, wpiutil] Switch macos to universal binaries (#4628)
5a320c326b [upstream_util, wpiutil] Refactor python scripts (#4614)
c4e526d315 [glass] Fix NT Mechanism2D (#4626)
d122e4254f [ci] Run spotlessApply after wpiformat in comment command (#4623)
5a1e7ea036 [wpilibj] FieldObject2d: Add null check to close() (#4619)
179f569113 [ntcore] Notify locally on SetDefault (#4617)
b0f6dc199d [wpilibc] ShuffleboardComponent.WithProperties: Update type (#4615)
7836f661cd [wpimath] Add missing open curly brace to units/base.h (#4613)
dbcc1de37f [wpimath] Add DifferentialDriveFeedforward classes which wrap LinearPlantInversionFeedforward (#4598)
93890c528b [wpimath] Add additional angular acceleration units (#4610)
3d8d5936f9 [wpimath] Add macro for disabling units fmt support (#4609)
2b04159dec [wpimath] Update units/base.h license header (#4608)
2764004fad [wpinet] Fix incorrect jni definitions (#4605)
85f1bb8f2b [wpiutil] Reenable jni check task (#4606)
231ae2c353 [glass] Plot: Fix Y-axis not being saved (#4594)
e92b6dd5f9 [wpilib] Fix AprilTagFieldLayout JSON property name typos (#4597)
2a8e0e1cc8 Update all dependencies that use grgit (#4596)
7d06e517e9 [commands] Move SelectCommand factory impl to header (#4581)
323524fed6 [wpimath] Remove deprecated units/units.h header (#4572)
d426873ed1 [commands] Add missing PS4 triangle methods (#4576)
5be5869b2f [apriltags] Use map as internal data model (#4577)
b1b4c1e9e7 [wpimath] Fix Pose3d transformBy rotation type (#4545)
a4054d702f [commands] Allow composing two triggers directly (#4580)
0190301e09 [wpilibc] Explicitly mark EventLoop as non-copyable/non-movable (#4579)
9d1ce6a6d9 [ntcore] Catch file open error when saving preferences (#4571)
5005e2ca04 [ntcore] Change Java event mask to EnumSet (#4564)
fa44a07938 [upstream-utils][mpack] Add upstream util for mpack (#4500)
4ba16db645 [ntcore] Various fixes and cleanups (#4544)
837415abfd [hal] Fix joysticks either crashing or returning 0 (#4570)
2c20fd0d09 [wpilib] SingleJointedArmSim: Check angle equals limit on wouldHit (#4567)
64a7136e08 [wpimath] SwerveDrivePoseEstimator: Restore comment about encoder reset (#4569)
b2b473b24a [wpilib] Add AprilTag and AprilTagFieldLayout (#4421)
7aab8fa93a [build] Update to Native Utils 2023.6.0 (#4563)
12c2851856 [commands] WrapperCommand: inherit from CommandBase (#4561)
0da169dd84 [wpimath] Remove template argument from ElevatorFeedforward (#4554)
2416827c25 [wpimath] Fix docs for pose estimator local measurement models (#4558)
1177a3522e [wpilib] Fix Xbox/PS4 POV sim for port number constructors (#4548)
102344e27a [commands] HID classes: Add missing methods, tweak return types (#4557)
1831ef3e19 [wpilib] Fix Shuffleboard SuppliedValueWidget (#4559)
a9606ce870 [wpilib] Fix Xbox/PS4 POV sim (#4546)
6c80d5eab3 [wpimath] Remove unused SymbolExports.h include from units/base.h (#4541)
b114006543 [ntcore] Unify listeners (#4536)
32fbfb7da6 [build] cmake: Install ntcore generated include files (#4540)
02465920fb [build] Update native utils to 2023.4.0 (#4539)
3a5a376465 [wpimath] Increase constexpr support in geometry data types (#4231)
1c3c86e9f1 [ntcore] Cache GetEntry(name) values (#4531)
dcda09f90a [command] Rename trigger methods (#4210)
66157397c1 [wpilib] Make drive classes follow NWU axes convention (#4079)
9e22ffbebf [ntcore] Fix null deref in NT3 client (#4530)
648ab6115c [wpigui,dlt,glass,ov] Support arm in GUI tools (#4527)
8bc3b04f5b [wpimath] Make ComputerVisionUtil use 3D geometry classes (#4528)
cfb84a6083 [wpilibc] Don't hang waiting for NT server to start (#4524)
02c47726e1 [wpimath] Remove unused odometry instance from DifferentialDrivePoseEstimator test (#4522)
b2a0093294 [ci] Revert upgrade of github-pages-deploy-action (#4521)
2a98d6b5d7 [wpimath] PIDController: Add getters for position & velocity tolerances (#4458)
9f36301dc8 [ci] Write wpiformat patch to job summary (#4519)
901fc555f4 [wpimath] Position Delta Odometry for Mecanum (#4514)
4170ec6107 [wpimath] Position Delta Odometry for Swerve (#4493)
fe400f68c5 [docs] Add wpinet to docs build (#4517)
794669b346 [ntcore] Revamp listeners (#4511)
dcfa85a5d5 [ci] Build sanitizers with clang-14 (#4518)
15ad855f1d [ntcore] Add UnitTopic<T> (C++ only) (#4497)
11244a49d9 [wpilib] Add IsConnected function to all gyros (#4465)
1d2e8eb153 [build] Update myRobot deployment (#4515)
ad53fb19b4 [hal] Use new HMB api for addressable LED (#4479)
ba850bac3b [hal] Add more shutdown checks and motor safety shutdown (#4510)
023a5989f8 [ntcore] Fix typo in NetworkServer client connect message (#4512)
c970011ccc [docs] Add Doxygen aliases used by Foonathan memory (#4509)
07a43c3d9a [readme] Document clang-format version and /wpiformat (#4503)
a05b212b04 [ci] Revert changes to wpiformat task from #4501 (#4508)
09faf31b67 [commands] Replace Command HID inheritance with delegation (#4470)
9e1f9c1133 [commands] Add command factories (#4476)
f19d2b9b84 [ci] Add NUMBER environment variable to comment command commit script (#4507)
a28f93863c [ci] Push comment command commit directly to PR (#4506)
c9f61669b8 [ci] Fix comment command commit push (#4505)
dcce5ad3b3 [ci] Update github-script API usage (#4504)
6836e5923d [wpilibc] Restore get duty cycle scale factor (#4502)
335188c652 [dlt] Add deselect/select all buttons to download view (#4499)
60a29dcb99 [glass] Field2D: Add "hidden" option for objects (#4498)
b55d5b3034 [ci] Update deprecated github actions (#4501)
10ed4b3969 [ntcore] Various NT4 fixes (#4474)
4a401b89d7 [hal, wpilib] New DS thread model and implementation (#3787)
c195b4fc46 [wpimath] Clean up PoseEstimator nominal dt docs (#4496)
8f2e34c6a3 [build] Remove wpilib prefix from CMake flat install (#4492)
150d692df7 [wpimath] Remove unused private PoseEstimator function (#4495)
3e5bfff1b5 [wpimath] FromFieldRelativeSpeeds: Add ChassisSpeeds overload (#4494)
9c7e66a27d [commands] C++: Add CommandPtr overload for SetDefaultCommand (#4488)
0ca274866b [build] Fix CMake system library opt-ins (#4487)
dc037f8d41 [commands] Remove EndlessCommand (#4483)
16cdc741cf [wpimath] Add Pose3d(Pose2d) constructor (#4485)
9d5055176d [build] cmake: Allow disabling ntcore build (#4486)
d1e66e1296 [build] Compile all java code with inline string concatenation (#4490)
1fc098e696 Enable log macros to work with no args (#4475)
878cc8defb [wpilib] LiveWindow: Add enableAllTelemetry() (#4480)
8153911160 [build] Fix MSVC runtime archiver to grab default runtime (#4478)
fbdc810887 Upgrade to C++20 (#4239)
396143004c [ntcore] Add ntcoreffi binary (#4471)
1f45732700 [build] Update to 2023.2.4 native-utils and new dependencies (#4473)
574cb41c18 [ntcore] Various fixes (#4469)
d9d6c425e7 [build] Force Java 11 source compatibility (#4472)
58b6484dbe Switch away from NI interrupt manager to custom implementation (#3705)
ca43fe2798 [wpimath] Use Units conversions in ComputerVisionUtil docs (NFC) (#4464)
87a64ccedc [hal] Convert DutyCycle Raw output to be a high time measurement (#4466)
89a3d00297 [commands] Add FinallyDo and HandleInterrupt decorators (#4412)
1497665f96 [commands] Add C++ versions of Java-only decorators (#4457)
27b173374e [wpimath] Add minLinearAccel parameter to DifferentialDriveAccelerationLimiter (#4422)
2a13dba8ac [wpilib] TrajectoryUtil: Fix ambiguous documentation (NFC) (#4461)
77301b126c [ntcore] NetworkTables 4 (#3217)
90cfa00115 [build] cmake: Fix libssh include directory order (#4459)
5cf961edb9 [commands] Refactor lambda-based commands to inherit FunctionalCommand (#4451)
b2276e47de [wpimath] Enable continuous angle input for HolonomicDriveController (#4453)
893b46139a [fieldImages] Add utilities to simplify loading of fields (#4456)
60e29627c0 [commands] C++ unique_ptr migration (#4319)
3b81cf6c35 [wpilib] Improve Color.toString (#4450)
5c067d30a0 [wpinet] WebSocket: Add SendFrames() (#4445)
ceaf493811 [wpiutil] MakeJByteArray: Use span<uint8> instead of string_view (#4446)
10e04e2b13 [examples] FrisbeeBot: Fix reference capture (#4449)
726f67c64b [build] Add exeSplitSetup (#4444)
c7b7624c1c [wpiutil] Add MessagePack utility functions (#4448)
d600529ec0 [wpinet] uv::Async: Add UnsafeSend() (#4447)
b53b3526a2 [wpimath] Add CoordinateSystem conversion for Transform3d (#4443)
38bb23eb18 [wpimath] Add scalar multiply and divide operators to all geometry classes (#4438)
3937ff8221 [wpilib] Remove deprecated Controller class (#4440)
abbfe244b5 [wpilib] Improve Color FromHSV (#4439)
4ddb8aa0dd [sim] Provide function that resets all simulation data (#4016)
a791470de7 Clean up Java warning suppressions (#4433)
17f504f548 [hal,wpilib] Fix SPI Mode Setting (#4434)
773198537c [wpiutil] Add wpi::scope_exit (#4432)
5ac658c8f0 [wpiutil] Logger: Conditionalize around WPI_LOG (#4431)
8767e4a941 [wpiutil] DataLog: Fix SetMetadata output (#4430)
8c4af073f4 [wpiutil] Synchronization: shutdown race protection (#4429)
c79f38584a [build] Fix Java integration tests (#4428)
36c08dd97c [build] Fix cmake install of fmtlib (#4426)
69b7b3dd7d [ci] Remove the Windows cmake job (#4425)
738c75fed8 [readme] Fix formatting/linting link (#4423)
4eb1d03fb3 [wpimath] Document C++ LinearFilter exception (#4417)
ba4ec6c967 [build] Fix clang-tidy false positive on Linux (#4406)
97836f0e55 [commands] Fix ProfiledPIDSubsystem setGoal behavior (#4414)
fdfb85f695 [wpimath] Remove Java LQR constructor that takes a controller gain matrix (#4419)
ab1baf4832 [wpimath] Add rotation matrix constructor to Rotation3d (#4413)
9730032866 [wpimath] Document LQR and KalmanFilter exceptions (#4418)
5b656eecf6 [wpimath] Fix HTML5 entity (#4420)
9ae38eaa7c [commands] Add owning overload to ProxyScheduleCommand (#4405)
cb33bd71df [commands] deprecate withInterrupt decorator (#4407)
d9b4e7b8bf [commands] Revert "Change grouping decorator impl to flatten nested group structures (#3335)" (#4402)
0389bf5214 [hal] REVPH: Improve handling of disconnected CAN Bus (#4169)
4267fa08d1 [wpilibc] ADIS IMUs: Fix memory leak (#4170)
65c8fbd452 [wpilib] MotorControllerGroup: Override setVoltage (#4403)
f36162fddc [wpimath] Improve Discretization internal docs (#4400)
5149f7d894 [wpimath] Add two-vector Rotation3d constructor (#4398)
20b5bed1cb [wpimath] Clean up Java Quaternion class (#4399)
f18dd1905d [build] Include all thirdparty sources in distribution (#4397)
aa9d7f1cdc [wpiutil] Import foonathan memory (#4306)
2742662254 [ci] Remove a couple of obsolete clang-tidy checks (#4396)
a5df391166 [hal, wpilib] Fix up DIO pulse API (#4387)
59e6706b75 [glass] Turn on docking by default
8461bb1e03 [glass] Add support for saving docking info
b873e208b4 [wpigui] Add support for imgui config flags
873e72df8c [build] Update imgui to 1.88 docking branch
c8bd6fc5b4 [ci] Fix comment-command (take 2) (#4395)
fed68b83b4 [ci] Fix comment-command action not running runners (#4393)
0ef8a4e1df [wpimath] Support formatting more Eigen types (#4391)
c393b3b367 [build] Update to native utils 2023.1.0 and Gradle 7.5.1 (#4392)
b5a17f762c [wpimath] Add direction to slew rate limiter (#4377)
fafc81ed1a [wpiutil] Upgrade to fmt 9.1.0 (#4389)
cc56bdc787 [wpiutil] SafeThread: Add Synchronization object variant (#4382)
4254438d8d [commands] Mark command group lifecycle methods as final (#4385)
97c15af238 [wpimath] LinearSystemId: Fix docs, move C++ impls out of header (#4388)
d22ff8a158 [wpiutil] Add JNI access to C++ stderr (#4381)
fdb5a2791f [wpiutil] jni_util: Add Mac-friendly MakeJLongArray/JArrayRef (#4383)
c3a93fb995 [commands] Revamp Interruptible (#4192)
f2a8d38d2a [commands] Rename Command.repeat to repeatedly (#4379)
9e24c6eac0 [wpiutil] Logger: paren-protect instance usage in macro (#4384)
fe4d12ce22 [wpimath] Add LTV controller derivations and make enums private (#4380)
eb08486039 [build] Fix MacOS binary rpath generation (#4376)
ccf83c634a [build] Use native-utils platform names instead of raw strings (#4375)
3fd69749e7 [docs] Upgrade to doxygen 1.9.4 (#4370)
594df5fc08 [wpinet] uv/util.h: Pull in ws2_32.lib on Windows for ntohs (#4371)
539070820d [ci] Enable asan for wpinet and wpiutil (#4369)
564a56d99b [wpinet] Fix memory leak in WorkerThreadTest (#4368)
5adf50d93c [upstream_utils] Refactor upstream_utils scripts (#4367)
d80e8039d7 [wpiutil] Suppress fmtlib clang-tidy warning in C++20 consteval contexts (#4364)
0e6d67b23b [upstream_utils] Remove yapf format disable comment (#4366)
be5270697a [build] Suppress enum-enum deprecation warning in OpenCV (#4365)
8d28851263 Add Rosetta install command to build requirements (#4363)
3d2115c93e [wpinet] include-what-you-use in MulticastTest (#4360)
91002ae3cc [wpimath] Upgrade to Drake 1.6.0 (#4361)
148c18e658 [wpinet] Upgrade to libuv 1.44.2 (#4362)
a2a5c926b6 Fix clang-tidy warnings (#4359)
ea6b1d8449 [wpiutil] Remove unused ManagedStatic class (#4358)
ac9be78e27 Use stricter C++ type conversions (#4357)
151dabb2af [wpiutil] Upgrade to fmt 9.0.0 (#4337)
340465c929 [ci] Upgrade to clang-format and clang-tidy 14 (NFC) (#4347)
d45bcddd15 [examples] Add comments to StateSpaceDifferentialDrive (#4341)
0e0786331a Update LLVM libraries to 14.0.6 (#4350)
c5db23f296 [wpimath] Add Eigen sparse matrix and iterative solver support (#4349)
44abc8dfa6 [upstream_utils] Remove git version from upstream patches (#4351)
3fdb2f767d [wpimath] Add comments with Ramsete equations (#4348)
0485f05da9 [wpilibjExamples] Upgrade jacoco to match allwpilib (#4346)
0a5eb65231 [wpinet] Handle empty txt block for mdns announcer (#4072)
19ffebaf3e [wpilib] Add reference to I2C Lockup to API Docs (NFC) (#4340)
ce1a90d639 [hal] Replace SerialHelper "goto done" with continue (#4342)
d25af48797 [ci] Make upstream_utils CI fail on untracked files (#4339)
ebb836dacb [examples] Fix negations in event loop examples (#4334)
d83e202f00 [upstream_utils] Update paths in update_fmt.py (#4338)
3ccf806064 [wpimath] Remove redundant LinearFilter.finiteDifference() argument (#4335)
6f1e01f8bd [wpimath] Document example of online filtering for LinearFilter.finiteDifference() (#4336)
1023c34b1c [readme] Update location of ni-libraries (#4333)
faa29d596c [wpilib] Improve Notifier docs (NFC) (#4326)
add00a96ed [wpimath] Improve DifferentialDriveAccelerationLimiter docs (NFC) (#4323)
82fac41244 [wpimath] Better document trackwidth parameters (NFC) (#4324)
5eb44e22a9 Format Python scripts with black (NFC) (#4325)
2e09fa7325 [build] Fix mpack cmake (#4322)
fe3c24b1ee [command] Add ignoringDisable decorator (#4305)
aa221597bc [build] Add M1 builds, change arm name, update to 2023 deps (#4315)
579a8ee229 [ci] Use one worker for Windows release Gradle build (#4318)
5105c5eab6 [wpilibj] Change "final" to "exit" in the IterativeRobotBase JavaDoc (NFC) (#4317)
787fe6e7a5 [wpiutil] Separate third party libraries (#4190)
6671f8d099 [wpigui] Update portable file dialogs (#4316)
9ac9b69aa2 [command] Reorder Scheduler operations (#4261)
e61028cb18 [build] halsim_gui: Add wpinet dependency (#4313)
661d23eaf5 [glass] Add precision setting for NetworkTable view (#4311)
666040e3e5 [hal] Throw exceptions for invalid sizes in I2C and SPI JNI (#4312)
aebc272449 [build] Upgrade to spotbugs Gradle plugin 5.0.8 (#4310)
fd884581e4 [wpilib] Add BooleanEvent/Trigger factories on HID classes (#4247)
9b1bf5c7f1 [wpimath] Move Drake and Eigen to thirdparty folders (#4307)
c9e620a920 [wpilibc] Change EventLoop data structure to vector (#4304)
41d40dd62f [wpinet] Fix libuv unused variable warning on Mac (#4299)
30f5b68264 [wpinet] Fix JNI loading error (#4295)
f7b3f4b90e [examples] Getting Started: Change Joystick to XboxController (#4194)
a99c11c14c [wpimath] Replace UKF implementation with square root form (#4168)
45b7fc445b [wpilib] Add EventLoop (#4104)
16a4888c52 [wpilib] Default off LiveWindow telemetry (#4301)
17752f1337 [ci] Split debug and release Windows builds (#4277)
abb45a68db [commands] Remove custom test wrappers (#4296)
1280a54ef3 [upstream_utils]: Make work with Python 3.8 (#4298)
f2d243fa68 [build] Change defaults for Java lints (#4300)
a4787130f4 Update using development build to work with 2023 gradlerio (#4294)
af7985e46c [wpiutil] Use invoke_result_t instead of result_of in future.h (#4293)
e9d1b5c2d0 [hal] Remove deprecated SimDevice functions (#4209)
45b598d236 [wpilibj] Add toString() methods to Color and Color8Bit (#4286)
fc37265da5 [wpimath] Add angle measurement convention to ArmFeedforward docs (NFC) (#4285)
a4ec13eb0e [wpilibjexamples] Remove unnecessary voltage desaturation
2fa52007af [wpilibc] Use GetBatteryVoltage() in MotorController::SetVoltage
d9f9cd1140 [wpimath] Reset prev_time on pose estimator reset (#4283)
8b6df88783 [wpilibj] Tachometer.getFrequency(): Fix bug (#4281)
345cff08c0 [wpiutil] Make wpi::array constexpr (#4278)
57428112ac [wpimath] Upgrade to Drake v1.3.0 (#4279)
a18d4ff154 [build] Fix tools not being copied when built with -Ponly* (#4276)
d1cd07b9f3 [wpigui] Add OpenURL (#4273)
e67f8e917a [glass] Use glfwSetKeyCallback for Enter key remap (#4275)
be2fedfe50 [wpimath] Add stdexcept include for std::invalid_argument (IWYU) (#4274)
7ad2be172e [build] Update native-utils to 2023.0.1 (#4272)
abc605c9c9 [ci] Update workflows to 20.04 base image (#4271)
3e94805220 [wpiutil] Reduce llvm collections patches (#4268)
db2e1d170e [upstream_utils] Document how to update thirdparty libraries (#4253)
96ebdcaf16 [wpimath] Remove unused Eigen AutoDiff module (#4267)
553b2a3b12 [upstream_utils] Fix stackwalker (#4265)
3e13ef42eb [wpilibc] Add missing std::array #include (include-what-you-use) (#4266)
d651a1fcec Fix internal deprecation warnings (#4257)
b193b318c1 [commands] Add unless() decorator (#4244)
ef3714223b [commands] Remove docs reference to obsolete interrupted() method (NFC) (#4262)
3d8dbbbac3 [readme] Add quickstart (#4225)
013efdde25 [wpinet] Wrap a number of newer libuv features (#4260)
816aa4e465 [wpilib] Add Pneumatics sim classes (#4033)
046c2c8972 [wpilibc] Rename SpeedControllerGroupTest.cpp (#4258)
d80e9cdf64 [upstream_utils] Use shallow clones for thirdparty repos (#4255)
7576136b4a [upstream_utils] Make update_llvm.py executable (#4254)
c3b223ce60 [wpiutil] Vendor llvm and update to 13.0.0 (#4224)
5aa67f56e6 [wpimath] Clean up math comments (#4252)
fff4d1f44e [wpimath] Extend Eigen warning suppression to GCC 12 (#4251)
0d9956273c [wpimath] Add CoordinateSystem.convert() translation and rotation overloads (#4227)
3fada4e0b4 [wpinet] Update to libuv 1.44.1 (#4232)
65b23ac45e [wpilibc] Fix return value of DriverStation::GetJoystickAxisType() (#4230)
4ac34c0141 [upstream_utils] Cleanup update_libuv.py (#4249)
8bd614bb1e [upstream_utils] Use "git am" instead of "git apply" for patches (#4248)
4253d6d5f0 [upstream_utils] Apply "git am" patches individually (#4250)
6a4752dcdc Fix GCC 12.1 warning false positives (#4246)
5876b40f08 [wpimath] Memoize CoordinateSystem and CoordinateAxis statics (#4241)
5983434a70 [cameraserver] Replace IterativeRobot in comment sample code with TimedRobot (#4238)
a3d44a1e69 [wpimath] Add Translation2d.getAngle() (#4217)
d364bbd5a7 [upstream_utils] Give vendor update scripts execute permissions (#4226)
f341e1b2be [wpimath] Document standard coordinate systems better (NFC) (#4228)
9af389b200 [wpinet] AddrToName: Initialize name (#4229)
2ae4adf2d7 [ci] Add wpiformat command to PRs (#4223)
178b2a1e88 Contributing.md: Correct version of clang-format used (#4222)
18db343cdc [wpiutil, wpinet] Vendor libuv, stack walker (#4219)
f0c821282a [build] Use artifactory mirror (#4220)
d673ead481 [wpinet] Move network portions of wpiutil into new wpinet library (#4077)
b33715db15 [wpimath] Add CoordinateSystem class (#4214)
99424ad562 [sim] Allow creating a PWMSim object from a PWMMotorController (#4039)
dc6f641fd2 [wpimath] PIDController: Reset position and velocity error when reset() is called. (#4064)
f20a20f3f1 [wpimath] Add 3D geometry classes (#4175)
708a4bc3bc [wpimath] Conserve previously calculated swerve module angles when updating states for stationary ChassisSpeeds (#4208)
ef7ed21a9d [wpimath] Improve accuracy of ComputerVisionUtil.calculateDistanceToTarget() (#4215)
b1abf455c1 [wpimath] LTVUnicycleController: Use LUT, provide default hyperparameters (#4213)
d5456cf278 [wpimath] LTVDifferentialDriveController: Remove unused variable (#4212)
99343d40ba [command] Remove old command-based framework (#4211)
ee03a7ad3b Remove most 2022 deprecations (#4205)
ce1a7d698a [wpimath] Refactor WheelVoltages inner class to a separate file (#4203)
87bf70fa8e [wpimath] Add LTV controllers (#4094)
ebd2a303bf [wpimath] Remove deprecated MakeMatrix() function (#4202)
e28776d361 [wpimath] LinearSystemLoop: Add extern templates for common cases
dac1429aa9 [wpimath] LQR: Use extern template instead of Impl class
e767605e94 [wpimath] Add typedefs for common types
97c493241f [wpimath] UnscentedKalmanFilter: Move implementation out-of-line
8ea90d8bc9 [wpimath] ExtendedKalmanFilter: Move implementation out-of-line
ae7b1851ec [wpimath] KalmanFilter: Use extern template instead of Impl class
e3d62c22d3 [wpimath] Add extern templates for common cases
7200c4951d [wpiutil] SymbolExports: Add WPILIB_IMPORTS for dllimport
84056c9347 [wpiutil] SymbolExports: Add EXPORT_TEMPLATE_DECLARE/DEFINE
09cf6eeecb [wpimath] ApplyDeadband: add a scale param (#3865)
03230fc842 [build,ci] Enable artifactory build cache (#4200)
63cf3aaa3f [examples] Don't square ArcadeDrive inputs in auto (#4201)
18ff694f02 [wpimath] Add Rotation2d.fromRadians factory (#4178)
4f79ceedd9 [wpilibc] Add missing #include (#4198)
f7ca72fb41 [command] Rename PerpetualCommand to EndlessCommand (#4177)
a06b3f0307 [hal] Correct documentation on updateNotifierAlarm (#4156)
d926dd1610 [wpimath] Fix pose estimator performance (#4111)
51bc893bc5 [wpiutil] CircularBuffer: Change Java package-private methods to public (#4181)
fbe761f7f6 [build] Increase Gradle JVM heap size (#4172)
5ebe911933 [wpimath] Add DifferentialDriveAccelerationLimiter (#4091)
3919250da2 [wpilibj] Remove finalizers (#4158)
b3aee28388 [commands] Allow BooleanSupplier for Trigger operations (#4103)
9d20ab3024 [wpilib] Allow disabling ElevatorSim gravity (#4145)
aaa69f6717 [ci] Remove 32-bit Windows builds (#4078)
355a11a414 Update Java linters and fix new PMD errors (#4157)
ffc69d406c [examples] Reduce suggested acceleration in Ramsete example (#4171)
922d50079a [wpimath] Units: fix comment in degreesToRotations (NFC) (#4159)
dd163b62ae [wpimath] Rotation2d: Add factory method that uses rotations (#4166)
bd80e220b9 [ci] Upgrade CMake actions (#4161)
aef4b16d4c [wpimath] Remove unnecessary NOLINT in LinearPlantInversionFeedforward (NFC) (#4155)
975171609e [wpilib] Compressor: Rename enabled to isEnabled (#4147)
5bf46a9093 [wpimath] Add ComputerVisionUtil (#4124)
f27a1f9bfb [commands] Fix JoystickButton.getAsBoolean (#4131)
1b26e2d5da [commands] Add RepeatCommand (#4009)
88222daa3d [hal] Fix misspelling in AnalogInput/Output docs (NFC) (#4153)
81c5b41ce1 [wpilibj] Document MechanismLigament2d angle unit (NFC) (#4142)
9650e6733e [wpiutil] DataLog: Document finish and thread safety (NFC) (#4140)
c8905ec29a [wpimath] Remove ImplicitModelFollower dt argument (#4119)
b4620f01f9 [wpimath] Fix Rotation2d interpolation in Java (#4125)
2e462a19d3 [wpimath] Constexprify units unary operators (#4138)
069f932e59 [build] Fix gl3w cmake build (#4139)
126e3de91a [wpilibc] Remove unused SetPriority() call from Ultrasonic (#4123)
ba0dccaae4 [wpimath] Fix reference to Rotation2d.fromRadians() (#4118)
e1b6e5f212 [wpilib] Improve MotorSafety documentation (NFC) (#4120)
8d79dc8738 [wpimath] Add ImplicitModelFollower (#4056)
78108c2aba [wpimath] Fix PIDController having incorrect error after calling SetSetpoint() (#4070)
cdafc723fb [examples] Remove unused LinearPlantInversionFeedforward includes (#4069)
0d70884dce [wpimath] Add InterpolatedTreeMap (#4073)
765efa325e [wpimath] Remove redundant column index from vectors (#4116)
89ffcbbe41 [wpimath] Update TrapezoidProfile class name in comment (NFC) (#4107)
95ae23b0e7 [wpimath] Improve EKF numerical stability (#4093)
d5cb6fed67 [wpimath] Support zero cost entries in MakeCostMatrix() (#4100)
d0fef18378 [wpimath] Remove redundant `this.` from ExtendedKalmanFilter.java (#4115)
d640c0f41f [wpimath] Fix pose estimator local measurement standard deviation docs (NFC) (#4113)
a2fa5e3ff7 [wpilibc] BatterySim: Provide non-initializer list versions of Calculate (#4076)
a3eea9958e [hal] Add link to FRC CAN Spec (NFC) (#4086)
db27331d7b [wpilib] Update DifferentialDrive docs (NFC) (#4085)
fdfb31f164 [dlt] Export boolean[] values (#4082)
f93c3331b3 [wpigui] disable changing directory when initializing on MacOS (#4092)
ab7ac4fbb9 [build] Fix various warnings in cmake builds (#4081)
bc39a1a293 [wpilibc] Fix moved pneumatics objects not destructing properly (#4068)
2668130e70 [wpimath] Remove SwerveDrivePoseEstimator encoder reset warning (#4066)
d27ed3722b [ci] Set actions workflow concurrency (#4060)
dae18308c9 [wpimath] Minor fixes to Rotation2d docs (NFC) (#4055)
d66555e42f [datalogtool] Add datalogtool
9f52d8a3b1 [wpilib] DriverStation: Add DataLog support for modes and joystick data
757ea91932 [wpilib] Add DataLogManager
02a804f1c5 [ntcore] Add DataLog support
9b500df0d9 [wpiutil] Add high speed data logging
5a89575b3a [wpiutil] Import customized LLVM MemoryBuffer
b8c4d7527b [wpiutil] Add MappedFileRegion
ac5d46cfa7 [wpilibc] Fix ProfiledPID SetTolerance default velocity value (#4054)
bc9e96e86f [wpilib] Absolute Encoder API and behavior fixes (#4052)
f88c435dd0 [hal] Add mechanism to cancel all periodic callbacks (#4049)
Change-Id: I49aa5b08abbefc7a045e99e19d48ce2cd8fc4d1b
git-subtree-dir: third_party/allwpilib
git-subtree-split: 83f1860047c86aa3330fcb41caf3b2047e074804
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>
diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt
index 912d7b0..7a54c48 100644
--- a/simulation/CMakeLists.txt
+++ b/simulation/CMakeLists.txt
@@ -1,9 +1,6 @@
if (WITH_GUI)
add_subdirectory(halsim_gui)
endif()
-#add_subdirectory(gz_msgs)
-#add_subdirectory(frc_gazebo_plugins)
-#add_subdirectory(halsim_gazebo)
add_subdirectory(halsim_ds_socket)
add_subdirectory(halsim_ws_core)
add_subdirectory(halsim_ws_client)
diff --git a/simulation/frc_gazebo_plugins/README.md b/simulation/frc_gazebo_plugins/README.md
deleted file mode 100644
index b89bbc5..0000000
--- a/simulation/frc_gazebo_plugins/README.md
+++ /dev/null
@@ -1,45 +0,0 @@
-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 -PforceGazebo`
-
-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
deleted file mode 100644
index f42b70b..0000000
--- a/simulation/frc_gazebo_plugins/build.gradle
+++ /dev/null
@@ -1,113 +0,0 @@
-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.skiplinuxathena = true
-ext.skiplinuxraspbian = 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 (project.hasProperty("forceGazebo")) {
- if (!gazebo_version?.trim()) {
- println "Gazebo development files are not available. (pkg-config --modversion gazebo failed)"
- println "forceGazebo 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
deleted file mode 100644
index a2ebdd2..0000000
--- a/simulation/frc_gazebo_plugins/frc_gazebo_plugins.doxy
+++ /dev/null
@@ -1,2303 +0,0 @@
-# Doxyfile 1.8.6
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-
-# 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.
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-# The XML_OUTPUT tag is used to specify where the XML pages will be put. If a
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-
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-
-# The XML_SCHEMA tag can be used to specify a XML schema, which can be used by a
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-
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-
-# The XML_DTD tag can be used to specify a XML DTD, which can be used by a
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-
-#---------------------------------------------------------------------------
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-
-#---------------------------------------------------------------------------
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-# section "Linking to external documentation" for more information about the use
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-# 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.
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-TAGFILES =
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-# 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
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-# The PERL_PATH should be the absolute path and name of the perl script
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-#---------------------------------------------------------------------------
-# 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.
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-CLASS_DIAGRAMS = YES
-
-# You can define message sequence charts within doxygen comments using the \msc
-# command. Doxygen will then run the mscgen tool (see:
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-# You can include diagrams made with dia in doxygen documentation. Doxygen will
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-# DIA_PATH tag allows you to specify the directory where the dia binary resides.
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-DIA_PATH =
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-# 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.
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-# If you set the HAVE_DOT tag to YES then doxygen will assume the dot tool is
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-# Bell Labs. The other options in this section have no effect if this option is
-# set to NO
-# The default value is: NO.
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-HAVE_DOT = NO
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-# 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
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-# 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
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-# This tag requires that the tag HAVE_DOT is set to YES.
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-# The DOT_FONTSIZE tag can be used to set the size (in points) of the font of
-# dot graphs.
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-# By default doxygen will tell dot to use the default font as specified with
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-# This tag requires that the tag HAVE_DOT is set to YES.
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-# each documented class showing the direct and indirect inheritance relations.
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-# This tag requires that the tag HAVE_DOT is set to YES.
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-# 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
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-# The default value is: YES.
-# This tag requires that the tag HAVE_DOT is set to YES.
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-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.
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-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.
-
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-
-# 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.
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-# This tag requires that the tag HAVE_DOT is set to YES.
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-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.
-
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-
-# 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.
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-
-# 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.
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-
-# 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.
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-
-# If the GRAPHICAL_HIERARCHY tag is set to YES then doxygen will graphical
-# hierarchy of all classes instead of a textual one.
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-# 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.
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-# This tag requires that the tag HAVE_DOT is set to YES.
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-
-# 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
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-# requirement).
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-# command).
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-# contain msc files that are included in the documentation (see the \mscfile
-# command).
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-# This tag requires that the tag HAVE_DOT is set to YES.
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diff --git a/simulation/frc_gazebo_plugins/scripts/frcgazebo b/simulation/frc_gazebo_plugins/scripts/frcgazebo
deleted file mode 100644
index d0e9a75..0000000
--- a/simulation/frc_gazebo_plugins/scripts/frcgazebo
+++ /dev/null
@@ -1,63 +0,0 @@
-#!/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
deleted file mode 100644
index d588708..0000000
--- a/simulation/frc_gazebo_plugins/src/clock/cpp/clock.cpp
+++ /dev/null
@@ -1,41 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 3ff7d12..0000000
--- a/simulation/frc_gazebo_plugins/src/clock/headers/clock.h
+++ /dev/null
@@ -1,55 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 84bde78..0000000
--- a/simulation/frc_gazebo_plugins/src/clockTest/cpp/ClockTest.cpp
+++ /dev/null
@@ -1,78 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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(ClockTest, 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
deleted file mode 100644
index e6f7cfd..0000000
--- a/simulation/frc_gazebo_plugins/src/clockTest/world/clockTest.world
+++ /dev/null
@@ -1,17 +0,0 @@
-<?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
deleted file mode 100644
index 7951dfc..0000000
--- a/simulation/frc_gazebo_plugins/src/dc_motor/cpp/dc_motor.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 44440ac..0000000
--- a/simulation/frc_gazebo_plugins/src/dc_motor/headers/dc_motor.h
+++ /dev/null
@@ -1,70 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 01679e9..0000000
--- a/simulation/frc_gazebo_plugins/src/drive_motor/cpp/drive_motor.cpp
+++ /dev/null
@@ -1,134 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 8516961..0000000
--- a/simulation/frc_gazebo_plugins/src/drive_motor/headers/drive_motor.h
+++ /dev/null
@@ -1,123 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index c204701..0000000
--- a/simulation/frc_gazebo_plugins/src/encoder/cpp/encoder.cpp
+++ /dev/null
@@ -1,99 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 72f3542..0000000
--- a/simulation/frc_gazebo_plugins/src/encoder/headers/encoder.h
+++ /dev/null
@@ -1,109 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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 multiply 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
deleted file mode 100644
index b30d9b7..0000000
--- a/simulation/frc_gazebo_plugins/src/gyro/cpp/gyro.cpp
+++ /dev/null
@@ -1,111 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index adc332b..0000000
--- a/simulation/frc_gazebo_plugins/src/gyro/headers/gyro.h
+++ /dev/null
@@ -1,95 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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.
-enum ROTATION { Roll /*X*/, Pitch /*Y*/, Yaw /*Z*/ };
-
-/**
- * \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
deleted file mode 100644
index b15ab71..0000000
--- a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/external_limit_switch.cpp
+++ /dev/null
@@ -1,19 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index f01ceb6..0000000
--- a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/internal_limit_switch.cpp
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index c380bae..0000000
--- a/simulation/frc_gazebo_plugins/src/limit_switch/cpp/limit_switch.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 8a39f61..0000000
--- a/simulation/frc_gazebo_plugins/src/limit_switch/headers/external_limit_switch.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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.
- bool Get() override;
-
- 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
deleted file mode 100644
index 11159c7..0000000
--- a/simulation/frc_gazebo_plugins/src/limit_switch/headers/internal_limit_switch.h
+++ /dev/null
@@ -1,27 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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.
- bool Get() override;
-
- 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
deleted file mode 100644
index 089cfa1..0000000
--- a/simulation/frc_gazebo_plugins/src/limit_switch/headers/limit_switch.h
+++ /dev/null
@@ -1,96 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index cc7018e..0000000
--- a/simulation/frc_gazebo_plugins/src/limit_switch/headers/switch.h
+++ /dev/null
@@ -1,13 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index a1f8d8d..0000000
--- a/simulation/frc_gazebo_plugins/src/pneumatic_piston/cpp/pneumatic_piston.cpp
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index bcc02b4..0000000
--- a/simulation/frc_gazebo_plugins/src/pneumatic_piston/headers/pneumatic_piston.h
+++ /dev/null
@@ -1,99 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 9691a4d..0000000
--- a/simulation/frc_gazebo_plugins/src/potentiometer/cpp/potentiometer.cpp
+++ /dev/null
@@ -1,66 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 5fe6d66..0000000
--- a/simulation/frc_gazebo_plugins/src/potentiometer/headers/potentiometer.h
+++ /dev/null
@@ -1,70 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index be8bbe6..0000000
--- a/simulation/frc_gazebo_plugins/src/rangefinder/cpp/rangefinder.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 6fee59b..0000000
--- a/simulation/frc_gazebo_plugins/src/rangefinder/headers/rangefinder.h
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index e090d0c..0000000
--- a/simulation/frc_gazebo_plugins/src/servo/cpp/servo.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index d934385..0000000
--- a/simulation/frc_gazebo_plugins/src/servo/headers/servo.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 6850be7..0000000
--- a/simulation/gz_msgs/README.md
+++ /dev/null
@@ -1,12 +0,0 @@
-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 -PforceGazebo 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
deleted file mode 100644
index 31f3df4..0000000
--- a/simulation/gz_msgs/build.gradle
+++ /dev/null
@@ -1,99 +0,0 @@
-plugins {
- id 'cpp'
- id 'java'
- id 'com.google.protobuf' version '0.8.17'
- 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.skiplinuxathena = true
-ext.skiplinuxraspbian = 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 [${protobuf_version}]"
-} catch(Exception ex) {
-}
-
-ext.skip_gz_msgs = false
-
-if (project.hasProperty("forceGazebo")) {
- if (!protobuf_version?.trim()) {
- println "Protobuf is not available. (pkg-config --modversion protobuf failed)"
- println "forceGazebo set. Forcing build - failure likely."
- }
-} else {
- ext.skip_gz_msgs = true
- println "Skipping gz msgs."
-}
-
-tasks.whenTaskAdded { task ->
- task.onlyIf { !project.hasProperty('skip_gz_msgs') }
-}
-
-if (!ext.skip_gz_msgs) {
- dependencies {
- implementation "com.google.protobuf:protobuf-java:${protobuf_version}"
- implementation "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"
-
- // Disable -Wzero-length-array on Clang
- if (it.targetPlatform.operatingSystem.isMacOsX()) {
- it.cppCompiler.args.add('-Wno-error=zero-length-array')
- }
- }
- }
- }
- }
-}
diff --git a/simulation/gz_msgs/src/include/simulation/gz_msgs/msgs.h b/simulation/gz_msgs/src/include/simulation/gz_msgs/msgs.h
deleted file mode 100644
index e953ad5..0000000
--- a/simulation/gz_msgs/src/include/simulation/gz_msgs/msgs.h
+++ /dev/null
@@ -1,47 +0,0 @@
-/* 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
deleted file mode 100644
index 90ab7fa..0000000
--- a/simulation/gz_msgs/src/main/proto/bool.proto
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index 187e056..0000000
--- a/simulation/gz_msgs/src/main/proto/driver-station.proto
+++ /dev/null
@@ -1,21 +0,0 @@
-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
deleted file mode 100644
index dd3ddcc..0000000
--- a/simulation/gz_msgs/src/main/proto/float64.proto
+++ /dev/null
@@ -1,15 +0,0 @@
-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
deleted file mode 100644
index ec98aba..0000000
--- a/simulation/gz_msgs/src/main/proto/frc_joystick.proto
+++ /dev/null
@@ -1,16 +0,0 @@
-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_ds_socket/CMakeLists.txt b/simulation/halsim_ds_socket/CMakeLists.txt
index bc9adb1..6d770d9 100644
--- a/simulation/halsim_ds_socket/CMakeLists.txt
+++ b/simulation/halsim_ds_socket/CMakeLists.txt
@@ -7,7 +7,7 @@
add_library(halsim_ds_socket SHARED ${halsim_ds_socket_src})
wpilib_target_warnings(halsim_ds_socket)
set_target_properties(halsim_ds_socket PROPERTIES DEBUG_POSTFIX "d")
-target_link_libraries(halsim_ds_socket PUBLIC hal)
+target_link_libraries(halsim_ds_socket PUBLIC hal wpinet)
target_include_directories(halsim_ds_socket PRIVATE src/main/native/include)
diff --git a/simulation/halsim_ds_socket/build.gradle b/simulation/halsim_ds_socket/build.gradle
index 63c5576..0e90938 100644
--- a/simulation/halsim_ds_socket/build.gradle
+++ b/simulation/halsim_ds_socket/build.gradle
@@ -21,7 +21,7 @@
model {
testSuites {
def comps = $.components
- if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+ if (!project.hasProperty('onlylinuxathena')) {
"${pluginName}Test"(GoogleTestTestSuiteSpec) {
for(NativeComponentSpec c : comps) {
if (c.name == pluginName) {
@@ -44,8 +44,13 @@
}
}
binaries {
+ all {
+ lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
+ lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
+ }
withType(GoogleTestTestSuiteBinarySpec) {
project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
lib library: pluginName, linkage: 'shared'
if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
index 653565c..004752c 100644
--- a/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/DSCommPacket.cpp
@@ -7,12 +7,12 @@
#include <algorithm>
#include <chrono>
#include <cstring>
+#include <span>
#include <thread>
#include <vector>
#include <hal/simulation/DriverStationData.h>
#include <hal/simulation/MockHooks.h>
-#include <wpi/span.h>
using namespace halsim;
@@ -45,7 +45,7 @@
m_alliance_station = static_cast<HAL_AllianceStationID>(station_code);
}
-void DSCommPacket::ReadMatchtimeTag(wpi::span<const uint8_t> tagData) {
+void DSCommPacket::ReadMatchtimeTag(std::span<const uint8_t> tagData) {
if (tagData.size() < 6) {
return;
}
@@ -63,7 +63,7 @@
m_match_time = matchTime;
}
-void DSCommPacket::ReadJoystickTag(wpi::span<const uint8_t> dataInput,
+void DSCommPacket::ReadJoystickTag(std::span<const uint8_t> dataInput,
int index) {
DSCommJoystickPacket& stick = m_joystick_packets[index];
stick.ResetUdp();
@@ -112,7 +112,7 @@
/*----------------------------------------------------------------------------
** Communication methods
**--------------------------------------------------------------------------*/
-void DSCommPacket::DecodeTCP(wpi::span<const uint8_t> packet) {
+void DSCommPacket::DecodeTCP(std::span<const uint8_t> packet) {
// No header
while (!packet.empty()) {
int tagLength = packet[0] << 8 | packet[1];
@@ -137,7 +137,7 @@
}
}
-void DSCommPacket::DecodeUDP(wpi::span<const uint8_t> packet) {
+void DSCommPacket::DecodeUDP(std::span<const uint8_t> packet) {
if (packet.size() < 6) {
return;
}
@@ -176,7 +176,7 @@
}
}
-void DSCommPacket::ReadNewMatchInfoTag(wpi::span<const uint8_t> data) {
+void DSCommPacket::ReadNewMatchInfoTag(std::span<const uint8_t> data) {
// Size 2 bytes, tag 1 byte
if (data.size() <= 3) {
return;
@@ -204,7 +204,7 @@
HALSIM_SetMatchInfo(&matchInfo);
}
-void DSCommPacket::ReadGameSpecificMessageTag(wpi::span<const uint8_t> data) {
+void DSCommPacket::ReadGameSpecificMessageTag(std::span<const uint8_t> data) {
// Size 2 bytes, tag 1 byte
if (data.size() <= 3) {
return;
@@ -220,7 +220,7 @@
HALSIM_SetMatchInfo(&matchInfo);
}
-void DSCommPacket::ReadJoystickDescriptionTag(wpi::span<const uint8_t> data) {
+void DSCommPacket::ReadJoystickDescriptionTag(std::span<const uint8_t> data) {
if (data.size() < 3) {
return;
}
diff --git a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
index 799cdd9..af84632 100644
--- a/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
+++ b/simulation/halsim_ds_socket/src/main/native/cpp/main.cpp
@@ -21,12 +21,12 @@
#include <DSCommPacket.h>
#include <fmt/format.h>
#include <hal/Extensions.h>
-#include <wpi/EventLoopRunner.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>
+#include <wpinet/EventLoopRunner.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/Tcp.h>
+#include <wpinet/uv/Timer.h>
+#include <wpinet/uv/Udp.h>
+#include <wpinet/uv/util.h>
#if defined(Win32) || defined(_WIN32)
#pragma comment(lib, "Ws2_32.lib")
diff --git a/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h b/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
index 5b8b45d..bfc42c3 100644
--- a/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
+++ b/simulation/halsim_ds_socket/src/main/native/include/DSCommPacket.h
@@ -5,11 +5,11 @@
#pragma once
#include <array>
+#include <span>
#include <DSCommJoystickPacket.h>
#include <hal/simulation/DriverStationData.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/span.h>
+#include <wpinet/raw_uv_ostream.h>
class DSCommPacketTest;
@@ -20,8 +20,8 @@
public:
DSCommPacket(void);
- void DecodeTCP(wpi::span<const uint8_t> packet);
- void DecodeUDP(wpi::span<const uint8_t> packet);
+ void DecodeTCP(std::span<const uint8_t> packet);
+ void DecodeUDP(std::span<const uint8_t> packet);
void SendUDPToHALSim(void);
void SetupSendBuffer(wpi::raw_uv_ostream& buf);
@@ -53,11 +53,11 @@
void SetAlliance(uint8_t station_code);
void SetupSendHeader(wpi::raw_uv_ostream& buf);
void SetupJoystickTag(wpi::raw_uv_ostream& buf);
- void ReadMatchtimeTag(wpi::span<const uint8_t> tagData);
- void ReadJoystickTag(wpi::span<const uint8_t> data, int index);
- void ReadNewMatchInfoTag(wpi::span<const uint8_t> data);
- void ReadGameSpecificMessageTag(wpi::span<const uint8_t> data);
- void ReadJoystickDescriptionTag(wpi::span<const uint8_t> data);
+ void ReadMatchtimeTag(std::span<const uint8_t> tagData);
+ void ReadJoystickTag(std::span<const uint8_t> data, int index);
+ void ReadNewMatchInfoTag(std::span<const uint8_t> data);
+ void ReadGameSpecificMessageTag(std::span<const uint8_t> data);
+ void ReadJoystickDescriptionTag(std::span<const uint8_t> data);
uint8_t m_hi;
uint8_t m_lo;
diff --git a/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp b/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
index 84df27c..d1a892a 100644
--- a/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
+++ b/simulation/halsim_ds_socket/src/test/native/cpp/DSCommPacketTest.cpp
@@ -11,24 +11,24 @@
void SendJoysticks() { commPacket.SendJoysticks(); }
- halsim::DSCommJoystickPacket& ReadJoystickTag(wpi::span<const uint8_t> data,
+ halsim::DSCommJoystickPacket& ReadJoystickTag(std::span<const uint8_t> data,
int index) {
commPacket.ReadJoystickTag(data, index);
return commPacket.m_joystick_packets[index];
}
halsim::DSCommJoystickPacket& ReadDescriptorTag(
- wpi::span<const uint8_t> data) {
+ std::span<const uint8_t> data) {
commPacket.ReadJoystickDescriptionTag(data);
return commPacket.m_joystick_packets[data[3]];
}
- HAL_MatchInfo& ReadNewMatchInfoTag(wpi::span<const uint8_t> data) {
+ HAL_MatchInfo& ReadNewMatchInfoTag(std::span<const uint8_t> data) {
commPacket.ReadNewMatchInfoTag(data);
return commPacket.matchInfo;
}
- HAL_MatchInfo& ReadGameSpecificTag(wpi::span<const uint8_t> data) {
+ HAL_MatchInfo& ReadGameSpecificTag(std::span<const uint8_t> data) {
commPacket.ReadGameSpecificMessageTag(data);
return commPacket.matchInfo;
}
diff --git a/simulation/halsim_gazebo/build.gradle b/simulation/halsim_gazebo/build.gradle
deleted file mode 100644
index 8d340d3..0000000
--- a/simulation/halsim_gazebo/build.gradle
+++ /dev/null
@@ -1,55 +0,0 @@
-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.skiplinuxathena = true
-ext.skiplinuxraspbian = 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 [${gazebo_version}]"
- gazebo_cppflags = "pkg-config --cflags gazebo".execute().text.split()
- gazebo_linker_args = "pkg-config --libs gazebo protobuf".execute().text.split()
-} catch(Exception ex) { }
-
-if (project.hasProperty("forceGazebo")) {
- if (!gazebo_version?.trim()) {
- println "Gazebo development files are not available. (pkg-config --modversion gazebo failed)"
- println "forceGazebo set. Forcing build - failure likely."
- }
-} else {
- ext.skip_frc_plugins = true
- println "Skipping FRC Plugins."
-}
-
-evaluationDependsOn(":simulation:gz_msgs")
-def gz_msgs_project = project(":simulation:gz_msgs")
-
-if (!gz_msgs_project.hasProperty('skip_gz_msgs') && !project.hasProperty('skip_frc_plugins')) {
-
- apply from: "${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"
- lib project: ":wpiutil", library: "wpiutil", 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
deleted file mode 100644
index d9ce9a9..0000000
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboAnalogIn.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "GazeboAnalogIn.h"
-
-#include <fmt/format.h>
-#include <hal/Power.h>
-#include <hal/Value.h>
-#include <hal/simulation/AnalogInData.h>
-#include <hal/simulation/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>(
- fmt::format("~/simulator/analog/{}", 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 = 0;
- 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
deleted file mode 100644
index 85d4ea6..0000000
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboDIO.cpp
+++ /dev/null
@@ -1,36 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "GazeboDIO.h"
-
-#include <fmt/format.h>
-#include <hal/Value.h>
-#include <hal/simulation/DIOData.h>
-#include <hal/simulation/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>(
- fmt::format("~/simulator/dio/{}", 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
deleted file mode 100644
index 519bf2b..0000000
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboEncoder.cpp
+++ /dev/null
@@ -1,73 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "GazeboEncoder.h"
-
-#include <fmt/format.h>
-#include <hal/Value.h>
-#include <hal/simulation/EncoderData.h>
-#include <hal/simulation/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>(
- fmt::format("~/simulator/encoder/dio/{}/control",
- HALSIM_GetEncoderDigitalChannelA(m_index)));
- 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>(
- fmt::format("~/simulator/encoder/dio/{}/position",
- HALSIM_GetEncoderDigitalChannelA(m_index)),
- &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
deleted file mode 100644
index 1c847ca..0000000
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboNode.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 2549061..0000000
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPCM.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "GazeboPCM.h"
-
-#include <fmt/format.h>
-#include <hal/Value.h>
-#include <hal/simulation/CTREPCMData.h>
-#include <hal/simulation/NotifyListener.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_RegisterCTREPCMInitializedCallback(index, init_callback, this, true);
- HALSIM_RegisterCTREPCMSolenoidOutputCallback(index, channel, output_callback,
- this, true);
-}
-
-void GazeboPCM::Publish(bool value) {
- if (!m_pub) {
- m_pub = m_halsim->node.Advertise<gazebo::msgs::Bool>(
- fmt::format("~/simulator/pneumatic/{}/{}", m_index + 1, 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_SetCTREPCMPressureSwitch(index, value);
-}
diff --git a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp b/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
deleted file mode 100644
index 0780f07..0000000
--- a/simulation/halsim_gazebo/src/main/native/cpp/GazeboPWM.cpp
+++ /dev/null
@@ -1,44 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include "GazeboPWM.h"
-
-#include <fmt/format.h>
-#include <hal/Value.h>
-#include <hal/simulation/NotifyListener.h>
-#include <hal/simulation/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>(
- fmt::format("~/simulator/pwm/{}", 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
deleted file mode 100644
index a3d0576..0000000
--- a/simulation/halsim_gazebo/src/main/native/cpp/main.cpp
+++ /dev/null
@@ -1,50 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this project.
-
-#include <fmt/core.h>
-#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) {
- fmt::print("Gazebo Simulator Initializing.\n");
-
- if (!halsim.node.Connect()) {
- fmt::print(stderr,
- "Error: unable to connect to Gazebo. Is it running?.\n");
- return -1;
- }
- fmt::print("Gazebo Simulator Connected.\n");
-
- 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
deleted file mode 100644
index c54db0d..0000000
--- a/simulation/halsim_gazebo/src/main/native/include/GazeboAnalogIn.h
+++ /dev/null
@@ -1,23 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 25ef0ad..0000000
--- a/simulation/halsim_gazebo/src/main/native/include/GazeboDIO.h
+++ /dev/null
@@ -1,23 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index b25a688..0000000
--- a/simulation/halsim_gazebo/src/main/native/include/GazeboEncoder.h
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index 75acc55..0000000
--- a/simulation/halsim_gazebo/src/main/native/include/GazeboNode.h
+++ /dev/null
@@ -1,40 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index f964f3f..0000000
--- a/simulation/halsim_gazebo/src/main/native/include/GazeboPCM.h
+++ /dev/null
@@ -1,26 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index f4b131f..0000000
--- a/simulation/halsim_gazebo/src/main/native/include/GazeboPWM.h
+++ /dev/null
@@ -1,21 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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
deleted file mode 100644
index c1e454a..0000000
--- a/simulation/halsim_gazebo/src/main/native/include/HALSimGazebo.h
+++ /dev/null
@@ -1,29 +0,0 @@
-// Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of
-// the WPILib BSD license file in the root directory of this 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_gui/build.gradle b/simulation/halsim_gui/build.gradle
index 7c26ac8..a8608e3 100644
--- a/simulation/halsim_gui/build.gradle
+++ b/simulation/halsim_gui/build.gradle
@@ -1,4 +1,4 @@
-if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+if (!project.hasProperty('onlylinuxathena')) {
description = "A plugin that creates a simulation gui"
@@ -18,6 +18,9 @@
apply from: "${rootDir}/shared/plugins/setupBuild.gradle"
+
+ apply from: "${rootDir}/shared/imgui.gradle"
+
model {
binaries {
all {
@@ -25,10 +28,11 @@
lib project: ':glass', library: 'glass', linkage: 'static'
lib project: ':wpigui', library: 'wpigui', linkage: 'static'
lib project: ':wpimath', library: 'wpimath', linkage: 'shared'
- lib project: ':ntcore', library: 'ntcore', linkage: 'shared'
+ project(':ntcore').addNtcoreDependency(it, 'shared')
+ lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
- nativeUtils.useRequiredLibrary(it, 'imgui_static')
- if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio || it.targetPlatform.name == nativeUtils.wpi.platforms.raspbian || it.targetPlatform.name == nativeUtils.wpi.platforms.aarch64bionic) {
+ nativeUtils.useRequiredLibrary(it, 'imgui')
+ if (it.targetPlatform.name == nativeUtils.wpi.platforms.roborio) {
it.buildable = false
return
}
@@ -38,6 +42,9 @@
it.linker.args << '-framework' << 'Metal' << '-framework' << 'MetalKit' << '-framework' << 'Cocoa' << '-framework' << 'IOKit' << '-framework' << 'CoreFoundation' << '-framework' << 'CoreVideo' << '-framework' << 'QuartzCore'
} else {
it.linker.args << '-lX11'
+ if (it.targetPlatform.name.startsWith('linuxarm')) {
+ it.linker.args << '-lGL'
+ }
}
}
}
diff --git a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
index d6409cd..2528185 100644
--- a/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/AddressableLEDGui.cpp
@@ -26,7 +26,7 @@
bool IsRunning() override { return HALSIM_GetAddressableLEDRunning(m_index); }
- wpi::span<const Data> GetData(wpi::SmallVectorImpl<Data>&) override {
+ std::span<const Data> GetData(wpi::SmallVectorImpl<Data>&) override {
size_t length = HALSIM_GetAddressableLEDData(m_index, m_data);
return {reinterpret_cast<Data*>(m_data), length};
}
diff --git a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
index 866b14a..e7271fd 100644
--- a/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/DriverStationGui.cpp
@@ -254,8 +254,8 @@
void SetAutonomous(bool val) override {
HALSIM_SetDriverStationAutonomous(val);
}
- void SetGameSpecificMessage(const char* val) override {
- HALSIM_SetGameSpecificMessage(val);
+ void SetGameSpecificMessage(std::string_view val) override {
+ HALSIM_SetGameSpecificMessage(val.data(), val.size());
}
void Update() override;
diff --git a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
index 325673a..30f1232 100644
--- a/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
+++ b/simulation/halsim_gui/src/main/native/cpp/NetworkTablesSimGui.cpp
@@ -16,10 +16,12 @@
static std::unique_ptr<glass::NetworkTablesModel> gNetworkTablesModel;
static std::unique_ptr<glass::Window> gNetworkTablesWindow;
+static std::unique_ptr<glass::Window> gNetworkTablesInfoWindow;
void NetworkTablesSimGui::Initialize() {
gNetworkTablesModel = std::make_unique<glass::NetworkTablesModel>();
wpi::gui::AddEarlyExecute([] { gNetworkTablesModel->Update(); });
+
gNetworkTablesWindow = std::make_unique<glass::Window>(
glass::GetStorageRoot().GetChild("NetworkTables View"), "NetworkTables");
gNetworkTablesWindow->SetView(
@@ -29,9 +31,22 @@
gNetworkTablesWindow->DisableRenamePopup();
wpi::gui::AddLateExecute([] { gNetworkTablesWindow->Display(); });
+ // NetworkTables info window
+ gNetworkTablesInfoWindow = std::make_unique<glass::Window>(
+ glass::GetStorageRoot().GetChild("NetworkTables Info"),
+ "NetworkTables Info");
+ gNetworkTablesInfoWindow->SetView(glass::MakeFunctionView(
+ [&] { glass::DisplayNetworkTablesInfo(gNetworkTablesModel.get()); }));
+ gNetworkTablesInfoWindow->SetDefaultPos(250, 130);
+ gNetworkTablesInfoWindow->SetDefaultSize(750, 145);
+ gNetworkTablesInfoWindow->SetDefaultVisibility(glass::Window::kHide);
+ gNetworkTablesInfoWindow->DisableRenamePopup();
+ wpi::gui::AddLateExecute([] { gNetworkTablesInfoWindow->Display(); });
+
wpi::gui::AddWindowScaler([](float scale) {
// scale default window positions
gNetworkTablesWindow->ScaleDefault(scale);
+ gNetworkTablesInfoWindow->ScaleDefault(scale);
});
}
@@ -39,4 +54,7 @@
if (gNetworkTablesWindow) {
gNetworkTablesWindow->DisplayMenuItem("NetworkTables View");
}
+ if (gNetworkTablesInfoWindow) {
+ gNetworkTablesInfoWindow->DisplayMenuItem("NetworkTables Info");
+ }
}
diff --git a/simulation/halsim_ws_client/build.gradle b/simulation/halsim_ws_client/build.gradle
index 7d32586..1fe4d29 100644
--- a/simulation/halsim_ws_client/build.gradle
+++ b/simulation/halsim_ws_client/build.gradle
@@ -27,6 +27,7 @@
return
}
+ lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ":simulation:halsim_ws_core", library: "halsim_ws_core", linkage: "static"
}
}
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
index 9c23885..f4c5926 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWS.cpp
@@ -8,7 +8,7 @@
#include <fmt/format.h>
#include <wpi/SmallString.h>
-#include <wpi/uv/util.h>
+#include <wpinet/uv/util.h>
#include "HALSimWSClientConnection.h"
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
index dfa54d2..1df7ebc 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClient.cpp
@@ -19,7 +19,7 @@
#include <WSProvider_SimDevice.h>
#include <WSProvider_Solenoid.h>
#include <WSProvider_dPWM.h>
-#include <wpi/EventLoopRunner.h>
+#include <wpinet/EventLoopRunner.h>
using namespace wpilibws;
diff --git a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
index 22dadb1..10ea8af 100644
--- a/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
+++ b/simulation/halsim_ws_client/src/main/native/cpp/HALSimWSClientConnection.cpp
@@ -7,7 +7,7 @@
#include <cstdio>
#include <fmt/format.h>
-#include <wpi/raw_uv_ostream.h>
+#include <wpinet/raw_uv_ostream.h>
#include "HALSimWS.h"
diff --git a/simulation/halsim_ws_client/src/main/native/include/HALSimWS.h b/simulation/halsim_ws_client/src/main/native/include/HALSimWS.h
index 9563482..5bec17c 100644
--- a/simulation/halsim_ws_client/src/main/native/include/HALSimWS.h
+++ b/simulation/halsim_ws_client/src/main/native/include/HALSimWS.h
@@ -10,10 +10,10 @@
#include <WSProviderContainer.h>
#include <WSProvider_SimDevice.h>
-#include <wpi/uv/Async.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Tcp.h>
-#include <wpi/uv/Timer.h>
+#include <wpinet/uv/Async.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Tcp.h>
+#include <wpinet/uv/Timer.h>
namespace wpi {
class json;
diff --git a/simulation/halsim_ws_client/src/main/native/include/HALSimWSClient.h b/simulation/halsim_ws_client/src/main/native/include/HALSimWSClient.h
index f048b40..d5cdbbb 100644
--- a/simulation/halsim_ws_client/src/main/native/include/HALSimWSClient.h
+++ b/simulation/halsim_ws_client/src/main/native/include/HALSimWSClient.h
@@ -8,7 +8,7 @@
#include <WSProviderContainer.h>
#include <WSProvider_SimDevice.h>
-#include <wpi/EventLoopRunner.h>
+#include <wpinet/EventLoopRunner.h>
#include "HALSimWS.h"
diff --git a/simulation/halsim_ws_client/src/main/native/include/HALSimWSClientConnection.h b/simulation/halsim_ws_client/src/main/native/include/HALSimWSClientConnection.h
index dddd885..b712e70 100644
--- a/simulation/halsim_ws_client/src/main/native/include/HALSimWSClientConnection.h
+++ b/simulation/halsim_ws_client/src/main/native/include/HALSimWSClientConnection.h
@@ -8,10 +8,10 @@
#include <utility>
#include <HALSimBaseWebSocketConnection.h>
-#include <wpi/WebSocket.h>
#include <wpi/mutex.h>
-#include <wpi/uv/Buffer.h>
-#include <wpi/uv/Stream.h>
+#include <wpinet/WebSocket.h>
+#include <wpinet/uv/Buffer.h>
+#include <wpinet/uv/Stream.h>
#include "HALSimWS.h"
diff --git a/simulation/halsim_ws_core/CMakeLists.txt b/simulation/halsim_ws_core/CMakeLists.txt
index 56b1766..91bcbb2 100644
--- a/simulation/halsim_ws_core/CMakeLists.txt
+++ b/simulation/halsim_ws_core/CMakeLists.txt
@@ -7,7 +7,7 @@
add_library(halsim_ws_core STATIC ${halsim_ws_core_src})
wpilib_target_warnings(halsim_ws_core)
set_target_properties(halsim_ws_core PROPERTIES DEBUG_POSTFIX "d" POSITION_INDEPENDENT_CODE ON)
-target_link_libraries(halsim_ws_core PUBLIC hal)
+target_link_libraries(halsim_ws_core PUBLIC hal wpinet)
target_include_directories(halsim_ws_core PUBLIC src/main/native/include)
diff --git a/simulation/halsim_ws_core/build.gradle b/simulation/halsim_ws_core/build.gradle
index 8e1f7ab..abdfddc 100644
--- a/simulation/halsim_ws_core/build.gradle
+++ b/simulation/halsim_ws_core/build.gradle
@@ -8,7 +8,7 @@
ext {
includeWpiutil = true
- includeNtCore = true
+ includeWpinet = true
pluginName = 'halsim_ws_core'
}
@@ -41,6 +41,7 @@
}
binaries.all {
project(':hal').addHalDependency(it, 'shared')
+ lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ':wpiutil', library: 'wpiutil', linkage: 'shared'
}
appendDebugPathToBinaries(binaries)
diff --git a/simulation/halsim_ws_core/doc/hardware_ws_api.md b/simulation/halsim_ws_core/doc/hardware_ws_api.md
index b2b40fc..057b555 100644
--- a/simulation/halsim_ws_core/doc/hardware_ws_api.md
+++ b/simulation/halsim_ws_core/doc/hardware_ws_api.md
@@ -219,7 +219,7 @@
[``"PWM"``]:#pwm-output-pwm
-PWMs may be used to control either speed controllers or servos. Typically only one of either ``"<speed"`` (for a speed controller) or ``"<position"`` (for a servo) is used for a given PWM.
+PWMs may be used to control either motor controllers or servos. Typically only one of either ``"<speed"`` (for a motor controller) or ``"<position"`` (for a servo) is used for a given PWM.
| Data Key | Type | Description |
| --------------- | ------- | ------------------------------------------ |
diff --git a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
index 6fbc3d7..7307b48 100644
--- a/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
+++ b/simulation/halsim_ws_core/src/main/native/cpp/WSProvider_DriverStation.cpp
@@ -166,8 +166,8 @@
HALSIM_SetDriverStationMatchTime(it.value());
}
if ((it = json.find(">game_data")) != json.end()) {
- HALSIM_SetGameSpecificMessage(
- it.value().get_ref<const std::string&>().c_str());
+ std::string message = it.value().get_ref<const std::string&>();
+ HALSIM_SetGameSpecificMessage(message.c_str(), message.length());
}
// Only notify usercode if we get the new data message
diff --git a/simulation/halsim_ws_core/src/main/native/include/WSProvider_SimDevice.h b/simulation/halsim_ws_core/src/main/native/include/WSProvider_SimDevice.h
index c4d4347..3a1ff5f 100644
--- a/simulation/halsim_ws_core/src/main/native/include/WSProvider_SimDevice.h
+++ b/simulation/halsim_ws_core/src/main/native/include/WSProvider_SimDevice.h
@@ -12,7 +12,7 @@
#include <hal/SimDevice.h>
#include <hal/simulation/SimDeviceData.h>
#include <wpi/StringMap.h>
-#include <wpi/uv/AsyncFunction.h>
+#include <wpinet/uv/AsyncFunction.h>
#include "WSBaseProvider.h"
#include "WSProviderContainer.h"
diff --git a/simulation/halsim_ws_server/build.gradle b/simulation/halsim_ws_server/build.gradle
index 16cb24e..fbdee04 100644
--- a/simulation/halsim_ws_server/build.gradle
+++ b/simulation/halsim_ws_server/build.gradle
@@ -21,7 +21,7 @@
model {
testSuites {
def comps = $.components
- if (!project.hasProperty('onlylinuxathena') && !project.hasProperty('onlylinuxraspbian') && !project.hasProperty('onlylinuxaarch64bionic')) {
+ if (!project.hasProperty('onlylinuxathena')) {
"${pluginName}Test"(GoogleTestTestSuiteSpec) {
for(NativeComponentSpec c : comps) {
if (c.name == pluginName) {
@@ -51,6 +51,7 @@
return
}
+ lib project: ':wpinet', library: 'wpinet', linkage: 'shared'
lib project: ":simulation:halsim_ws_core", library: "halsim_ws_core", linkage: "static"
}
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
index 3a2e3b2..77dec08 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimHttpConnection.cpp
@@ -9,14 +9,14 @@
#include <string_view>
#include <fmt/format.h>
-#include <wpi/MimeTypes.h>
#include <wpi/SmallVector.h>
#include <wpi/StringExtras.h>
-#include <wpi/UrlParser.h>
#include <wpi/fs.h>
#include <wpi/raw_istream.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/Request.h>
+#include <wpinet/MimeTypes.h>
+#include <wpinet/UrlParser.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/Request.h>
namespace uv = wpi::uv;
diff --git a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
index 43e3b08..8a6df97 100644
--- a/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
+++ b/simulation/halsim_ws_server/src/main/native/cpp/HALSimWeb.cpp
@@ -6,12 +6,12 @@
#include <fmt/format.h>
#include <wpi/SmallString.h>
-#include <wpi/UrlParser.h>
-#include <wpi/WebSocketServer.h>
#include <wpi/fs.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Tcp.h>
+#include <wpinet/UrlParser.h>
+#include <wpinet/WebSocketServer.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Tcp.h>
#include "HALSimHttpConnection.h"
diff --git a/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h b/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h
index 217e2ba..91cfb61 100644
--- a/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h
+++ b/simulation/halsim_ws_server/src/main/native/include/HALSimHttpConnection.h
@@ -10,10 +10,10 @@
#include <utility>
#include <HALSimBaseWebSocketConnection.h>
-#include <wpi/HttpWebSocketServerConnection.h>
#include <wpi/mutex.h>
-#include <wpi/uv/AsyncFunction.h>
-#include <wpi/uv/Buffer.h>
+#include <wpinet/HttpWebSocketServerConnection.h>
+#include <wpinet/uv/AsyncFunction.h>
+#include <wpinet/uv/Buffer.h>
#include "HALSimWeb.h"
diff --git a/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h b/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h
index 484bfff..842e5b2 100644
--- a/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h
+++ b/simulation/halsim_ws_server/src/main/native/include/HALSimWSServer.h
@@ -8,7 +8,7 @@
#include <WSProviderContainer.h>
#include <WSProvider_SimDevice.h>
-#include <wpi/EventLoopRunner.h>
+#include <wpinet/EventLoopRunner.h>
#include "HALSimWeb.h"
diff --git a/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h b/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h
index 83a680e..de5d1f2 100644
--- a/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h
+++ b/simulation/halsim_ws_server/src/main/native/include/HALSimWeb.h
@@ -11,9 +11,9 @@
#include <WSBaseProvider.h>
#include <WSProviderContainer.h>
#include <WSProvider_SimDevice.h>
-#include <wpi/uv/Async.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Tcp.h>
+#include <wpinet/uv/Async.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Tcp.h>
namespace wpi {
class json;
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
index f13a0c6..fff4ae9 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/WebServerClientTest.cpp
@@ -8,8 +8,8 @@
#include <fmt/format.h>
#include <wpi/SmallString.h>
-#include <wpi/raw_uv_ostream.h>
-#include <wpi/uv/util.h>
+#include <wpinet/raw_uv_ostream.h>
+#include <wpinet/uv/util.h>
static constexpr int kTcpConnectAttemptTimeout = 1000;
diff --git a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
index ef31ba1..a9f739a 100644
--- a/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
+++ b/simulation/halsim_ws_server/src/test/native/cpp/main.cpp
@@ -9,7 +9,7 @@
#include <hal/HALBase.h>
#include <hal/Main.h>
#include <hal/simulation/DIOData.h>
-#include <wpi/uv/Loop.h>
+#include <wpinet/uv/Loop.h>
#include "HALSimWSServer.h"
#include "WebServerClientTest.h"
@@ -28,7 +28,7 @@
m_server.Initialize();
// Create and initialize client
- m_server.runner.ExecSync([=](auto& loop) {
+ m_server.runner.ExecSync([=, this](auto& loop) {
m_webserverClient = std::make_shared<WebServerClientTest>(loop);
m_webserverClient->Initialize();
});
@@ -157,6 +157,8 @@
using namespace std::chrono_literals;
std::this_thread::sleep_for(1s);
+ HAL_RefreshDSData();
+
// Compare results
HAL_ControlWord cw;
HAL_GetControlWord(&cw);
diff --git a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h
index 08db565..cda61dd 100644
--- a/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h
+++ b/simulation/halsim_ws_server/src/test/native/include/WebServerClientTest.h
@@ -7,14 +7,14 @@
#include <memory>
#include <string>
-#include <wpi/WebSocket.h>
#include <wpi/json.h>
-#include <wpi/uv/AsyncFunction.h>
-#include <wpi/uv/Buffer.h>
-#include <wpi/uv/Loop.h>
-#include <wpi/uv/Stream.h>
-#include <wpi/uv/Tcp.h>
-#include <wpi/uv/Timer.h>
+#include <wpinet/WebSocket.h>
+#include <wpinet/uv/AsyncFunction.h>
+#include <wpinet/uv/Buffer.h>
+#include <wpinet/uv/Loop.h>
+#include <wpinet/uv/Stream.h>
+#include <wpinet/uv/Tcp.h>
+#include <wpinet/uv/Timer.h>
namespace wpilibws {