| commit | 1a67511767f0d422c346bbe181debaf7bd9e03a9 | [log] [tgz] |
|---|---|---|
| author | Brian Silverman <brians> | Sat Feb 20 20:42:49 2016 -0500 |
| committer | Brian Silverman <brians> | Sat Feb 20 20:45:52 2016 -0500 |
| tree | 8537f6e7f95edd3a4bbbcab43a13c1ad321e517a | |
| parent | 26e4e5289bfe3b1691be9c14bedfb70bdcd6dc56 [diff] |
Squashed 'third_party/allwpilib_2016/' changes from 7f61816..3ce6feb 3ce6feb Updated release number for the new release e054bbc This adds StopMotor() to the SpeedController interface for C++ and Java. For Java, this is as simple as just adding it, as all motors already have an implementation from MotorSafety that is correctly resolved. For C++, I had to override StopMotor in the classes that descend from SafePWM and explicitly call the SafePWM version. RobotDrive now calls StopMotor on each of its SpeedControllers, instead of calling Disable or setting the motor to 0.0 as it was doing previously. a15b9dc Merge "More updates to the Gyro test fixing potential null pointer exception" 21b7213 Added Config routine to allow enabling/disabling of limit switch and soft limits. This improves upon the ConfigLimitMode routine, which does not allow certain combinations of enable/disabled limit features. Also keeps parity with LV and Java. 1b45237 Merge "Add an additional member variable for "stopped" which indicates the CAN motor controller has been explicitly stopped, but not disabled by the user (main use case is MotorSafety tripping). When Set() is called the next time the controller will be re-enabled automatically." 1096b15 Add an additional member variable for "stopped" which indicates the CAN motor controller has been explicitly stopped, but not disabled by the user (main use case is MotorSafety tripping). When Set() is called the next time the controller will be re-enabled automatically. 7da21fa More updates to the Gyro test fixing potential null pointer exception ede5862 Rate-limit duplicate error messages to avoid flooding console. c22284d Merge "artf4818: Fix CAN Talon JNI references with underscores." cac3741 Merge "Updated PDP port of Talon and disabled PDP tests for Victor and Jaguar since the Victor and Jaguar don't draw enough current for the PDP to read above 0. PDP tests for both java and cpp only test the Talon now." 097aa8c Fixed the gyro deviation over time test 1d647b3 artf4818: Fix CAN Talon JNI references with underscores. 368cfc7 Merge "Fixed the motor tests by reducing speed to within the limits of the encoders we use. Also fixed java pid tolerances since getAvgError() was broken. It is now fixed and works properly. Added tests for both java and cpp that test if pid tolerances are working using fake input output pairs." 833e459 Updated PDP port of Talon and disabled PDP tests for Victor and Jaguar since the Victor and Jaguar don't draw enough current for the PDP to read above 0. PDP tests for both java and cpp only test the Talon now. 6c096a3 Fixed the motor tests by reducing speed to within the limits of the encoders we use. Also fixed java pid tolerances since getAvgError() was broken. It is now fixed and works properly. Added tests for both java and cpp that test if pid tolerances are working using fake input output pairs. dd7eb0f Fixed robot drive for C++ Simulation 258a622 Merge "Update version number for Release 3 Print distinctive message on robot program startup Change-Id: Ic91b81bd298ee6730503933cf0e733702e4b4405" b1386c6 Update version number for Release 3 Print distinctive message on robot program startup Change-Id: Ic91b81bd298ee6730503933cf0e733702e4b4405 a58de40 Merge "Removed publishing of java sim jar" 792d0d3 PDP Classes should support any PDP address 35df955 Merge "Remove maven local as a possible search location" a0ce9ee Another improvement to HAL-joy getting to ensure it works in future RIO image updates. 0f02c31 Removed publishing of java sim jar 8435ac7 DriverStation::GetJoystickName(): Make work for stick>0. b4cf4f4 Remove maven local as a possible search location c3000c3 Merge "Fix HALGetJoystickDescriptor()." 4dec0b4 Merge "Fixed Simulation C++ API" abc9c27 Fixed Simulation C++ API b8ae9ec Fix HALGetJoystickDescriptor(). a60f874 Artf4800: Fixes HALGetJoystick*** Segfault 010b584 Merge "fix sim_ds launch script" 4429e16 Merge "Added build dir specification for sim javadoc to not overwrite athena javadoc" ec9349b Initialized the m_sensors variable to fix artf4798. 9745af8 Added build dir specification for sim javadoc to not overwrite athena javadoc 4da8702 fix sim_ds launch script 05acf79 Fix C++ PIDController SetToleranceBuffer and OnTarget locking. 94a6b05 Merge "Fix onTarget() so that it returns false until there are any values retrieved" d06053d Fix onTarget() so that it returns false until there are any values retrieved 74927cc Correctly set smart dashboard type for AnalogGyro and ADXRS450_Gyro. 070752f Merge "Fixed sim_ds script library path" 21a8bab Merge "PIDController feed forward term can now be calculated by the end user" 56bd6da Fixed sim_ds script library path 07710f1 Merge "Fixing install script... again" e1cb61f Use absolute path for NT persistent storage. 09c7482 Fixing install script... again a3b8bec PIDController feed forward term can now be calculated by the end user 790adb0 artf2612: Update license in source files. 042671c Merge "Removed gz_msgs from wpilibcSim" c111690 Ultrasonic: replace linked list with std::set. d71a8ed Removed gz_msgs from wpilibcSim 37259f7 Merge "Replaced linked list in Notifier with std::list" cd17e7a Merge "Renamed Gyro to AnalogGyro to match athena API" c5c8a87 Replaced linked list in Notifier with std::list 89405d8 Renamed Gyro to AnalogGyro to match athena API 4a19490 Merge "Adds CANTalon to LiveWindow" c4a3567 Merge "Fixing the frcsim installer script" 295648f Adds CANTalon to LiveWindow 1b964a2 Merge "Fixes CAN devices in C++ library not showing in the livewindow" 7ba5cee Merge "HAL: Use extern "C" in implementation files." d17d242 Fixes CAN devices in C++ library not showing in the livewindow 25a771a Added linear digital filters 7349c2c Fixing the frcsim installer script c82122c Merge "Default bufLength for PIDController in Java should be 1" 58f3f97 Merge "Adds WaitResult to Java waitForInterrupt" bc8ed12 HAL: Use extern "C" in implementation files. 4cac89e Default bufLength for PIDController in Java should be 1 64fcdcc Keep track of FPGA time rollovers with 64-bit time. d30b283 Merge "Change C++ Notifier to allow std::function callback." 6ee3052 Merge "Rewrite C++ Notifier to use HAL multi-notifier support." f5d09e2 Merge "Rewrite Java Notifier and update Interrupt JNI." d0274aa Merge "Readded styleguide accidentally removed in the reorg" 68311ad Merge "Artf4179: Allow alternate I2C addresses for ADXL345_I2C" dee12d4 Readded styleguide accidentally removed in the reorg fa100df Fixed some typos in the comments of MotorEncoderFixture.java, a method name in CANMotorEncoderFixture.java, and the README files 3397b5c Adds WaitResult to Java waitForInterrupt 5f0dffd Artf4177: Use read byte count for ReadString 8564f33 Artf4179: Allow alternate I2C addresses for ADXL345_I2C e52b52d Change C++ Notifier to allow std::function callback. 40b29e7 Rewrite C++ Notifier to use HAL multi-notifier support. d126f45 Rewrite Java Notifier and update Interrupt JNI. 557805a Merge "finishing up FRCSim installer" 911b64b finishing up FRCSim installer e24fe6f Merge "Artf4776 Fixes First DIO PWM usage errors" f8f9284 Merge "Artf4774 Fixes HAL getHALErrorMessage missing error" 84428d5 Merge "Prevent double free in DigitalGlitchFilter" a00a5ff Merge "Set correct error message" 9aeee98 Prevent double free in DigitalGlitchFilter 5d2186c working on install process for FRCSim 2016 7fdb616 Merge "This commit adds documentation generation, including grabbing ntcore sources, for both Java and C++. This will need changes made in the wpilib promotion tasks to copy the generatd documentation to the correct places." f67ebca Improved READMEs 8a7c019 Artf4776 Fixes First DIO PWM usage errors 1cd2f9a Added libnipalu to make vision programs link properly 375b92a This commit adds documentation generation, including grabbing ntcore sources, for both Java and C++. This will need changes made in the wpilib promotion tasks to copy the generatd documentation to the correct places. 8d0a990 Set correct error message b65401f Artf4774 Fixes HAL getHALErrorMessage missing error 5f918be Condition java sim build on -PmakeSim flag 53bd180 Merge "Add SPARK and SD540 motor controllers" 66cbe69 Fixed double free of DriverStation. 431f345 Repaired simulation build on linux 611593c Add Cmake wrappers and unzip desktop ntcore builds 51a18cd Add SPARK and SD540 motor controllers c05e883 Merge changes I55ce71c6,I803680c1 2b80029 Rewrite CANTalon JNI layer. ef4c45b Last feature addition for CANTalon java/C++ user-facing API. Change-Id: Ia3a124978a426991890b6f8abbe07d34d75ba38d git-subtree-dir: third_party/allwpilib_2016 git-subtree-split: 3ce6feb8acdeca46e93a55280fb6ace3a4d5bcd6
Building WPILib is very straightforward. WPILib uses Gradle to compile. It only has a few dependencies on outside tools, including the ARM cross compiler.
Clone the WPILib Repo. If the toolchains are not installed, install them, and make sure they are available on the system PATH.
All build steps are executed using the Gradle wrapper, gradlew. Each target that Gradle can build is referred to as a task. The most common Gradle task to use is build. This will build all of the outputs created by WPILib. To run, open a console and cd into the cloned WPILib directory. Then:
./gradlew build
To build a specific subproject, such as wpilibc, you must access the subproject and run the build task only on that project. Accessing a subproject in Gradle is quite easy. Simply use :subproject_name:task_name with the Gradle wrapper. For example, building just wpilibc:
./gradlew :wpilibc:build
If you also want simulation to be build, add -PmakeSim. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of gazebo should work, even on windows if you build from source. Correct means cmake needs to be able to find gazebo-config.cmake, which you get for free with ubuntu installs.
./gradlew build -PmakeSim
C++ simulation tasks (including plugins, gz_msgs, and wpilibcSim) all depend on gazebo_transport. In order for this to build you must have installed gazebo. See The Gazebo website for installation instructions. If you prefer to use CMake directly, the you can still do so. The common cmake tasks are wpilibcSim, frc_gazebo_plugins, and gz_msgs
mkdir build #run this in the root of allwpilib cd build cmake .. make
The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change to the HAL and then run :wpilibc:build, the HAL will be rebuilt, then wpilibc.
There are a few tasks other than build available. To see them, run the meta-task tasks. This will print a list of all available tasks, with a description of each task.
If you are building to test with the eclipse plugins or just want to export the build as a Maven-style dependency, simply run the publish task. This task will publish all available packages to ~/releases/maven/development. If you need to publish the project to a different repo, you can specify it with -Prepo=repo_name. Valid options are:
The following maven targets a published by this task:
The main wpilib code you're probably looking for is in wpilibj and wpilibc. Those directories are split into shared, sim, and athena. Athena contains the wpilib code meant to run on your RoboRIO. Sim is wpilib code meant to run on your computer with gazebo, and shared is code shared between the two. Shared code must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, msvc, etc...).
The Simulation directory contains extra simulation tools and libraries, such as gz_msgs and JavaGazebo. See sub-directories for more information.
The integration test directories for C++ and Java contain test code that runs on our test-system. When you submit code for review, it is tested by those programs. If you add new functionality you should make sure to write tests for it so we don't break it in the future.
The hal directory contains more C++ code meant to run on the RoboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the ni-libraries folder.
The styleguide directory contains the styleguide for C++ and Java code. Anything submitted to the wpilib project needs to follow the code style guides outlined in there.
