Improvements for C++ simulation

fast_build.bat

@@ -1 +1 @@
-gradlew build -x checkstyleMain -x checkstyleTest -x findbugsMain -x findbugsTest -x pmdMain -x pmdTest %1
+gradlew build -x checkstyleMain -x checkstyleTest -x findbugsMain -x findbugsTest -x pmdMain -x pmdTest %*

sim_adx_family/build.gradle

@@ -13,7 +13,7 @@ ext
         'edu.wpi.first.hal.sim.mockdata.ADXRS450_GyroDataJNI'
     ]
 
-    libraryBaseName = 'adx_family_jni'
+    libraryBaseName = 'adx_family'
     librarySrcDirs = ['src/main/native/cpp/sim']
     libraryHeaderDirs = ['src/main/native/cpp/sim']
 
@@ -88,7 +88,8 @@ dependencies {
     wpilibNativeDeps project(':sim_adx_family').packageNativeFiles.outputs.files
 
     //testCompile 'edu.wpi.first.hal:hal-java:' + allwpilibVersion()
-    testCompile 'edu.wpi.first.wpilibj:wpilibj-java:' + allwpilibVersion()
+    testCompile 'edu.wpi.first.wpilibj:wpilibj-java:' + allwpilibVersion()    
+    testRuntime 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
     testRuntime 'edu.wpi.first.ntcore:ntcore-java:' + getNtCoreVersion()
     testRuntime 'edu.wpi.first.cscore:cscore-java:' + getCsCoreVersion()
     testRuntime 'edu.wpi.first.ntcore:ntcore-jni:' + getNtCoreVersion() + ':all'

sim_adx_family/src/test/java/edu/wpi/first/wpilibj/sim/TestLinking.java

@@ -10,21 +10,16 @@
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.hal.HAL;
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
-import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public class TestLinking
 {
     @Test
     public void testLinking()
     {
-        if (!RuntimeDetector.isWindows())
-        {
-            JniLibraryResourceLoader.loadLibrary("uv");
-        }
         JniLibraryResourceLoader.loadLibrary("wpiutil");
         JniLibraryResourceLoader.loadLibrary("wpiHal");
         JniLibraryResourceLoader.loadLibrary("halsim_adx_gyro_accelerometer");
-        JniLibraryResourceLoader.loadLibrary("adx_family_jni");
+        JniLibraryResourceLoader.loadLibrary("adx_family");
         HAL.initialize(0, 0);
 
         SPI.Port port = SPI.Port.kOnboardCS1;

sim_extension_navx/build.gradle

@@ -11,7 +11,7 @@ ext
                         [':sim_extension_navx', 'navx_simulator', 'shared']
                       ]
 
-    libraryBaseName = 'navx_simulator_jni'
+    libraryBaseName = 'navx_simulator'
     librarySrcDirs = [ 'src/main/native/sim']
     libraryHeaderDirs = [ "src/main/native/include", ]
 
@@ -61,6 +61,7 @@ model {
     }
     components {
         navx_simulator(NativeLibrarySpec) {
+            baseName = "navx_simulator_base"
             sources {
                 cpp {
                     source {
@@ -93,6 +94,7 @@ dependencies {
     //testCompile 'edu.wpi.first.hal:hal-java:' + allwpilibVersion()
     testCompile 'edu.wpi.first.wpilibj:wpilibj-java:' + allwpilibVersion()
     //testRuntime 'edu.wpi.first.cameraserver:cameraserver-java:' + allwpilibVersion()
+    testRuntime 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
     testCompile 'edu.wpi.first.ntcore:ntcore-java:' + getNtCoreVersion()
     testRuntime 'edu.wpi.first.cscore:cscore-java:' + getCsCoreVersion()
     testRuntime 'edu.wpi.first.ntcore:ntcore-jni:' + getNtCoreVersion() + ':all'

snobot_sim/build.gradle

@@ -62,7 +62,7 @@ model {
     }
     components {
         snobotSimCpp(NativeLibrarySpec) {
-            baseName = 'snobotSimCpp'
+            baseName = 'snobot_sim'
 
             apply from: "../create_version_file.gradle"
             createCppVersion("src/main/native/cpp/SnobotSim", "SnobotSim", "SnobotSimHalVersion", getVersionName())
@@ -80,27 +80,6 @@ model {
                 }
             }
         }
-
-        standaloneSnobotSimBase(NativeLibrarySpec) {
-            sources {
-                cpp {
-                    source {
-                        srcDirs = ['src/standalone/native/cpp']
-                        includes = ['**/*.cpp']
-                    }
-                    exportedHeaders {
-                        srcDirs = ["src/standalone/native/include"]
-                    }
-                    lib project: ':snobot_sim', library: 'snobotSimCpp', linkage: 'shared'
-                    lib project: ':sim_extension_navx', library: 'navx_simulator', linkage: 'shared'
-                }
-            }
-        }
-    }
-    binaries {
-        withType(StaticLibraryBinarySpec) {
-            it.buildable = false
-        }
     }
 }
 

snobot_sim/publish.gradle

@@ -1,10 +1,9 @@
 
 apply plugin: 'maven-publish'
 
-def libraryZipBaseName = '_GROUP_com_snobot_simulator_snobot_sim_ID_snobot_sim_CLS'
-def standaloneZipBaseName = '_GROUP_com_snobot_simulator_snobot_sim_ID_snobot_sim_standalone_CLS'
+def zipBaseName = '_GROUP_com_snobot_simulator_snobot_sim_ID_snobot_sim_CLS'
 
-task libraryCppSourcesZip(type: Zip) {
+task cppSourcesZip(type: Zip) {
     destinationDir = project.buildDir
     classifier = "sources"
 
@@ -13,7 +12,7 @@ task libraryCppSourcesZip(type: Zip) {
     }
 }
 
-task libraryCppHeadersZip(type: Zip) {
+task cppHeadersZip(type: Zip) {
     destinationDir = project.buildDir
     classifier = "headers"
 
@@ -22,24 +21,6 @@ task libraryCppHeadersZip(type: Zip) {
     }
 }
 
-task standaloneCppSourcesZip(type: Zip) {
-    destinationDir = project.buildDir
-    classifier = "sources"
-
-    from('src/standalone/native') {
-        into 'SnobotSim'
-    }
-}
-
-task standaloneCppHeadersZip(type: Zip) {
-    destinationDir = project.buildDir
-    classifier = "headers"
-
-    from('src/standalone/native/include') {
-        into '/'
-    }
-}
-
 model {
     publishing {
         repositories {
@@ -48,9 +29,8 @@ model {
            }
         }
 
-        def snobotSimTaskList = createComponentZipTasks($.components, 'snobotSimCpp', libraryZipBaseName, Zip, project, includeStandardZipFormat)
-        def snobotSimStandaloneTaskList = createComponentZipTasks($.components, 'standaloneSnobotSimBase', standaloneZipBaseName, Zip, project, includeStandardZipFormat)
-
+        def snobotSimTaskList = createComponentZipTasks($.components, 'snobotSimCpp', zipBaseName, Zip, project, includeStandardZipFormat)
+
         publications {
             snobot_sim(MavenPublication) {
                 groupId 'com.snobot.simulator'
@@ -61,21 +41,8 @@ model {
                     artifact it
                 }
 
-                artifact libraryCppHeadersZip
-                artifact libraryCppSourcesZip
-            }
-
-            snobot_sim_standalone(MavenPublication) {
-                groupId 'com.snobot.simulator'
-                artifactId 'snobot_sim_cpp_standalone'
-                version maven_version
-
-                snobotSimStandaloneTaskList.each {
-                    artifact it
-                }
-
-                artifact standaloneCppHeadersZip
-                artifact standaloneCppSourcesZip
+                artifact cppHeadersZip
+                artifact cppSourcesZip
             }
         }
 

snobot_sim/src/standalone/native/cpp/StandaloneSimulator.cpp → snobot_sim/src/main/native/cpp/SnobotSim/StandaloneSimulator.cpp

@@ -5,7 +5,7 @@
  *      Author: PJ
  */
 
-#include "StandaloneSimulator.h"
+#include "SnobotSim/StandaloneSimulator.h"
 
 #include <thread>
 

snobot_sim/src/standalone/native/include/StartSimulatorMacro.h → snobot_sim/src/main/native/include/SnobotSim/StartStandaloneSimulatorMacro.h

@@ -10,7 +10,8 @@
 
 #include <iostream>
 
-#include <StandaloneSimulator.h>
+#include "SnobotSim/StandaloneSimulator.h"
+#include "SnobotSim/Logging/SnobotLogger.h"
 
 #define START_STANDALONE_SIMULATOR(_ClassName_, _SimulatorName_)                                                               \
     int main()                                                                                                                 \

snobot_sim_gui/build.gradle

@@ -23,8 +23,6 @@ configurations.maybeCreate("wpilibNativeDeps")
 dependencies {
 
     // WPILib
-    compile 'edu.wpi.first.wpilibj:wpilibj-java:' + allwpilibVersion()
-    compile 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
     compile 'edu.wpi.first.cscore:cscore-java:' + getCsCoreVersion()
     runtime 'edu.wpi.first.cscore:cscore-jni:' + getCsCoreVersion() + ':all'
     compile 'edu.wpi.first.ntcore:ntcore-java:' + getNtCoreVersion()
@@ -64,6 +62,7 @@ dependencies {
     testCompile 'org.junit.jupiter:junit-jupiter-api:5.2.0'
     testRuntime 'org.junit.jupiter:junit-jupiter-engine:5.2.0'
     testRuntime 'org.junit.platform:junit-platform-launcher:1.2.0'
+    testCompile 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
     runtime 'com.snobot.simulator:ctre_sim_override:' + getCtreSimVersion() + ':native-all'
     testRuntime jar.outputs.files // Necessary for having resources in jar 
 

snobot_sim_java/build.gradle

@@ -36,6 +36,7 @@ dependencies {
     testCompile 'org.junit.jupiter:junit-jupiter-params:5.2.0'
     testRuntime 'org.junit.jupiter:junit-jupiter-engine:5.2.0'
     testRuntime 'org.junit.platform:junit-platform-launcher:1.2.0'
+    testRuntime 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
     testRuntime 'edu.wpi.first.ntcore:ntcore-jni:' + getNtCoreVersion() + ':all'
     testRuntime 'edu.wpi.first.cscore:cscore-jni:' + getCsCoreVersion() + ':all'
     testRuntime 'org.opencv:opencv-java:' + getWpilibOpencvVersion()

snobot_sim_java/src/main/java/com/snobot/simulator/jni/BaseSnobotJni.java

@@ -3,23 +3,16 @@
 import com.snobot.simulator.JniLibraryResourceLoader;
 
 import edu.wpi.first.wpilibj.hal.HAL;
-import edu.wpi.first.wpiutil.RuntimeDetector;
 
 public class BaseSnobotJni
 {
     static
     {
-        if (!RuntimeDetector.isWindows())
-        {
-            JniLibraryResourceLoader.loadLibrary("uv");
-        }
-
         JniLibraryResourceLoader.loadLibrary("wpiutil");
         JniLibraryResourceLoader.loadLibrary("wpiHal");
         JniLibraryResourceLoader.loadLibrary("halsim_adx_gyro_accelerometer");
         JniLibraryResourceLoader.loadLibrary("navx_simulator");
-        JniLibraryResourceLoader.loadLibrary("navx_simulator_jni");
-        JniLibraryResourceLoader.loadLibrary("adx_family_jni");
+        JniLibraryResourceLoader.loadLibrary("adx_family");
         JniLibraryResourceLoader.loadLibrary("CTRE_PhoenixCCI");
         JniLibraryResourceLoader.loadLibrary("temp_hal_interface_jni");
 

snobot_sim_java/src/main/java/com/snobot/simulator/wrapper_accessors/java/JavaDriverStationWrapperAccessor.java

@@ -8,7 +8,6 @@
 
 import edu.wpi.first.hal.sim.mockdata.DriverStationDataJNI;
 import edu.wpi.first.hal.sim.mockdata.SimulatorJNI;
-import edu.wpi.first.wpilibj.hal.MatchInfoData;
 
 public class JavaDriverStationWrapperAccessor implements DriverStationDataAccessor
 {
@@ -85,13 +84,7 @@ public void setJoystickInformation(int aJoystickHandle, float[] aAxesArray, shor
     @Override
     public void setMatchInfo(String aEventName, MatchType aMatchType, int aMatchNumber, int aReplayNumber, String aGameSpecificMessage)
     {
-        MatchInfoData data = new MatchInfoData();
-        data.eventName = aEventName;
-        data.matchType = aMatchType.ordinal();
-        data.matchNumber = aMatchNumber;
-        data.replayNumber = aReplayNumber;
-        data.gameSpecificMessage = aGameSpecificMessage;
-        DriverStationDataJNI.setMatchInfo(data);
+        DriverStationDataJNI.setMatchInfo(aEventName, aGameSpecificMessage, aMatchNumber, aReplayNumber, aMatchType.ordinal());
     }
 
     @Override

snobot_sim_jni/build.gradle

@@ -60,6 +60,7 @@ dependencies {
 
     testCompile 'edu.wpi.first.wpilibj:wpilibj-java:' + allwpilibVersion()
     //testCompile 'edu.wpi.first.hal:hal-java:' + allwpilibVersion()
+    testRuntime 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
     testRuntime 'edu.wpi.first.ntcore:ntcore-jni:' + getNtCoreVersion() + ':all'
     testRuntime 'edu.wpi.first.cscore:cscore-jni:' + getCsCoreVersion() + ':all'
     testRuntime 'org.opencv:opencv-java:' + getWpilibOpencvVersion()

snobot_sim_jni/src/main/java/com/snobot/simulator/jni/BaseSimulatorJni.java

@@ -2,8 +2,6 @@
 
 import com.snobot.simulator.JniLibraryResourceLoader;
 
-import edu.wpi.first.wpiutil.RuntimeDetector;
-
 public abstract class BaseSimulatorJni // NOPMD
 {
     static
@@ -13,10 +11,6 @@ public abstract class BaseSimulatorJni // NOPMD
 
     public static void initilaize()
     {
-        if (!RuntimeDetector.isWindows())
-        {
-            JniLibraryResourceLoader.loadLibrary("uv");
-        }
         JniLibraryResourceLoader.loadLibrary("wpiutil");
         JniLibraryResourceLoader.loadLibrary("wpiHal");
         JniLibraryResourceLoader.loadLibrary("halsim_adx_gyro_accelerometer");

snobot_sim_utilities/build.gradle

@@ -7,7 +7,6 @@ ext
 apply from: "${rootDir}/common/base_java_script.gradle"
 
 dependencies {
-    compile 'edu.wpi.first.wpiutil:wpiutil-java:' + getWpiUtilVersion()
     compile 'org.apache.logging.log4j:log4j-api:2.11.0'
     compile 'org.apache.logging.log4j:log4j-core:2.11.0'
 

snobot_sim_utilities/src/main/java/com/snobot/simulator/JniLibraryResourceLoader.java

@@ -73,6 +73,7 @@ public static boolean loadLibrary(String aLibraryname)
     {
         try
         {
+            sLOGGER.log(Level.DEBUG, "Loading native library" + aLibraryname);
             System.loadLibrary(aLibraryname);
             return true;
         }

temp_hal_interface/src/main/java/edu/wpi/first/hal/sim/mockdata/DriverStationDataJNI.java

@@ -1,7 +1,5 @@
 package edu.wpi.first.hal.sim.mockdata;
 
-import edu.wpi.first.wpilibj.hal.MatchInfoData;
-
 public class DriverStationDataJNI
 {
     public static native void setEnabled(boolean b);
@@ -18,6 +16,6 @@ public class DriverStationDataJNI
 
     public static native void setJoystickButtons(byte aJoystickHandle, int aButtonMask, int aButtonCount);
 
-    public static native void setMatchInfo(MatchInfoData info);
+    public static native void setMatchInfo(String eventName, String gameSpecificMessage, int matchNumber, int replayNumber, int matchType);
 
 }

temp_hal_interface/src/main/native/cpp/DriverStationDataJNI.cpp

@@ -1,6 +1,8 @@
 
 #include <jni.h>
 
+#include <cstring>
+
 #include "MockData/DriverStationData.h"
 #include "edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI.h"
 
@@ -111,22 +113,16 @@ Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setJoystickButtons
     joystickButtons.buttons = buttons;
     HALSIM_SetJoystickButtons(joystickNum, &joystickButtons);
 }
-
 /*
  * Class:     edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI
  * Method:    setMatchInfo
- * Signature: (Ljava/lang/Object;)V
+ * Signature: (Ljava/lang/String;Ljava/lang/String;III)V
  */
 JNIEXPORT void JNICALL
 Java_edu_wpi_first_hal_sim_mockdata_DriverStationDataJNI_setMatchInfo
-  (JNIEnv* env, jclass, jobject matchInfo)
+  (JNIEnv* env, jclass, jstring eventName, jstring gameSpecificMessage,
+   jint matchNumber, jint replayNumber, jint matchType)
 {
-    jstring eventName = (jstring)env->GetObjectField(matchInfo, env->GetFieldID(env->GetObjectClass(matchInfo), "eventName", "Ljava/lang/String;"));
-    jstring gameSpecificMessage = (jstring)env->GetObjectField(matchInfo, env->GetFieldID(env->GetObjectClass(matchInfo), "gameSpecificMessage", "Ljava/lang/String;"));
-    int matchNumber = env->GetIntField(matchInfo, env->GetFieldID(env->GetObjectClass(matchInfo), "matchNumber", "I"));
-    int replayNumber = env->GetIntField(matchInfo, env->GetFieldID(env->GetObjectClass(matchInfo), "replayNumber", "I"));
-    int matchType = env->GetIntField(matchInfo, env->GetFieldID(env->GetObjectClass(matchInfo), "matchType", "I"));
-
     HAL_MatchInfo halMatchInfo;
     halMatchInfo.eventName = const_cast<char*>(env->GetStringUTFChars(eventName, NULL));
     halMatchInfo.gameSpecificMessage = const_cast<char*>(env->GetStringUTFChars(gameSpecificMessage, NULL));