Minor formatting improvements
WIP - Improved sensor read infrastructure

  - Added sensor read management classes to the framework code.
  - Fixed all compile and linker errors.

Notes:
  - Code may not run on the robot.
  - All new code is dead code (the current BulkRead does not use the new classes yet)
Integrated new infrastructure into the read loop

  - Refactored new classes and methods
  - Changed CM730::BulkRead() to use the new infrastructure

Note:
  - SensorReadManager::GetFilteredLikelySensorFailures(...) is not yet used anywhere
dded a printout of likely sensor failures to DarwinSensors::copyFromHardwareCommunications
Improved initialize method

  - It should still be refactored
STABLE - Compiles and runs on new VM (Ubuntu 12.04.2)
Fixed runtime errors

Now declared read descriptors on the heap.

Also removed some unused function definitions + rearranged the order of functions in some files.
Sensors are now read in order of response rate.
Added sorted writes to the CM730 board.
Merge branch 'master' of git@github.com:nubots/robocup into CM730ErrorsVisionFix

Conflicts:
	Make/sources.cmake
Removed OpenCV includes from darwin.cmake
Added Framework Folder

Signed-off-by: Brendan Annable <brendan.annable@uon.edu.au>
Update darwin.cmake

Removed OpenCV dependency
Reverted temporary protection level changes for testing. Minor changes to comments and debug printing.
Commented out all sensor debug fprintf/cout statements.
Merge branch 'CM730ErrorsVisionFix' into CM730Errors

Code now works on Ubuntu 12
Merge branch 'master' into develop

Conflicts:
	Framework/darwin/Framework/doc/ReadMe.txt
	Framework/darwin/Framework/include/Action.h
	Framework/darwin/Framework/include/BallFollower.h
	Framework/darwin/Framework/include/BallTracker.h
	Framework/darwin/Framework/include/CM730.h
	Framework/darwin/Framework/include/Camera.h
	Framework/darwin/Framework/include/ColorFinder.h
	Framework/darwin/Framework/include/DARwIn.h
	Framework/darwin/Framework/include/FSR.h
	Framework/darwin/Framework/include/Head.h
	Framework/darwin/Framework/include/Image.h
	Framework/darwin/Framework/include/ImgProcess.h
	Framework/darwin/Framework/include/JointData.h
	Framework/darwin/Framework/include/Kinematics.h
	Framework/darwin/Framework/include/MX28.h
	Framework/darwin/Framework/include/Matrix.h
	Framework/darwin/Framework/include/MotionManager.h
	Framework/darwin/Framework/include/MotionModule.h
	Framework/darwin/Framework/include/MotionStatus.h
	Framework/darwin/Framework/include/Plane.h
	Framework/darwin/Framework/include/Point.h
	Framework/darwin/Framework/include/Vector.h
	Framework/darwin/Framework/include/Walking.h
	Framework/darwin/Framework/include/minIni.h
	Framework/darwin/Framework/src/CM730.cpp
	Framework/darwin/Framework/src/math/Matrix.cpp
	Framework/darwin/Framework/src/math/Plane.cpp
	Framework/darwin/Framework/src/math/Point.cpp
	Framework/darwin/Framework/src/math/Vector.cpp
	Framework/darwin/Framework/src/minIni/LICENSE
	Framework/darwin/Framework/src/minIni/NOTICE
	Framework/darwin/Framework/src/minIni/minGlue.h
	Framework/darwin/Framework/src/minIni/minIni.c
	Framework/darwin/Framework/src/minIni/minIni.h
	Framework/darwin/Framework/src/minIni/wxMinIni.h
	Framework/darwin/Framework/src/motion/JointData.cpp
	Framework/darwin/Framework/src/motion/Kinematics.cpp
	Framework/darwin/Framework/src/motion/MotionManager.cpp
	Framework/darwin/Framework/src/motion/MotionStatus.cpp
	Framework/darwin/Framework/src/motion/modules/Action.cpp
	Framework/darwin/Framework/src/motion/modules/Head.cpp
	Framework/darwin/Framework/src/motion/modules/Walking.cpp
	Framework/darwin/Framework/src/vision/BallFollower.cpp
	Framework/darwin/Framework/src/vision/BallTracker.cpp
	Framework/darwin/Framework/src/vision/ColorFinder.cpp
	Framework/darwin/Framework/src/vision/Image.cpp
	Framework/darwin/Framework/src/vision/ImgProcess.cpp
	Framework/darwin/Linux/build/LinuxActionScript.cpp
	Framework/darwin/Linux/build/LinuxCM730.cpp
	Framework/darwin/Linux/build/LinuxCamera.cpp
	Framework/darwin/Linux/build/LinuxMotionTimer.cpp
	Framework/darwin/Linux/build/LinuxNetwork.cpp
	Framework/darwin/Linux/build/Makefile
	Framework/darwin/Linux/build/streamer/jpeg_utils.cpp
	Framework/darwin/Linux/build/streamer/jpeg_utils.h
	Framework/darwin/Linux/build/streamer/mjpg_streamer.cpp
	Framework/darwin/Linux/build/streamer/mjpg_streamer.h
	Framework/darwin/Linux/include/LinuxActionScript.h
	Framework/darwin/Linux/include/LinuxCM730.h
	Framework/darwin/Linux/include/LinuxCamera.h
	Framework/darwin/Linux/include/LinuxDARwIn.h
	Framework/darwin/Linux/include/LinuxMotionTimer.h
	Framework/darwin/Linux/include/LinuxNetwork.h
	Framework/darwin/Linux/include/mjpg_streamer.h
	Framework/darwin/Linux/project/action_editor/Makefile
	Framework/darwin/Linux/project/action_editor/cmd_process.cpp
	Framework/darwin/Linux/project/action_editor/cmd_process.h
	Framework/darwin/Linux/project/action_editor/main.cpp
	Framework/darwin/Linux/project/demo/StatusCheck.cpp
	Framework/darwin/Linux/project/demo/StatusCheck.h
	Framework/darwin/Linux/project/demo/VisionMode.cpp
	Framework/darwin/Linux/project/demo/VisionMode.h
	Framework/darwin/Linux/project/demo/demo
	Framework/darwin/Linux/project/demo/main.cpp
	Framework/darwin/Linux/project/demo/script.asc
	Framework/darwin/Linux/project/dxl_monitor/Makefile
	Framework/darwin/Linux/project/dxl_monitor/cmd_process.cpp
	Framework/darwin/Linux/project/dxl_monitor/cmd_process.h
	Framework/darwin/Linux/project/dxl_monitor/main.cpp
	Framework/darwin/Linux/project/firmware_installer/Makefile
	Framework/darwin/Linux/project/firmware_installer/cm730_0x13.hex
	Framework/darwin/Linux/project/firmware_installer/hex2bin.cpp
	Framework/darwin/Linux/project/firmware_installer/hex2bin.h
	Framework/darwin/Linux/project/firmware_installer/main.cpp
	Framework/darwin/Linux/project/firmware_installer/mx28_0x1A_1024.hex
	Framework/darwin/Linux/project/firmware_installer/mx28_0x1E+FSR_0x11.hex
	Framework/darwin/Linux/project/offset_tuner/Makefile
	Framework/darwin/Linux/project/offset_tuner/cmd_process.cpp
	Framework/darwin/Linux/project/offset_tuner/cmd_process.h
	Framework/darwin/Linux/project/offset_tuner/main.cpp
	Framework/darwin/Linux/project/roboplus/Makefile
	Framework/darwin/Linux/project/roboplus/main.cpp
	Framework/darwin/Linux/project/roboplus/protocol.txt
	Framework/darwin/Linux/project/tutorial/action_script/Makefile
	Framework/darwin/Linux/project/tutorial/action_script/config.ini
	Framework/darwin/Linux/project/tutorial/action_script/main.cpp
	Framework/darwin/Linux/project/tutorial/action_script/script.asc
	Framework/darwin/Linux/project/tutorial/ball_following/Makefile
	Framework/darwin/Linux/project/tutorial/ball_following/main.cpp
	Framework/darwin/Linux/project/tutorial/camera/Makefile
	Framework/darwin/Linux/project/tutorial/camera/config.ini
	Framework/darwin/Linux/project/tutorial/camera/main.cpp
	Framework/darwin/Linux/project/tutorial/color_filtering/Makefile
	Framework/darwin/Linux/project/tutorial/color_filtering/config.ini
	Framework/darwin/Linux/project/tutorial/color_filtering/main.cpp
	Framework/darwin/Linux/project/tutorial/fsr/Makefile
	Framework/darwin/Linux/project/tutorial/fsr/main.cpp
	Framework/darwin/Linux/project/tutorial/head_tracking/Makefile
	Framework/darwin/Linux/project/tutorial/head_tracking/config.ini
	Framework/darwin/Linux/project/tutorial/head_tracking/main.cpp
	Framework/darwin/Linux/project/tutorial/read_write/Makefile
	Framework/darwin/Linux/project/tutorial/read_write/main.cpp
	Framework/darwin/Linux/project/walk_tuner/Makefile
	Framework/darwin/Linux/project/walk_tuner/cmd_process.cpp
	Framework/darwin/Linux/project/walk_tuner/cmd_process.h
	Framework/darwin/Linux/project/walk_tuner/main.cpp
	Framework/darwin/ReleaseNote.txt
	Make/darwin.cmake
	Make/sources.cmake
	NUPlatform/Platforms/Darwin/cmake/sources.cmake
Merge branch 'CM730Errors' into develop

Conflicts:
	Make/darwin.cmake
	Make/sources.cmake
Added include to fix compiling
Fixed include error