From b6475d050360186e0d95c7523237d220a411a6ea Mon Sep 17 00:00:00 2001
From: Patrick Plenefisch <simonpatp@gmail.com>
Date: Thu, 25 Sep 2014 20:36:59 -0400
Subject: [PATCH] Renaming and merging WPILibC++ into Devices and simulator
 files

Change-Id: I6f4b94d1f2cbf4196ebcef8bc45799a97bcde1d8
---
 CMakeLists.txt                                |   5 +-
 ni-libraries/libwpi_2015.so                   |   2 +-
 wpilibc/wpilibC++/CMakeLists.txt              |  10 +-
 wpilibc/wpilibC++/include/Notifier.h          |   3 +-
 wpilibc/wpilibC++/include/PIDController.h     |   7 +-
 wpilibc/wpilibC++Devices/CMakeLists.txt       |   6 +-
 .../wpilibC++Devices/include/DriverStation.h  |   1 +
 wpilibc/wpilibC++Devices/include/Notifier.h   |  42 -------
 .../wpilibC++Devices/include/PIDController.h  | 108 ------------------
 wpilibc/wpilibC++Devices/include/Task.h       |  52 ---------
 wpilibc/wpilibC++Devices/include/Timer.h      |  44 -------
 wpilibc/wpilibC++Devices/src/Notifier.cpp     |   1 +
 .../wpilibC++Devices/src/PIDController.cpp    |   1 +
 wpilibc/wpilibC++Devices/src/Preferences.cpp  |   1 +
 wpilibc/wpilibC++Devices/src/Task.cpp         |   1 +
 .../wpilibC++IntegrationTests/CMakeLists.txt  |   4 +-
 .../src/NotifierTest.cpp                      |   3 +-
 wpilibc/wpilibC++Sim/CMakeLists.txt           |  31 ++---
 wpilibc/wpilibC++Sim/Makefile                 |   4 +-
 wpilibc/wpilibC++Sim/include/Notifier.h       |  44 -------
 wpilibc/wpilibC++Sim/include/PIDController.h  | 107 -----------------
 wpilibc/wpilibC++Sim/include/Task.h           |  52 ---------
 wpilibc/wpilibC++Sim/include/Timer.h          |  50 --------
 wpilibc/wpilibC++Sim/include/Utility.h        |  26 -----
 .../wpilibC++Sim/include/simulation/simTime.h |   7 ++
 wpilibc/wpilibC++Sim/src/PIDController.cpp    |   3 +-
 wpilibc/wpilibC++Sim/src/Solenoid.cpp         |   1 +
 wpilibc/wpilibC++Sim/src/Timer.cpp            |   1 +
 wpilibc/wpilibC++Sim/src/Utility.cpp          |   1 +
 29 files changed, 56 insertions(+), 562 deletions(-)
 delete mode 100644 wpilibc/wpilibC++Devices/include/Notifier.h
 delete mode 100644 wpilibc/wpilibC++Devices/include/PIDController.h
 delete mode 100644 wpilibc/wpilibC++Devices/include/Task.h
 delete mode 100644 wpilibc/wpilibC++Devices/include/Timer.h
 delete mode 100644 wpilibc/wpilibC++Sim/include/Notifier.h
 delete mode 100644 wpilibc/wpilibC++Sim/include/PIDController.h
 delete mode 100644 wpilibc/wpilibC++Sim/include/Task.h
 delete mode 100644 wpilibc/wpilibC++Sim/include/Timer.h
 delete mode 100644 wpilibc/wpilibC++Sim/include/Utility.h
 create mode 100644 wpilibc/wpilibC++Sim/include/simulation/simTime.h

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 83533f6c84..eadd0a44bd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,16 @@
 cmake_minimum_required(VERSION 2.8)
 project(All-WPILib)
 set(CMAKE_BUILD_TYPE Debug)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-parameter -fPIC")
 SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 
 file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
+list(REMOVE_ITEM NI_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi_2015.so)
 get_filename_component(WPILIB_INCLUDES wpilibc/wpilibC++/include REALPATH)
 get_filename_component(HAL_API_INCLUDES hal/include REALPATH)
 get_filename_component(NWT_API_INCLUDES networktables/cpp/include REALPATH)
+file(GLOB_RECURSE COM_SRC_FILES wpilibc/wpilibC++/src/*.cpp)
+
 add_subdirectory(hal)
 add_subdirectory(networktables/cpp)
 add_subdirectory(wpilibc)
diff --git a/ni-libraries/libwpi_2015.so b/ni-libraries/libwpi_2015.so
index 8920c0e6e5..e799af29aa 100644
--- a/ni-libraries/libwpi_2015.so
+++ b/ni-libraries/libwpi_2015.so
@@ -1,3 +1,3 @@
 /* GNU ld script */
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( AS_NEEDED ( -lWPILib -lWPILibAthena -lHALAthena -lNetworkTables -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread ) )
+GROUP ( AS_NEEDED ( -lwpilib_nonshared -lHALAthena -lNetworkTables -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread -lrt ) )
diff --git a/wpilibc/wpilibC++/CMakeLists.txt b/wpilibc/wpilibC++/CMakeLists.txt
index 6be77a1fa6..4af3fc914e 100644
--- a/wpilibc/wpilibC++/CMakeLists.txt
+++ b/wpilibc/wpilibC++/CMakeLists.txt
@@ -1,13 +1,5 @@
 cmake_minimum_required(VERSION 2.8)
 project(WPILibC++)
 
-file(GLOB_RECURSE SRC_FILES src/*.cpp)
-include_directories(include/ ${NWT_API_INCLUDES} ${HAL_API_INCLUDES})
-add_library(WPILib STATIC ${SRC_FILES})
-target_link_libraries(WPILib)
-INSTALL(TARGETS WPILib ARCHIVE DESTINATION lib COMPONENT lib)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
-# lib/ c m gcc_s ld-linux
-# usr/lib stdc++
-# ni_emb
-# HAL NWT
+
diff --git a/wpilibc/wpilibC++/include/Notifier.h b/wpilibc/wpilibC++/include/Notifier.h
index 4bd89879f3..13c3e091df 100644
--- a/wpilibc/wpilibC++/include/Notifier.h
+++ b/wpilibc/wpilibC++/include/Notifier.h
@@ -9,7 +9,7 @@
 #include "Task.h"
 #include "HAL/cpp/Synchronized.hpp"
 
-typedef void (*TimerEventHandler)(void *param);
+typedef void *(*TimerEventHandler)(void *param);
 
 class Notifier : public ErrorBase
 {
@@ -22,6 +22,7 @@ public:
 private:
 	static Notifier *timerQueueHead;
 	static ReentrantSemaphore queueSemaphore;
+	static void* m_notifier;
 	static int refcount;
 
 	static void ProcessQueue(uint32_t mask, void *params); // process the timer queue on a timer event
diff --git a/wpilibc/wpilibC++/include/PIDController.h b/wpilibc/wpilibC++/include/PIDController.h
index cf7732f475..0b591dcd36 100644
--- a/wpilibc/wpilibC++/include/PIDController.h
+++ b/wpilibc/wpilibC++/include/PIDController.h
@@ -69,6 +69,7 @@ private:
 	float m_minimumInput;		// minimum input - limit setpoint to this
 	bool m_continuous;	// do the endpoints wrap around? eg. Absolute encoder
 	bool m_enabled; 			//is the pid controller enabled
+	bool m_destruct; // should the calculate thread stop running
 	float m_prevError;	// the prior sensor input (used to compute velocity)
 	double m_totalError; //the sum of the errors for use in the integral calc
 	enum
@@ -88,12 +89,16 @@ private:
 	PIDSource *m_pidInput;
 	PIDOutput *m_pidOutput;
 
+#ifndef FRC_SIMULATOR
 	pthread_t m_controlLoop;
+#else
+	Notifier* m_controlLoop;
+#endif
 	pthread_mutex_t m_mutex;
 
 	void Initialize(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
 			float period = 0.05);
-	static void CallCalculate(void *controller);
+	static void *CallCalculate(void *controller);
 
 	virtual ITable* GetTable();
 	virtual std::string GetSmartDashboardType();
diff --git a/wpilibc/wpilibC++Devices/CMakeLists.txt b/wpilibc/wpilibC++Devices/CMakeLists.txt
index 595b5a2e31..f73522cc50 100644
--- a/wpilibc/wpilibC++Devices/CMakeLists.txt
+++ b/wpilibc/wpilibC++Devices/CMakeLists.txt
@@ -3,9 +3,9 @@ project(WPILibC++Devices)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(include/ ${WPILIB_INCLUDES} ${HAL_API_INCLUDES} ${NWT_API_INCLUDES})
-add_library(WPILibAthena STATIC ${SRC_FILES})
-target_link_libraries(WPILibAthena WPILib HALAthena NetworkTables ${NI_LIBS})
-INSTALL(TARGETS WPILibAthena ARCHIVE DESTINATION lib COMPONENT lib)
+add_library(wpilib_nonshared STATIC ${SRC_FILES} ${COM_SRC_FILES})
+target_link_libraries(wpilib_nonshared HALAthena NetworkTables ${NI_LIBS})
+INSTALL(TARGETS wpilib_nonshared ARCHIVE DESTINATION lib COMPONENT lib)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
 # lib/ c m gcc_s ld-linux
 # usr/lib stdc++
diff --git a/wpilibc/wpilibC++Devices/include/DriverStation.h b/wpilibc/wpilibC++Devices/include/DriverStation.h
index 6afe4a6f10..9151c8d897 100644
--- a/wpilibc/wpilibC++Devices/include/DriverStation.h
+++ b/wpilibc/wpilibC++Devices/include/DriverStation.h
@@ -8,6 +8,7 @@
 #include "SensorBase.h"
 #include "RobotState.h"
 #include "Task.h"
+#include "HAL/HAL.hpp"
 
 struct HALControlWord;
 class AnalogInput;
diff --git a/wpilibc/wpilibC++Devices/include/Notifier.h b/wpilibc/wpilibC++Devices/include/Notifier.h
deleted file mode 100644
index ad969360b1..0000000000
--- a/wpilibc/wpilibC++Devices/include/Notifier.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "HAL/HAL.hpp"
-#include "ErrorBase.h"
-#include "HAL/cpp/Synchronized.hpp"
-
-typedef void (*TimerEventHandler)(void *param);
-
-class Notifier : public ErrorBase
-{
-public:
-	Notifier(TimerEventHandler handler, void *param = NULL);
-	virtual ~Notifier();
-	void StartSingle(double delay);
-	void StartPeriodic(double period);
-	void Stop();
-private:
-	static Notifier *timerQueueHead;
-	static ReentrantSemaphore queueSemaphore;
-	static void* m_notifier;
-	static int refcount;
-
-	static void ProcessQueue(uint32_t mask, void *params); // process the timer queue on a timer event
-	static void UpdateAlarm();			// update the FPGA alarm since the queue has changed
-	void InsertInQueue(bool reschedule);	// insert this Notifier in the timer queue
-	void DeleteFromQueue();				// delete this Notifier from the timer queue
-	TimerEventHandler m_handler;			// address of the handler
-	void *m_param;							// a parameter to pass to the handler
-	double m_period;						// the relative time (either periodic or single)
-	double m_expirationTime;				// absolute expiration time for the current event
-	Notifier *m_nextEvent;					// next Nofifier event
-	bool m_periodic;						// true if this is a periodic event
-	bool m_queued;							// indicates if this entry is queued
-	SEMAPHORE_ID m_handlerSemaphore;		// held by interrupt manager task while handler call is in progress
-
-	DISALLOW_COPY_AND_ASSIGN(Notifier);
-};
diff --git a/wpilibc/wpilibC++Devices/include/PIDController.h b/wpilibc/wpilibC++Devices/include/PIDController.h
deleted file mode 100644
index ea96791dc3..0000000000
--- a/wpilibc/wpilibC++Devices/include/PIDController.h
+++ /dev/null
@@ -1,108 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "Base.h"
-#include "Controller.h"
-#include "LiveWindow/LiveWindow.h"
-#include <pthread.h>
-
-class PIDOutput;
-class PIDSource;
-class Notifier;
-
-/**
- * Class implements a PID Control Loop.
- * 
- * Creates a separate thread which reads the given PIDSource and takes
- * care of the integral calculations, as well as writing the given
- * PIDOutput
- */
-class PIDController : public LiveWindowSendable, public Controller, public ITableListener
-{
-public:
-	PIDController(float p, float i, float d, PIDSource *source, PIDOutput *output, float period =
-			0.05);
-	PIDController(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
-			float period = 0.05);
-	virtual ~PIDController();
-	virtual float Get();
-	virtual void SetContinuous(bool continuous = true);
-	virtual void SetInputRange(float minimumInput, float maximumInput);
-	virtual void SetOutputRange(float mimimumOutput, float maximumOutput);
-	virtual void SetPID(float p, float i, float d);
-	virtual void SetPID(float p, float i, float d, float f);
-	virtual float GetP();
-	virtual float GetI();
-	virtual float GetD();
-	virtual float GetF();
-
-	virtual void SetSetpoint(float setpoint);
-	virtual float GetSetpoint();
-
-	virtual float GetError();
-
-	virtual void SetTolerance(float percent);
-	virtual void SetAbsoluteTolerance(float absValue);
-	virtual void SetPercentTolerance(float percentValue);
-	virtual bool OnTarget();
-
-	virtual void Enable();
-	virtual void Disable();
-	virtual bool IsEnabled();
-
-	virtual void Reset();
-
-	virtual void InitTable(ITable* table);
-
-private:
-	float m_P;			// factor for "proportional" control
-	float m_I;			// factor for "integral" control
-	float m_D;			// factor for "derivative" control
-	float m_F;			// factor for "feed forward" control
-	float m_maximumOutput;	// |maximum output|
-	float m_minimumOutput;	// |minimum output|
-	float m_maximumInput;		// maximum input - limit setpoint to this
-	float m_minimumInput;		// minimum input - limit setpoint to this
-	bool m_continuous;	// do the endpoints wrap around? eg. Absolute encoder
-	bool m_enabled; 			//is the pid controller enabled
-	bool m_destruct; // should the calculate thread stop running
-	float m_prevError;	// the prior sensor input (used to compute velocity)
-	double m_totalError; //the sum of the errors for use in the integral calc
-	enum
-	{
-		kAbsoluteTolerance,
-		kPercentTolerance,
-		kNoTolerance
-	} m_toleranceType;
-	float m_tolerance;	//the percetage or absolute error that is considered on target
-	float m_setpoint;
-	float m_error;
-	float m_result;
-	float m_period;
-
-	PIDSource *m_pidInput;
-	PIDOutput *m_pidOutput;
-	
-	pthread_t m_controlLoop;
-	pthread_mutex_t m_mutex;
-
-	void Initialize(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
-			float period = 0.05);
-	static void *CallCalculate(void *controller);
-
-	virtual ITable* GetTable();
-	virtual std::string GetSmartDashboardType();
-	virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
-	virtual void UpdateTable();
-	virtual void StartLiveWindowMode();
-	virtual void StopLiveWindowMode();
-protected:
-	ITable* m_table;
-	void Calculate();
-
-	DISALLOW_COPY_AND_ASSIGN(PIDController);
-};
diff --git a/wpilibc/wpilibC++Devices/include/Task.h b/wpilibc/wpilibC++Devices/include/Task.h
deleted file mode 100644
index 7377c9ecfa..0000000000
--- a/wpilibc/wpilibC++Devices/include/Task.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "ErrorBase.h"
-#include "HAL/HAL.hpp"
-
-/**
- * WPI task is a wrapper for the native Task object.
- * All WPILib tasks are managed by a static task manager for simplified cleanup.
- **/
-class Task : public ErrorBase
-{
-public:
-	static const uint32_t kDefaultPriority = 101;
-
-	Task(const char* name, FUNCPTR function, int32_t priority = kDefaultPriority,
-			uint32_t stackSize = 20000);
-	virtual ~Task();
-
-	bool Start(uint32_t arg0 = 0, uint32_t arg1 = 0, uint32_t arg2 = 0, uint32_t arg3 = 0,
-			uint32_t arg4 = 0, uint32_t arg5 = 0, uint32_t arg6 = 0, uint32_t arg7 = 0,
-			uint32_t arg8 = 0, uint32_t arg9 = 0);
-	bool Restart();
-	bool Stop();
-
-	bool IsReady();
-	bool IsSuspended();
-
-	bool Suspend();
-	bool Resume();
-
-	bool Verify();
-
-	int32_t GetPriority();
-	bool SetPriority(int32_t priority);
-	const char* GetName();
-	TASK GetID();
-
-private:
-	FUNCPTR m_function;
-	char* m_taskName;
-	TASK m_taskID;
-	uint32_t m_stackSize;
-	int m_priority;
-	bool HandleError(STATUS results);
-	DISALLOW_COPY_AND_ASSIGN(Task);
-};
-
diff --git a/wpilibc/wpilibC++Devices/include/Timer.h b/wpilibc/wpilibC++Devices/include/Timer.h
deleted file mode 100644
index 67d574f2d3..0000000000
--- a/wpilibc/wpilibC++Devices/include/Timer.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "HAL/Semaphore.hpp"
-#include "Base.h"
-
-typedef void (*TimerInterruptHandler)(void *param);
-
-void Wait(double seconds);
-double GetClock();
-double GetTime();
-
-/**
- * Timer objects measure accumulated time in seconds.
- * The timer object functions like a stopwatch. It can be started, stopped, and cleared. When the
- * timer is running its value counts up in seconds. When stopped, the timer holds the current
- * value. The implementation simply records the time when started and subtracts the current time
- * whenever the value is requested.
- */
-class Timer
-{
-public:
-	Timer();
-	virtual ~Timer();
-	double Get();
-	void Reset();
-	void Start();
-	void Stop();
-	bool HasPeriodPassed(double period);
-
-	static double GetFPGATimestamp();
-	static double GetPPCTimestamp();
-
-private:
-	double m_startTime;
-	double m_accumulatedTime;
-	bool m_running;
-	MUTEX_ID m_semaphore;
-	DISALLOW_COPY_AND_ASSIGN(Timer);
-};
diff --git a/wpilibc/wpilibC++Devices/src/Notifier.cpp b/wpilibc/wpilibC++Devices/src/Notifier.cpp
index 667495cc4a..46ac430535 100644
--- a/wpilibc/wpilibC++Devices/src/Notifier.cpp
+++ b/wpilibc/wpilibC++Devices/src/Notifier.cpp
@@ -8,6 +8,7 @@
 #include "Timer.h"
 #include "Utility.h"
 #include "WPIErrors.h"
+#include "HAL/HAL.hpp"
 
 Notifier *Notifier::timerQueueHead = NULL;
 ReentrantSemaphore Notifier::queueSemaphore;
diff --git a/wpilibc/wpilibC++Devices/src/PIDController.cpp b/wpilibc/wpilibC++Devices/src/PIDController.cpp
index 55f0e58c1a..492adfe763 100644
--- a/wpilibc/wpilibC++Devices/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Devices/src/PIDController.cpp
@@ -12,6 +12,7 @@
 #include <math.h>
 #include "HAL/cpp/Synchronized.hpp"
 #include "Timer.h"
+#include "HAL/HAL.hpp"
 
 static const char *kP = "p";
 static const char *kI = "i";
diff --git a/wpilibc/wpilibC++Devices/src/Preferences.cpp b/wpilibc/wpilibC++Devices/src/Preferences.cpp
index 52901a0c70..5ac0c5ee7f 100644
--- a/wpilibc/wpilibC++Devices/src/Preferences.cpp
+++ b/wpilibc/wpilibC++Devices/src/Preferences.cpp
@@ -9,6 +9,7 @@
 //#include "NetworkCommunication/UsageReporting.h"
 #include "HAL/cpp/Synchronized.hpp"
 #include "WPIErrors.h"
+#include "HAL/HAL.hpp"
 
 #include <stdio.h>
 #include <algorithm>
diff --git a/wpilibc/wpilibC++Devices/src/Task.cpp b/wpilibc/wpilibC++Devices/src/Task.cpp
index 2c794e8e7c..8665664449 100644
--- a/wpilibc/wpilibC++Devices/src/Task.cpp
+++ b/wpilibc/wpilibC++Devices/src/Task.cpp
@@ -11,6 +11,7 @@
 #include <errno.h>
 #include <string.h>
 #include <stdio.h>
+#include "HAL/HAL.hpp"
 
 const uint32_t Task::kDefaultPriority;
 
diff --git a/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt b/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt
index 98d1c644d8..74814c45a9 100644
--- a/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt
+++ b/wpilibc/wpilibC++IntegrationTests/CMakeLists.txt
@@ -3,6 +3,6 @@ project(WPILibC++IntegrationTests)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp src/gtest/src/gtest-all.cc src/gtest/src/gtest_main.cc)
 include_directories(include/ src/gtest/ src/gtest/include/ ../wpilibC++Devices/include/ ${WPILIB_INCLUDES} ${HAL_API_INCLUDES} ${NWT_API_INCLUDES})
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread -Wno-unused-variable")
 add_executable(FRCUserProgram ${SRC_FILES})
-target_link_libraries(FRCUserProgram WPILib WPILibAthena WPILib HALAthena NetworkTables ${NI_LIBS} rt)
+target_link_libraries(FRCUserProgram wpilib_nonshared HALAthena NetworkTables ${NI_LIBS})
diff --git a/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
index 87cd2a9940..072a8dc4f1 100644
--- a/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
+++ b/wpilibc/wpilibC++IntegrationTests/src/NotifierTest.cpp
@@ -12,9 +12,10 @@
 
 unsigned notifierCounter;
 
-void notifierHandler(void *)
+void *notifierHandler(void *)
 {
 	notifierCounter++;
+	return nullptr;
 }
 
 /**
diff --git a/wpilibc/wpilibC++Sim/CMakeLists.txt b/wpilibc/wpilibC++Sim/CMakeLists.txt
index c396adae45..2c6b8394ce 100644
--- a/wpilibc/wpilibC++Sim/CMakeLists.txt
+++ b/wpilibc/wpilibC++Sim/CMakeLists.txt
@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 2.8)
 project(WPILibSim)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC -std=c++1y")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC -std=c++1y -DFRC_SIMULATOR")
 
-get_filename_component(HAL_API_INCLUDES $ENV{ALLWPILIB}/hal/include REALPATH)
-get_filename_component(NWT_API_INCLUDES $ENV{ALLWPILIB}/networktables/cpp/include REALPATH)
-add_subdirectory(build/wpilibC++)
+get_filename_component(HAL_API_INCLUDES ../../hal/include REALPATH)
+get_filename_component(NWT_API_INCLUDES ../../networktables/cpp/include REALPATH)
+add_subdirectory(../wpilibC++ wpilibC++)
 
 include (FindPkgConfig)
 if (PKG_CONFIG_FOUND)
@@ -14,17 +14,20 @@ endif()
 
 find_package(gazebo REQUIRED)
 
-file(GLOB_RECURSE SRC_FILES src/*.cpp $ENV{ALLWPILIB}/networktables/cpp/lib/share/*.cpp
-                                      $ENV{ALLWPILIB}/networktables/cpp/lib/Athena/*.cpp
-                                      $ENV{ALLWPILIB}/hal/lib/Athena/Task.cpp
-                                      $ENV{ALLWPILIB}/hal/lib/Athena/Semaphore.cpp
-                                      $ENV{ALLWPILIB}/hal/lib/Athena/cpp/*.cpp)
-include_directories(include/ $ENV{ALLWPILIB}/wpilibc/wpilibC++/include
-                    $ENV{ALLWPILIB}/networktables/cpp/include
-                    $ENV{ALLWPILIB}/hal/include
+file(GLOB_RECURSE SRC_FILES src/*.cpp ../../networktables/cpp/lib/share/*.cpp
+                                      ../../networktables/cpp/lib/Athena/*.cpp
+                                      ../../hal/lib/Athena/Task.cpp
+                                      ../../hal/lib/Athena/Semaphore.cpp
+                                      ../../hal/lib/Athena/cpp/Synchronized.cpp)
+
+file(GLOB_RECURSE COM_SRC_FILES ../wpilibC++/src/*.cpp)
+
+include_directories(include/ ../../wpilibc/wpilibC++/include
+                    ../../networktables/cpp/include
+                    ../../hal/include
                     ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS}) # ${NWT_API_INCLUDES}
-add_library(WPILibSim SHARED ${SRC_FILES})
-target_link_libraries(WPILibSim WPILib ${GAZEBO_LIBRARIES}  -fPIC) # NetworkTables
+add_library(WPILibSim SHARED ${SRC_FILES} ${COM_SRC_FILES})
+target_link_libraries(WPILibSim ${GAZEBO_LIBRARIES}  -fPIC) # NetworkTables
 INSTALL(TARGETS WPILibSim LIBRARY DESTINATION src COMPONENT src)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
 # ni_emb
diff --git a/wpilibc/wpilibC++Sim/Makefile b/wpilibc/wpilibC++Sim/Makefile
index f698aee000..47bf75f1c2 100644
--- a/wpilibc/wpilibC++Sim/Makefile
+++ b/wpilibc/wpilibC++Sim/Makefile
@@ -1,12 +1,10 @@
 prefix = /usr
 lib.dir = $(prefix)/lib
 build.dir = build
-allwpilib = ../..
 
 all:
 	mkdir -p $(build.dir)
-	cp -r $(allwpilib)/wpilibc/wpilibC++ build
-	cd ${build.dir} && ALLWPILIB=$(allwpilib) cmake .. && make
+	cd ${build.dir} && cmake .. && make
 
 clean:
 	rm -rf $(build.dir)
diff --git a/wpilibc/wpilibC++Sim/include/Notifier.h b/wpilibc/wpilibC++Sim/include/Notifier.h
deleted file mode 100644
index 4bd89879f3..0000000000
--- a/wpilibc/wpilibC++Sim/include/Notifier.h
+++ /dev/null
@@ -1,44 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "ErrorBase.h"
-#include "Task.h"
-#include "HAL/cpp/Synchronized.hpp"
-
-typedef void (*TimerEventHandler)(void *param);
-
-class Notifier : public ErrorBase
-{
-public:
-	Notifier(TimerEventHandler handler, void *param = NULL);
-	virtual ~Notifier();
-	void StartSingle(double delay);
-	void StartPeriodic(double period);
-	void Stop();
-private:
-	static Notifier *timerQueueHead;
-	static ReentrantSemaphore queueSemaphore;
-	static int refcount;
-
-	static void ProcessQueue(uint32_t mask, void *params); // process the timer queue on a timer event
-	static void UpdateAlarm();			// update the FPGA alarm since the queue has changed
-	void InsertInQueue(bool reschedule);	// insert this Notifier in the timer queue
-	void DeleteFromQueue();				// delete this Notifier from the timer queue
-	TimerEventHandler m_handler;			// address of the handler
-	void *m_param;							// a parameter to pass to the handler
-	double m_period;						// the relative time (either periodic or single)
-	double m_expirationTime;				// absolute expiration time for the current event
-	Notifier *m_nextEvent;					// next Nofifier event
-	bool m_periodic;						// true if this is a periodic event
-	bool m_queued;							// indicates if this entry is queued
-	SEMAPHORE_ID m_handlerSemaphore;		// held by interrupt manager task while handler call is in progress
-
-	DISALLOW_COPY_AND_ASSIGN(Notifier);
-
-	static Task *task;
-	static void Run();
-};
diff --git a/wpilibc/wpilibC++Sim/include/PIDController.h b/wpilibc/wpilibC++Sim/include/PIDController.h
deleted file mode 100644
index 1790d9b174..0000000000
--- a/wpilibc/wpilibC++Sim/include/PIDController.h
+++ /dev/null
@@ -1,107 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "Base.h"
-#include "Controller.h"
-#include "LiveWindow/LiveWindow.h"
-#include <pthread.h>
-
-class PIDOutput;
-class PIDSource;
-class Notifier;
-
-/**
- * Class implements a PID Control Loop.
- * 
- * Creates a separate thread which reads the given PIDSource and takes
- * care of the integral calculations, as well as writing the given
- * PIDOutput
- */
-class PIDController : public LiveWindowSendable, public Controller, public ITableListener
-{
-public:
-	PIDController(float p, float i, float d, PIDSource *source, PIDOutput *output, float period =
-			0.05);
-	PIDController(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
-			float period = 0.05);
-	virtual ~PIDController();
-	virtual float Get();
-	virtual void SetContinuous(bool continuous = true);
-	virtual void SetInputRange(float minimumInput, float maximumInput);
-	virtual void SetOutputRange(float mimimumOutput, float maximumOutput);
-	virtual void SetPID(float p, float i, float d);
-	virtual void SetPID(float p, float i, float d, float f);
-	virtual float GetP();
-	virtual float GetI();
-	virtual float GetD();
-	virtual float GetF();
-
-	virtual void SetSetpoint(float setpoint);
-	virtual float GetSetpoint();
-
-	virtual float GetError();
-
-	virtual void SetTolerance(float percent);
-	virtual void SetAbsoluteTolerance(float absValue);
-	virtual void SetPercentTolerance(float percentValue);
-	virtual bool OnTarget();
-
-	virtual void Enable();
-	virtual void Disable();
-	virtual bool IsEnabled();
-
-	virtual void Reset();
-
-	virtual void InitTable(ITable* table);
-
-private:
-	float m_P;			// factor for "proportional" control
-	float m_I;			// factor for "integral" control
-	float m_D;			// factor for "derivative" control
-	float m_F;			// factor for "feed forward" control
-	float m_maximumOutput;	// |maximum output|
-	float m_minimumOutput;	// |minimum output|
-	float m_maximumInput;		// maximum input - limit setpoint to this
-	float m_minimumInput;		// minimum input - limit setpoint to this
-	bool m_continuous;	// do the endpoints wrap around? eg. Absolute encoder
-	bool m_enabled; 			//is the pid controller enabled
-	float m_prevError;	// the prior sensor input (used to compute velocity)
-	double m_totalError; //the sum of the errors for use in the integral calc
-	enum
-	{
-		kAbsoluteTolerance,
-		kPercentTolerance,
-		kNoTolerance
-	} m_toleranceType;
-	float m_tolerance;	//the percetage or absolute error that is considered on target
-	float m_setpoint;
-	float m_error;
-	float m_result;
-	float m_period;
-	
-	MUTEX_ID m_semaphore;
-	
-	PIDSource *m_pidInput;
-	PIDOutput *m_pidOutput;
-	Notifier *m_controlLoop;
-
-	void Initialize(float p, float i, float d, float f, PIDSource *source, PIDOutput *output,
-			float period = 0.05);
-	static void CallCalculate(void *controller);
-
-	virtual ITable* GetTable();
-	virtual std::string GetSmartDashboardType();
-	virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
-	virtual void UpdateTable();
-	virtual void StartLiveWindowMode();
-	virtual void StopLiveWindowMode();
-protected:
-	ITable* m_table;
-	void Calculate();
-
-	DISALLOW_COPY_AND_ASSIGN(PIDController);
-};
diff --git a/wpilibc/wpilibC++Sim/include/Task.h b/wpilibc/wpilibC++Sim/include/Task.h
deleted file mode 100644
index ca1754a50d..0000000000
--- a/wpilibc/wpilibC++Sim/include/Task.h
+++ /dev/null
@@ -1,52 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "ErrorBase.h"
-#include "HAL/Task.hpp"
-
-/**
- * WPI task is a wrapper for the native Task object.
- * All WPILib tasks are managed by a static task manager for simplified cleanup.
- **/
-class Task : public ErrorBase
-{
-public:
-	static const uint32_t kDefaultPriority = 101;
-
-	Task(const char* name, FUNCPTR function, int32_t priority = kDefaultPriority,
-			uint32_t stackSize = 20000);
-	virtual ~Task();
-
-	bool Start(uint32_t arg0 = 0, uint32_t arg1 = 0, uint32_t arg2 = 0, uint32_t arg3 = 0,
-			uint32_t arg4 = 0, uint32_t arg5 = 0, uint32_t arg6 = 0, uint32_t arg7 = 0,
-			uint32_t arg8 = 0, uint32_t arg9 = 0);
-	bool Restart();
-	bool Stop();
-
-	bool IsReady();
-	bool IsSuspended();
-
-	bool Suspend();
-	bool Resume();
-
-	bool Verify();
-
-	int32_t GetPriority();
-	bool SetPriority(int32_t priority);
-	const char* GetName();
-	TASK GetID();
-
-private:
-	FUNCPTR m_function;
-	char* m_taskName;
-	TASK m_taskID;
-	uint32_t m_stackSize;
-	int m_priority;
-	bool HandleError(STATUS results);
-	DISALLOW_COPY_AND_ASSIGN(Task);
-};
-
diff --git a/wpilibc/wpilibC++Sim/include/Timer.h b/wpilibc/wpilibC++Sim/include/Timer.h
deleted file mode 100644
index 40a6f65db5..0000000000
--- a/wpilibc/wpilibC++Sim/include/Timer.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
-/*----------------------------------------------------------------------------*/
-#pragma once
-
-#include "HAL/Semaphore.hpp"
-#include "Base.h"
-
-typedef void (*TimerInterruptHandler)(void *param);
-
-void Wait(double seconds);
-double GetClock();
-double GetTime();
-
-namespace wpilib { namespace internal {
-    extern double simTime;
-	extern MULTIWAIT_ID time_wait;
-    // transport::SubscriberPtr time_sub;
-}}
-
-/**
- * Timer objects measure accumulated time in seconds.
- * The timer object functions like a stopwatch. It can be started, stopped, and cleared. When the
- * timer is running its value counts up in seconds. When stopped, the timer holds the current
- * value. The implementation simply records the time when started and subtracts the current time
- * whenever the value is requested.
- */
-class Timer
-{
-public:
-	Timer();
-	virtual ~Timer();
-	double Get();
-	void Reset();
-	void Start();
-	void Stop();
-	bool HasPeriodPassed(double period);
-
-	static double GetFPGATimestamp();
-	static double GetPPCTimestamp();
-
-private:
-	double m_startTime;
-	double m_accumulatedTime;
-	bool m_running;
-	MUTEX_ID m_semaphore;
-	DISALLOW_COPY_AND_ASSIGN(Timer);
-};
diff --git a/wpilibc/wpilibC++Sim/include/Utility.h b/wpilibc/wpilibC++Sim/include/Utility.h
deleted file mode 100644
index 25c56e0006..0000000000
--- a/wpilibc/wpilibC++Sim/include/Utility.h
+++ /dev/null
@@ -1,26 +0,0 @@
-/*---------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
-/*---------------------------------------------------------------------------*/
-#pragma once
-
-#include <stdint.h>
-
-#define wpi_assert(condition) wpi_assert_impl(condition, #condition, NULL, __FILE__, __LINE__, __FUNCTION__)
-#define wpi_assertWithMessage(condition, message) wpi_assert_impl(condition, #condition, message, __FILE__, __LINE__, __FUNCTION__)
-
-#define wpi_assertEqual(a, b) wpi_assertEqual_impl(a, b, NULL, __FILE__, __LINE__, __FUNCTION__)
-#define wpi_assertEqualWithMessage(a, b, message) wpi_assertEqual_impl(a, b, message, __FILE__, __LINE__, __FUNCTION__)
-
-#define wpi_assertNotEqual(a, b) wpi_assertNotEqual_impl(a, b, NULL, __FILE__, __LINE__, __FUNCTION__)
-#define wpi_assertNotEqualWithMessage(a, b, message) wpi_assertNotEqual_impl(a, b, message, __FILE__, __LINE__, __FUNCTION__)
-
-bool wpi_assert_impl(bool conditionValue, const char *conditionText, const char *message, const char *fileName, uint32_t lineNumber, const char *funcName);
-bool wpi_assertEqual_impl(int valueA, int valueB, const char *message, const char *fileName,uint32_t lineNumber, const char *funcName);
-bool wpi_assertNotEqual_impl(int valueA, int valueB, const char *message, const char *fileName,uint32_t lineNumber, const char *funcName);
-
-void wpi_suspendOnAssertEnabled(bool enabled);
-void wpi_stackTraceOnAssertEnable(bool enabled);
-
-uint32_t GetFPGATime();
diff --git a/wpilibc/wpilibC++Sim/include/simulation/simTime.h b/wpilibc/wpilibC++Sim/include/simulation/simTime.h
new file mode 100644
index 0000000000..7b4bf90690
--- /dev/null
+++ b/wpilibc/wpilibC++Sim/include/simulation/simTime.h
@@ -0,0 +1,7 @@
+#pragma once
+
+namespace wpilib { namespace internal {
+    extern double simTime;
+	extern MULTIWAIT_ID time_wait;
+    // transport::SubscriberPtr time_sub;
+}}
diff --git a/wpilibc/wpilibC++Sim/src/PIDController.cpp b/wpilibc/wpilibC++Sim/src/PIDController.cpp
index d55cfdbf0d..6087ce6760 100644
--- a/wpilibc/wpilibC++Sim/src/PIDController.cpp
+++ b/wpilibc/wpilibC++Sim/src/PIDController.cpp
@@ -115,10 +115,11 @@ PIDController::~PIDController()
  * This method is static and called by the Notifier class.
  * @param controller the address of the PID controller object to use in the background loop
  */
-void PIDController::CallCalculate(void *controller)
+void *PIDController::CallCalculate(void *controller)
 {
 	PIDController *control = (PIDController*) controller;
 	control->Calculate();
+	return nullptr;
 }
 
  /**
diff --git a/wpilibc/wpilibC++Sim/src/Solenoid.cpp b/wpilibc/wpilibC++Sim/src/Solenoid.cpp
index f35ab4de7a..bf29282192 100644
--- a/wpilibc/wpilibC++Sim/src/Solenoid.cpp
+++ b/wpilibc/wpilibC++Sim/src/Solenoid.cpp
@@ -7,6 +7,7 @@
 #include "Solenoid.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
+#include "simulation/simTime.h"
 
 /**
  * Common function to implement constructor behavior.
diff --git a/wpilibc/wpilibC++Sim/src/Timer.cpp b/wpilibc/wpilibC++Sim/src/Timer.cpp
index 9c5ff5a86f..3e221a3f14 100644
--- a/wpilibc/wpilibC++Sim/src/Timer.cpp
+++ b/wpilibc/wpilibC++Sim/src/Timer.cpp
@@ -9,6 +9,7 @@
 #include <time.h>
 
 #include "HAL/cpp/Synchronized.hpp"
+#include "simulation/simTime.h"
 #include "Utility.h"
 
 /**
diff --git a/wpilibc/wpilibC++Sim/src/Utility.cpp b/wpilibc/wpilibC++Sim/src/Utility.cpp
index c565221bec..e1bf26d554 100644
--- a/wpilibc/wpilibC++Sim/src/Utility.cpp
+++ b/wpilibc/wpilibC++Sim/src/Utility.cpp
@@ -8,6 +8,7 @@
 
 #include "Task.h"
 #include "Timer.h"
+#include "simulation/simTime.h"
 #include <stdio.h>
 #include <string.h>