Bump the version number for the windows toolchains to force them to reload.

Change-Id: Ib095d5c1caf51739cc1b5bee1680592e0cfc34de

.gitignore

@@ -1,20 +1,82 @@
+# WPIlib Specific
+
 wpilibc/build/
 hal/build/
 networktables/cpp/build/
 build/
 networktables/OutlineViewer/nbproject/private
-*~
-target/
 dist/
 bin/
 .project
-.cproject
-.settings/
 .classpath
+**/dependency-reduced-pom.xml
 
-#Java File extentions
+# Created by the jenkins test script
+test-reports
+
+# Added by the users of vagrant
+jdk-7u45-linux-arm-vfp-sflt.gz
+
+
+
+
+# Created by http://www.gitignore.io
+
+### Linux ###
+*~
+
+# KDE directory preferences
+.directory
+
+
+### Windows ###
+# Windows image file caches
+Thumbs.db
+ehthumbs.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msm
+*.msp
+
+
+### OSX ###
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear on external disk
+.Spotlight-V100
+.Trashes
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+
+### Java ###
 *.class
 
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
 # Package Files #
 *.jar
 *.war
@@ -22,3 +84,90 @@ bin/
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
+
+
+### C++ ###
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Compiled Dynamic libraries
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+
+### Maven ###
+target/
+pom.xml.tag
+pom.xml.releaseBackup
+pom.xml.versionsBackup
+pom.xml.next
+release.properties
+
+
+### CMake ###
+CMakeCache.txt
+CMakeFiles
+cmake_install.cmake
+install_manifest.txt
+
+
+### Gradle ###
+.gradle
+build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+
+### Vagrant ###
+.vagrant/
+
+
+### Eclipse ###
+*.pydevproject
+.metadata
+.gradle
+bin/
+tmp/
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.settings/
+.loadpath
+
+# External tool builders
+.externalToolBuilders/
+
+# Locally stored "Eclipse launch configurations"
+*.launch
+
+# CDT-specific
+.cproject
+
+# PDT-specific
+.buildpath
+
+# sbteclipse plugin 
+.target
+
+# TeXlipse plugin
+.texlipse

.hgignore

@@ -1,13 +0,0 @@
-syntax: re
-^\.hgignore$
-.*/target(?:/|$)
-.*/dist(?:/|$)
-eclipse-plugins/.*/bin(?:/|$)
-
-syntax: glob
-wpilibc/build/
-hal/build/
-networktables/cpp/build/
-build/
-networktables/OutlineViewer/nbproject/private
-*~

CMakeLists.txt

@@ -1,10 +1,11 @@
 cmake_minimum_required(VERSION 2.8)
 project(All-WPILib)
 set(CMAKE_BUILD_TYPE Debug)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wextra -Wno-unused-parameter -fPIC")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wformat=2 -Wall -Wextra -Wno-unused-parameter -fPIC")
 SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 
 file(GLOB_RECURSE NI_LIBS ni-libraries/*.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)
 add_subdirectory(hal)

Vagrantfile

@@ -0,0 +1,125 @@
+# -*- mode: ruby -*-
+# vi: set ft=ruby :
+
+# Vagrantfile API/syntax version. Don't touch unless you know what you're doing!
+VAGRANTFILE_API_VERSION = "2"
+
+Vagrant.configure(VAGRANTFILE_API_VERSION) do |config|
+  # All Vagrant configuration is done here. The most common configuration
+  # options are documented and commented below. For a complete reference,
+  # please see the online documentation at vagrantup.com.
+
+  # Every Vagrant virtual environment requires a box to build off of.
+  config.vm.box = "puphpet/ubuntu1404-x64"
+
+  # Run the bootstrap.sh shell script to setup the enviroment
+  config.vm.provision :shell, path: "bootstrap.sh"
+
+  # Disable automatic box update checking. If you disable this, then
+  # boxes will only be checked for updates when the user runs
+  # `vagrant box outdated`. This is not recommended.
+  # config.vm.box_check_update = false
+
+  # Create a forwarded port mapping which allows access to a specific port
+  # within the machine from a port on the host machine. In the example below,
+  # accessing "localhost:8080" will access port 80 on the guest machine.
+  # config.vm.network "forwarded_port", guest: 80, host: 8080
+
+  # Create a private network, which allows host-only access to the machine
+  # using a specific IP.
+  # config.vm.network "private_network", ip: "192.168.33.10"
+
+  # Create a public network, which generally matched to bridged network.
+  # Bridged networks make the machine appear as another physical device on
+  # your network.
+  config.vm.network "public_network", bridge: 'en0'
+
+  # If true, then any SSH connections made will enable agent forwarding.
+  # Default value: false
+  config.ssh.forward_agent = true
+
+  # Share an additional folder to the guest VM. The first argument is
+  # the path on the host to the actual folder. The second argument is
+  # the path on the guest to mount the folder. And the optional third
+  # argument is a set of non-required options.
+  # config.vm.synced_folder "../data", "/vagrant_data"
+
+  # Provider-specific configuration so you can fine-tune various
+  # backing providers for Vagrant. These expose provider-specific options.
+  # Example for VirtualBox:
+  #
+  # config.vm.provider "virtualbox" do |vb|
+  #   # Don't boot with headless mode
+  #   vb.gui = true
+  #
+  #   # Use VBoxManage to customize the VM. For example to change memory:
+  #   vb.customize ["modifyvm", :id, "--memory", "1024"]
+  # end
+  #
+  # View the documentation for the provider you're using for more
+  # information on available options.
+
+  # Enable provisioning with CFEngine. CFEngine Community packages are
+  # automatically installed. For example, configure the host as a
+  # policy server and optionally a policy file to run:
+  #
+  # config.vm.provision "cfengine" do |cf|
+  #   cf.am_policy_hub = true
+  #   # cf.run_file = "motd.cf"
+  # end
+  #
+  # You can also configure and bootstrap a client to an existing
+  # policy server:
+  #
+  # config.vm.provision "cfengine" do |cf|
+  #   cf.policy_server_address = "10.0.2.15"
+  # end
+
+  # Enable provisioning with Puppet stand alone.  Puppet manifests
+  # are contained in a directory path relative to this Vagrantfile.
+  # You will need to create the manifests directory and a manifest in
+  # the file default.pp in the manifests_path directory.
+  #
+  # config.vm.provision "puppet" do |puppet|
+  #   puppet.manifests_path = "manifests"
+  #   puppet.manifest_file  = "site.pp"
+  # end
+
+  # Enable provisioning with chef solo, specifying a cookbooks path, roles
+  # path, and data_bags path (all relative to this Vagrantfile), and adding
+  # some recipes and/or roles.
+  #
+  # config.vm.provision "chef_solo" do |chef|
+  #   chef.cookbooks_path = "../my-recipes/cookbooks"
+  #   chef.roles_path = "../my-recipes/roles"
+  #   chef.data_bags_path = "../my-recipes/data_bags"
+  #   chef.add_recipe "mysql"
+  #   chef.add_role "web"
+  #
+  #   # You may also specify custom JSON attributes:
+  #   chef.json = { mysql_password: "foo" }
+  # end
+
+  # Enable provisioning with chef server, specifying the chef server URL,
+  # and the path to the validation key (relative to this Vagrantfile).
+  #
+  # The Opscode Platform uses HTTPS. Substitute your organization for
+  # ORGNAME in the URL and validation key.
+  #
+  # If you have your own Chef Server, use the appropriate URL, which may be
+  # HTTP instead of HTTPS depending on your configuration. Also change the
+  # validation key to validation.pem.
+  #
+  # config.vm.provision "chef_client" do |chef|
+  #   chef.chef_server_url = "https://api.opscode.com/organizations/ORGNAME"
+  #   chef.validation_key_path = "ORGNAME-validator.pem"
+  # end
+  #
+  # If you're using the Opscode platform, your validator client is
+  # ORGNAME-validator, replacing ORGNAME with your organization name.
+  #
+  # If you have your own Chef Server, the default validation client name is
+  # chef-validator, unless you changed the configuration.
+  #
+  #   chef.validation_client_name = "ORGNAME-validator"
+end

arm-toolchain.cmake

@@ -1,10 +1,12 @@
 cmake_minimum_required(VERSION 2.8)
 INCLUDE(CMakeForceCompiler)
 set(ARM_PREFIX arm-none-linux-gnueabi)
+#set(ARM_PREFIX arm-frc-linux-gnueabi)
 set(CMAKE_SYSTEM_NAME Linux)
 CMAKE_FORCE_CXX_COMPILER(${ARM_PREFIX}-g++ GNU)
 CMAKE_FORCE_C_COMPILER(${ARM_PREFIX}-gcc GNU)
 set(CMAKE_CXX_FLAGS "-march=armv7-a -mcpu=cortex-a9 -mfloat-abi=softfp -Wall -Wno-psabi" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3" CACHE STRING "" FORCE)
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -g" CACHE STRING "" FORCE) # still want debugging for release?
+#SET(CMAKE_FIND_ROOT_PATH /usr/arm-frc-linux-gnueabi)
 SET(CMAKE_FIND_ROOT_PATH $ENV{USER_HOME}/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/arm-none-linux-gnueabi/libc)

bootstrap.sh

@@ -0,0 +1,61 @@
+#!/usr/bin/env bash
+
+# Update the apt-get repository list
+apt-get update
+
+
+# Download and install Java
+apt-get --yes --force-yes install default-jre
+apt-get --yes --force-yes install default-jdk
+
+
+# Install Maven
+apt-get --yes --force-yes install maven
+
+
+# Install git-review
+apt-get --yes --force-yes install python-pip
+apt-get --yes --force-yes install python-setuptools
+easy_install pip
+yes | pip install git-review
+
+
+# Download and install the gcc linux arm-toolchains
+# Get the 32 bit c library
+apt-get --yes --force-yes install libc6-i386
+# Download the tool to unzip .zip files
+apt-get --yes --force-yes install unzip
+# The variables associated with the toolchains
+TOOL_VER="1.0.1"
+TOOL_DIR=~/../home/vagrant/wpilib/toolchains
+# Create the toolchains directory
+mkdir -p $TOOL_DIR
+# Download the toolchains to this directory
+wget -P ${TOOL_DIR}/ http://first.wpi.edu/FRC/c/maven/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/${TOOL_VER}/linux-${TOOL_VER}.zip
+# Unzip the file
+unzip -q ${TOOL_DIR}/linux-${TOOL_VER}.zip -d ${TOOL_DIR}/
+# Remove the unneeded zip file
+rm ${TOOL_DIR}/linux-${TOOL_VER}.zip
+# Change the name of the directory
+mv -f $TOOL_DIR/linux-${TOOL_VER} ${TOOL_DIR}/arm-none-linux-gnueabi-4.4.1
+chown -R vagrant $TOOL_DIR/arm-none-linux-gnueabi-4.4.1
+# Add the arm toolchains to the path variable
+echo 'PATH=$PATH:/home/vagrant/wpilib/toolchains/arm-none-linux-gnueabi-4.4.1/bin/' >> /home/vagrant/.bashrc
+
+
+# Install the jdk-linux-arm-vfp-sflt
+# Create the target directory for the jdk
+mkdir -p /home/vagrant/jdk-linux-arm-vfp-sflt/
+# Unzip the jdk into this new directory
+tar -xzf /vagrant/jdk-7u45-linux-arm-vfp-sflt.gz -C /home/vagrant/jdk-linux-arm-vfp-sflt/
+
+
+# Install sshpass for the test system
+apt-get --yes --force-yes install sshpass
+
+# Keep this at the end of this file
+printf "\n\n"
+printf "Your virtual enviroment is now nearly set-up.\n"
+printf "You can access your enviroment using 'vagrant ssh'.\n"
+printf "Please run 'cd /vagrant' to navigate to the repository.\n"
+printf "Once you have navigated there please run 'git review -s' to complete the setup of git review.\n"

cmake/run-cpp-tests.sh

@@ -1,17 +0,0 @@
-#!/usr/bin/env bash
-
-# Temporary method to deploy C++ integration tests to the RoboRIO
-
-if [ $(which sshpass) ]
-then
-	sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram
-	sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
-	sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram  $*
-else
-	ssh admin@10.1.90.2 killall FRCUserProgram
-	scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
-	ssh admin@10.1.90.2 ./FRCUserProgram $*
-fi
-
-
-

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/WPILibCore.java

@@ -105,6 +105,7 @@ public class WPILibCore extends AbstractUIPlugin {
 
 	public void saveGlobalProperties(Properties props) {
 		try {
+			props.setProperty("version", "current");
 			props.store(new FileOutputStream(new File(WPILibCore.getDefault()
 					.getWPILibBaseDir() + "/wpilib.properties")),
 					"Don't add new properties, they will be deleted by the eclipse plugin.");
@@ -124,7 +125,7 @@ public class WPILibCore extends AbstractUIPlugin {
 			return target;
 		else {
 			int teamNumber = getTeamNumber(project);
-			return "10." + (teamNumber / 100) + "." + (teamNumber % 100) + ".2";
+			return "roborio-" + teamNumber + ".local";
 		}
 	}
 
@@ -133,7 +134,7 @@ public class WPILibCore extends AbstractUIPlugin {
 	}
 
 	public String getDefaultVersion() {
-		return "2013-test-0.4";
+		return "0.2";
 	}
 
 	public String getCurrentVersion() {

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/installer/AbstractInstaller.java

@@ -22,12 +22,12 @@ import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 
 public abstract class AbstractInstaller {
 	protected File installLocation;
-	protected String version;
+	protected String version, installedVersion;
 
-	public AbstractInstaller(String version) {
-		this.installLocation = new File(WPILibCore.getDefault().getWPILibBaseDir()
-				+ File.separator + getFeatureName() + File.separator + version);
+	public AbstractInstaller(String version, String installedVersion, String path) {
+		this.installLocation = new File(path);
 		this.version = version;
+		this.installedVersion = installedVersion;
 	}
 
 	/**
@@ -55,7 +55,7 @@ public abstract class AbstractInstaller {
 				WPILibCore.logInfo("Installing "+getFeatureName()+" if necessary");
 
 				if (!isInstalled()) {
-					WPILibCore.logInfo("Install necessary");
+					WPILibCore.logInfo("Install necessary for " + getFeatureName());
 					try {
 						install();
 					} catch (InstallException e) {
@@ -64,9 +64,9 @@ public abstract class AbstractInstaller {
 								getErrorMessage(e));
 					}
 				}
-
+				
 				updateInstalledVersion(version);
-				WPILibCore.logInfo("Installed");
+				WPILibCore.logInfo("Installed" + getFeatureName());
 
 				return Status.OK_STATUS;
 			}
@@ -105,7 +105,7 @@ public abstract class AbstractInstaller {
 	 * @return True for is there and newer, false otherwise.
 	 */
 	protected boolean isInstalled() {
-		return installLocation.exists(); 
+		return installLocation.exists() && !version.contains("DEVELOPMENT") && version.equals(installedVersion);
 	}
 
 	/**
@@ -138,7 +138,7 @@ public abstract class AbstractInstaller {
 					}
 
 					// Call 'unzip'
-					final String[] cmd = {"unzip", tmpFile.getAbsolutePath(), "-d", installLocation.getAbsolutePath()};
+					final String[] cmd = {"unzip" , "-o", tmpFile.getAbsolutePath(), "-d", installLocation.getAbsolutePath()};
 					WPILibCore.logInfo("unzip "+tmpFile.getAbsolutePath()+" -d "+installLocation.getAbsolutePath());
 					final Process unzipProcess = DebugPlugin.exec(cmd, installLocation);
 					try (final InputStream is = unzipProcess.getInputStream()) {

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/installer/ToolsInstaller.java

@@ -1,8 +1,6 @@
 package edu.wpi.first.wpilib.plugins.core.installer;
 
 import java.io.InputStream;
-import java.util.Properties;
-
 import org.eclipse.jface.preference.IPreferenceStore;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
@@ -11,7 +9,7 @@ import edu.wpi.first.wpilib.plugins.core.preferences.PreferenceConstants;
 public class ToolsInstaller extends AbstractInstaller {
 
 	public ToolsInstaller(String version) {
-		super(version);
+		super(version, WPILibCore.getDefault().getPreferenceStore().getString(PreferenceConstants.TOOLS_VERSION), WPILibCore.getDefault().getWPILibBaseDir() + "/tools");
 	}
 
 	@Override
@@ -22,13 +20,8 @@ public class ToolsInstaller extends AbstractInstaller {
 	@Override
 	protected void updateInstalledVersion(String version) {
 		IPreferenceStore prefs = WPILibCore.getDefault().getPreferenceStore();
-		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLS_VERSION)) {
-			WPILibCore.logInfo("Forcing library version to "+version);
-	    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
-	    	props.setProperty("version", version);
-	    	WPILibCore.getDefault().saveGlobalProperties(props);
-			prefs.setValue(PreferenceConstants.TOOLS_VERSION, version);
-		}
+		prefs.setValue(PreferenceConstants.TOOLS_VERSION, version);
+		
 	}
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/preferences/PreferenceInitializer.java

@@ -19,7 +19,8 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 		IPreferenceStore store = WPILibCore.getDefault().getPreferenceStore();
 		store.setDefault(PreferenceConstants.TEAM_NUMBER,
 				WPILibCore.getDefault().getProjectProperties(null).getProperty("team-number", "0"));
-		store.setDefault(PreferenceConstants.TOOLS_VERSION, WPILibCore.getDefault().getDefaultVersion());
-		store.setDefault(PreferenceConstants.UPDATE_TOOLS_VERSION, true);
+		String val = store.getString(PreferenceConstants.TOOLS_VERSION);
+		if (!store.contains(PreferenceConstants.TOOLS_VERSION) && val != null)
+			store.setValue(PreferenceConstants.TOOLS_VERSION, "none");
 	}
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/NewProjectMainPage.java

@@ -35,15 +35,15 @@ public class NewProjectMainPage extends WizardPage {
 	private Text worldText;
 	private Button worldButton;
 
-	Button simpleRobot, iterativeRobot, commandRobot;
+	Button iterativeRobot, commandRobot, sampleRobot;
 	private boolean showPackage;
 	private boolean showProjectTypes;
 	private TeamNumberPage teamNumberPage;
 
 	/**
 	 * Constructor for SampleNewWizardPage.
-	 * @param teamNumberPage 
-	 * 
+	 * @param teamNumberPage
+	 *
 	 * @param pageName
 	 */
 	public NewProjectMainPage(ISelection selection, TeamNumberPage teamNumberPage) {
@@ -77,7 +77,7 @@ public class NewProjectMainPage extends WizardPage {
 		if (showPackage) {
 			label = new Label(container, SWT.NULL);
 			label.setText("&Package:");
-		
+
 			packageText = new Text(container, SWT.BORDER | SWT.SINGLE);
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			packageText.setLayoutData(gd);
@@ -87,7 +87,7 @@ public class NewProjectMainPage extends WizardPage {
 				}
 			});
 		}
-		
+
 		if (showProjectTypes) {
 			Group projectTypeGroup = new Group(container, SWT.BORDER);
 			projectTypeGroup.setText("Project Type");
@@ -97,31 +97,29 @@ public class NewProjectMainPage extends WizardPage {
 			GridLayout groupLayout = new GridLayout();
 			groupLayout.numColumns = 1;
 			projectTypeGroup.setLayout(groupLayout);
-			
-			simpleRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
-			//simpleRobot.setData( RWT.MARKUP_ENABLED, Boolean.TRUE );
-			simpleRobot.setText("Simple Robot: A flexible robot project intended for robots that implement basic functionality. Can also be used as a starting point for teams with a custom framework.");
-			gd = new GridData(GridData.FILL_HORIZONTAL);
-			gd.widthHint = 300;
-			simpleRobot.setLayoutData(gd);
-			simpleRobot.setSelection(true);
-			
+
 			iterativeRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
 			iterativeRobot.setText("Iterative Robot: A robot project that allows robots to be implemented in an iterative manner.");
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
 			iterativeRobot.setLayoutData(gd);
-			
+
 			commandRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
 			commandRobot.setText("Command-Based Robot: A robot project that allows robots to be implemented using the command based model to allow complex functionality to be developed from simpler functionality.");
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
 			commandRobot.setLayoutData(gd);
+			
+			sampleRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
+			sampleRobot.setText("Sample Robot: A robot project used for small sample programs or for highly advanced programs with more complete control over program flow");
+			gd = new GridData(GridData.FILL_HORIZONTAL);
+			gd.widthHint = 300;
+			sampleRobot.setLayoutData(gd);
 		}
 
 		label = new Label(container, SWT.NULL);
 		label.setText("Simulation &World:");
-		
+
 
 		Composite comp = new Composite(container, SWT.NULL);
 		gd = new GridData(GridData.FILL_HORIZONTAL);
@@ -144,7 +142,7 @@ public class NewProjectMainPage extends WizardPage {
 				browse();
 			}
 		});
-		
+
 		initialize();
 		dialogChanged();
 		setControl(container);
@@ -162,7 +160,7 @@ public class NewProjectMainPage extends WizardPage {
 					@Override public void stateChanged(ChangeEvent e) {
 						String teamNumber = TeamNumberPage.getTeamNumberFromPage(teamNumberPage);
 						packageText.setText("org.usfirst.frc.team"+teamNumber+".robot");
-						
+
 					}
 				});
 			}
@@ -174,7 +172,7 @@ public class NewProjectMainPage extends WizardPage {
 	 */
 	private void dialogChanged() {
 		String projectName = getProjectName();
-		
+
 		String packageString = "";
 		if (showPackage) packageString = getPackage();
 
@@ -190,7 +188,7 @@ public class NewProjectMainPage extends WizardPage {
 			updateStatus("Must be valid java package");
 			return;
 		}
-		
+
 		updateStatus(null);
 	}
 
@@ -203,7 +201,7 @@ public class NewProjectMainPage extends WizardPage {
 		String result = dialog.open();
 		if (result != null) {
 			worldText.setText(result);
-		}	
+		}
 	}
 
 	private void updateStatus(String message) {
@@ -218,11 +216,11 @@ public class NewProjectMainPage extends WizardPage {
 	public String getPackage() {
 		return packageText.getText();
 	}
-	
+
 	public ProjectType getProjectType() {
 		if (!showProjectTypes) return null;
-		else if (simpleRobot.getSelection()) return types.get(ProjectType.SIMPLE);
 		else if (iterativeRobot.getSelection()) return types.get(ProjectType.ITERATIVE);
+		else if (sampleRobot.getSelection()) return types.get(ProjectType.SAMPLE);
 		else return types.get(ProjectType.COMMAND_BASED);
 	}
 
@@ -237,7 +235,7 @@ public class NewProjectMainPage extends WizardPage {
 	public void setShowProjectTypes(boolean bool) {
 		showProjectTypes = bool;
 	}
-	
+
 	public void setProjectTypes(Map<String, ProjectType> types) {
 		showProjectTypes = true;
 		this.types = types;

eclipse-plugins/edu.wpi.first.wpilib.plugins.core/src/main/java/edu/wpi/first/wpilib/plugins/core/wizards/ProjectType.java

@@ -4,7 +4,7 @@ import java.net.URL;
 import java.util.Map;
 
 public interface ProjectType {
-	String SIMPLE = "SIMPLE";
+	String SAMPLE = "SAMPLE";
 	String ITERATIVE = "ITERATIVE";
 	String COMMAND_BASED = "COMMAND_BASED";
 	

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/Activator.java

@@ -33,7 +33,7 @@ public class Activator extends AbstractUIPlugin implements IStartup {
 	}
 
 	private String getCurrentVersion() {
-		return WPILibCPPPlugin.getDefault().getDefaultToolchainVersion();
+		return "4.4.1-csery-gcc";
 	}
 
 	/*

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/linux/ToolchainInstaller.java

@@ -11,7 +11,8 @@ import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
 public class ToolchainInstaller extends AbstractInstaller {
 
 	public ToolchainInstaller(String version) {
-		super(version);
+		super(version, 
+				WPILibCPPPlugin.getDefault().getPreferenceStore().getString(PreferenceConstants.TOOLCHAIN_INSTALLED), WPILibCPPPlugin.getDefault().getToolchain());
 	}
 
 	@Override
@@ -21,11 +22,8 @@ public class ToolchainInstaller extends AbstractInstaller {
 
 	@Override
 	protected void updateInstalledVersion(String version) {
-		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
-		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION)) {
-			System.out.println("Forcing library version to "+version);
-			prefs.setValue(PreferenceConstants.TOOLCHAIN_VERSION, version);
-		}
+		WPILibCPPPlugin.getDefault().getPreferenceStore().setValue(PreferenceConstants.TOOLCHAIN_INSTALLED,
+				version);
 	}
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/mac/Activator.java

@@ -33,7 +33,7 @@ public class Activator extends AbstractUIPlugin implements IStartup {
 	}
 
 	private String getCurrentVersion() {
-		return WPILibCPPPlugin.getDefault().getDefaultToolchainVersion();
+		return "4.4.1-csery-gcc";
 	}
 
 	/*

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/mac/ToolchainInstaller.java

@@ -11,7 +11,9 @@ import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
 public class ToolchainInstaller extends AbstractInstaller {
 
 	public ToolchainInstaller(String version) {
-		super(version);
+		super(version, 
+				WPILibCPPPlugin.getDefault().getPreferenceStore().getString(PreferenceConstants.TOOLCHAIN_INSTALLED), 
+				WPILibCPPPlugin.getDefault().getToolchain());
 	}
 
 	@Override
@@ -21,16 +23,12 @@ public class ToolchainInstaller extends AbstractInstaller {
 
 	@Override
 	protected void updateInstalledVersion(String version) {
-		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
-		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION)) {
-			System.out.println("Forcing library version to "+version);
-			prefs.setValue(PreferenceConstants.TOOLCHAIN_VERSION, version);
-		}
+		WPILibCPPPlugin.getDefault().getPreferenceStore().setValue(PreferenceConstants.TOOLCHAIN_INSTALLED,
+				version);
 	}
 
 	@Override
 	protected InputStream getInstallResourceStream() {
 		return ToolchainInstaller.class.getResourceAsStream("/resources/toolchain.zip");
 	}
-
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/feature.xml

@@ -2,7 +2,7 @@
 <feature
       id="edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature"
       label="Windows Toolchain for Robot C++ Development"
-      version="0.2.0"
+      version="0.3.0"
       provider-name="Worcester Polytechnic Institute"
       os="win32">
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature/pom.xml

@@ -3,7 +3,7 @@
     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <modelVersion>4.0.0</modelVersion>
   <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature</artifactId>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <packaging>eclipse-feature</packaging>
 
   <parent>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/META-INF/MANIFEST.MF

@@ -2,7 +2,7 @@ Manifest-Version: 1.0
 Bundle-ManifestVersion: 2
 Bundle-Name: Windows
 Bundle-SymbolicName: edu.wpi.first.wpilib.plugins.cpp.toolchains.windows;singleton:=true
-Bundle-Version: 0.2.0
+Bundle-Version: 0.3.0
 Bundle-Activator: edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.Activator
 Require-Bundle: org.eclipse.ui,
  org.eclipse.core.runtime,

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/pom.xml

@@ -3,7 +3,7 @@
     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
   <modelVersion>4.0.0</modelVersion>
   <artifactId>edu.wpi.first.wpilib.plugins.cpp.toolchains.windows</artifactId>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <packaging>eclipse-plugin</packaging>
 
   <parent>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/windows/Activator.java

@@ -33,7 +33,7 @@ public class Activator extends AbstractUIPlugin implements IStartup {
 	}
 
 	private String getCurrentVersion() {
-		return WPILibCPPPlugin.getDefault().getDefaultToolchainVersion();
+		return "4.4.1-csery-gcc";
 	}
 
 	/*

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows/src/edu/wpi/first/wpilib/plugins/cpp/toolchains/windows/ToolchainInstaller.java

@@ -11,7 +11,8 @@ import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
 public class ToolchainInstaller extends AbstractInstaller {
 
 	public ToolchainInstaller(String version) {
-		super(version);
+		super(version, 
+				WPILibCPPPlugin.getDefault().getPreferenceStore().getString(PreferenceConstants.TOOLCHAIN_INSTALLED), WPILibCPPPlugin.getDefault().getToolchain());
 	}
 
 	@Override
@@ -21,11 +22,8 @@ public class ToolchainInstaller extends AbstractInstaller {
 
 	@Override
 	protected void updateInstalledVersion(String version) {
-		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
-		if (prefs.getBoolean(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION)) {
-			System.out.println("Forcing library version to "+version);
-			prefs.setValue(PreferenceConstants.TOOLCHAIN_VERSION, version);
-		}
+		WPILibCPPPlugin.getDefault().getPreferenceStore().setValue(PreferenceConstants.TOOLCHAIN_INSTALLED,
+				version);
 	}
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/plugin.xml

@@ -67,12 +67,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.CommandWizard">
          <enablement>
-   			  <with
-                    variable="activeWorkbenchWindow.activePerspective">
-                 <equals
-                       value="org.eclipse.cdt.ui.CPerspective">
-                 </equals>
-              </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -80,12 +89,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.CommandGroupWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -93,12 +111,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.SubsystemWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -106,12 +133,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.PIDSubsystemWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
       <commonWizard
@@ -119,12 +155,21 @@
             type="new"
             wizardId="edu.wpi.first.wpilib.plugins.cpp.wizards.file_template.TriggerWizard">
          <enablement>
-			  <with
-	                variable="activeWorkbenchWindow.activePerspective">
-	             <equals
-	                   value="org.eclipse.cdt.ui.CPerspective">
-	             </equals>
-	          </with>
+               <with
+                     variable="selection">
+                  <iterate>
+                     <and>
+                        <test
+                            value="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                        <test
+                            value="org.eclipse.cdt.core.cnature"
+                            property="org.eclipse.core.resources.projectNature">
+                        </test>
+                     </and>
+                  </iterate>
+               </with>
          </enablement>
       </commonWizard>
    </extension>
@@ -147,10 +192,10 @@
          point="org.eclipse.debug.ui.launchShortcuts">
       <shortcut
             class="edu.wpi.first.wpilib.plugins.cpp.launching.DeployLaunchShortcut"
-            description="Deploy the WPILib project to the athena board."
+            description="Deploy the WPILib project to the roboRIO"
             icon="resources/icons/wpi.ico"
             id="edu.wpi.first.wpilib.plugins.cpp.launching.deploy"
-            label="WPILib Deploy Configure Builder"
+            label="WPILib C++ Deploy"
             modes="run,debug">
             <contextualLaunch>
             <enablement>
@@ -172,20 +217,20 @@
             </enablement>
          </contextualLaunch>
          <description
-               description="Deploy the WPILib project to the athena board."
+               description="Deploy the WPILib project to the roboRIO"
                mode="run">
          </description>
          <description
-               description="Deploy the WPILib project to the athena board and debug it."
+               description="Deploy the WPILib project to the roboRIO"
                mode="debug">
          </description>
       </shortcut>
       <shortcut
             class="edu.wpi.first.wpilib.plugins.cpp.launching.SimulateLaunchShortcut"
             description="Test the WPILib project using the Gazebo simulator."
-            icon="resources/icons/wpi.ico"
+            icon="resources/icons/Gazebo.png"
             id="edu.wpi.first.wpilib.plugins.cpp.launching.simulate"
-            label="WPILib Simulate"
+            label="WPILib C++ Simulation"
             modes="run,debug">
             <contextualLaunch>
             <enablement>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/.cproject

@@ -28,20 +28,21 @@
 								<option id="gnu.cpp.compiler.option.optimization.level.549514425" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.1682909384" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 							        <option id="gnu.cpp.compiler.option.include.paths.1597382905" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
-								  <listOptionValue builtIn="false" value="$cpp-location/include"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
+								  <listOptionValue builtIn="false" value="&quot;$cpp-location/include&quot;"/>
 							        </option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.963785380" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1367166630" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
 							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1568604896" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
 								<option id="gnu.cpp.link.option.paths.1928585110" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
-									<listOptionValue builtIn="false" value="$cpp-location/lib"/>
+									<listOptionValue builtIn="false" value="&quot;$cpp-location/lib&quot;"/>
 								</option>
 								<option id="gnu.cpp.link.option.libs.1072058280" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
 									<listOptionValue builtIn="false" value="WPILibAthena"/>
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="HALAthena"/>
 									<listOptionValue builtIn="false" value="NetworkTables"/>
-									<listOptionValue builtIn="false" value="FRC_FPGA_ChipObject"/>
 									<listOptionValue builtIn="false" value="FRC_NetworkCommunication"/>
 									<listOptionValue builtIn="false" value="i2c"/>
 									<listOptionValue builtIn="false" value="ni_emb"/>
@@ -56,8 +57,9 @@
 									<listOptionValue builtIn="false" value="dl"/>
 									<listOptionValue builtIn="false" value="pthread"/>
 								</option>
-								<option id="gnu.cpp.link.option.flags.1747959472" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath-link,$cpp-location/lib" valueType="string"/>
+								<option id="gnu.cpp.link.option.flags.1747959472" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath-link,&quot;$cpp-location/lib&quot;" valueType="string"/>
 								<option id="gnu.cpp.link.option.other.1891020896" name="Other options (-Xlinker [option])" superClass="gnu.cpp.link.option.other" valueType="stringList">
+									<listOptionValue builtIn="false" value="-export-dynamic"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1757265359" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
@@ -152,7 +154,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
 									<listOptionValue builtIn="false" value="$cpp-location/sim/include"/>
 									<listOptionValue builtIn="false" value="/usr/include"/>
-									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.0"/>
+									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.1"/>
 									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.0"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.optimization.level.1648211502" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
@@ -167,7 +169,9 @@
 							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.66697269" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
 							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cpp.linker.base.2094820582" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
 								<option id="gnu.cpp.link.option.libs.1563598353" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibSim"/>
+									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="gazebo"/>
 									<listOptionValue builtIn="false" value="gazebo_transport"/>
 									<listOptionValue builtIn="false" value="gazebo_msgs"/>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/build.properties

@@ -2,8 +2,9 @@
 username=admin
 password=
 deploy.dir=/home/admin
-deploy.run.command=./runcppprogram
-deploy.debug.command=./debugcppprogram
+deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
+deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
+command.dir=/home/lvuser/
 
 # Libraries to use
 wpilib=${user.home}/wpilib/cpp/${cpp-version}
@@ -21,8 +22,11 @@ build.dir=build
 out.exe=Debug/${out}
 
 # Simulation
-simulation.world.file=$world
+simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
 sim.exe=Simulate/${out}
 wpilib.sim=${wpilib}/sim
 sim.tools=${wpilib.sim}/tools
-sim.lib=${wpilib.sim}/lib
+sim.lib=${wpilib.sim}/lib
+
+# Use the current C++ library by default
+cpp-version=current

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Command.h

@@ -2,6 +2,7 @@
 #define $classname_H
 
 #include "../CommandBase.h"
+#include "WPILib.h"
 
 class $classname: public CommandBase
 {

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.cpp

@@ -6,7 +6,7 @@
 ExampleSubsystem* CommandBase::examplesubsystem = NULL;
 OI* CommandBase::oi = NULL;
 
-CommandBase::CommandBase(std::string name) :
+CommandBase::CommandBase(char const *name) :
 		Command(name)
 {
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandBase.h

@@ -5,6 +5,7 @@
 #include "Commands/Command.h"
 #include "Subsystems/ExampleSubsystem.h"
 #include "OI.h"
+#include "WPILib.h"
 
 /**
  * The base for all commands. All atomic commands should subclass CommandBase.
@@ -14,7 +15,7 @@
 class CommandBase: public Command
 {
 public:
-	CommandBase(std::string name);
+	CommandBase(char const *name);
 	CommandBase();
 	static void init();
 	// Create a single static instance of all of your subsystems

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/CommandGroup.h

@@ -2,6 +2,7 @@
 #define $classname_H
 
 #include "Commands/CommandGroup.h"
+#include "WPILib.h"
 
 class $classname: public CommandGroup
 {

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/ExampleCommand.h

@@ -2,6 +2,7 @@
 #define EXAMPLE_COMMAND_H
 
 #include "../CommandBase.h"
+#include "WPILib.h"
 
 class ExampleCommand: public CommandBase
 {

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/PIDSubsystem.cpp

@@ -3,9 +3,6 @@
 #include "SmartDashboard/SmartDashboard.h"
 #include "LiveWindow/LiveWindow.h"
 
-#@autogenerated_code("pid", "")
-#parse("${exporter-path}PIDSubsystem-pid.cpp")
-#end
 $classname::$classname() :
 		PIDSubsystem("$classname", 1.0, 0.0, 0.0)
 {

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/RobotMap.h

@@ -1,6 +1,7 @@
 #ifndef ROBOTMAP_H
 #define ROBOTMAP_H
 
+#include "WPILib.h"
 
 /**
  * The RobotMap is a mapping from the ports sensors and actuators are wired into

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.cpp

@@ -1,15 +1,12 @@
-// TODO: convert into C++ template
-#error "This is not a C++ file. I have no idea what this is doing here, so I'm leaving this message here to let someone else clean this up"
-import edu.wpi.first.wpilibj.command.Trigger;
+#include "$classname.h"
 
-/**
- * New and improved C++
- */
-public class $classname extends Trigger
+$classname::$classname()
 {
-public:
-	bool get()
-	{
-		return false;
-	}
+
 }
+
+bool $classname::Get()
+{
+	return false;
+}
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/command-based/Trigger.h

@@ -1,9 +1,13 @@
-// TODO: convert into C++ template
-#error "This is not a C++ file. I have no idea what this is doing here, so I'm leaving this message here to let someone else clean this up"
-import edu.wpi.first.wpilibj.command.Trigger;
+#ifndef $classname_H
+#define $classname_H
 
-public class $classname extends Trigger
+#include "WPILib.h"
+
+class $classname: public Trigger
 {
 public:
-	bool get();
-}
+	$classname();
+	bool Get();
+};
+
+#endif

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.cpp

@@ -26,9 +26,6 @@ DriveTrain::DriveTrain() : Subsystem("DriveTrain") {
 		right_encoder->SetDistancePerPulse((double) (4.0/12.0*M_PI) / 360.0);
 	#endif
 
-	left_encoder->Start();
-	right_encoder->Start();
-
 	rangefinder = new AnalogInput(6);
 	gyro = new Gyro(1);
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GearsBot/src/Subsystems/DriveTrain.h

@@ -1,7 +1,6 @@
 #ifndef DriveTrain_H
 #define DriveTrain_H
 
-#include "Commands/Subsystem.h"
 #include "WPILib.h"
 
 /**

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/GettingStarted/src/Robot.cpp

@@ -0,0 +1,59 @@
+#include "WPILib.h"
+
+class Robot: public IterativeRobot
+{
+
+	RobotDrive myRobot; // robot drive system
+	Joystick stick; // only joystick
+	LiveWindow *lw;
+	int autoLoopCounter;
+
+public:
+	Robot() :
+		myRobot(0, 1),	// these must be initialized in the same order
+		stick(1),		// as they are declared above.
+		lw(NULL),
+		autoLoopCounter(0)
+	{
+		myRobot.SetExpiration(0.1);
+	}
+
+private:
+	void RobotInit()
+	{
+		lw = LiveWindow::GetInstance();
+	}
+
+	void AutonomousInit()
+	{
+		autoLoopCounter = 0;
+	}
+
+	void AutonomousPeriodic()
+	{
+		if(autoLoopCounter < 100) //Check if we've completed 100 loops (approximately 2 seconds)
+		{
+			myRobot.Drive(-0.5, 0.0); 	// drive forwards half speed
+			autoLoopCounter++;
+			} else {
+			myRobot.Drive(0.0, 0.0); 	// stop robot
+		}
+	}
+
+	void TeleopInit()
+	{
+
+	}
+
+	void TeleopPeriodic()
+	{
+		myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
+	}
+
+	void TestPeriodic()
+	{
+		lw->Run();
+	}
+};
+
+START_ROBOT_CLASS(Robot);

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Network Table Counter/Robot.cpp

@@ -1,24 +0,0 @@
-#include <networktables/NetworkTable.h>
-#include <iostream>
-using namespace std;
-
-// This is a simple robot program
-int main()
-{
-	NetworkTable::SetServerMode();
-	NetworkTable::SetTeam(190);
-	NetworkTable* table = NetworkTable::GetTable("SmartDashboard");
-	cout << "Started up" << endl;
-
-	long i = 0;
-	while (true)
-	{
-		cout << i << endl;
-		table->PutNumber("i", i);
-		i++;
-
-		sleep(1);
-	}
-
-	return 0;
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/CheckForHotGoal.h

@@ -9,7 +9,7 @@
  * points than get none. When called sequentially, this command will block until
  * the hot goal is detected or until it is timed out.
  */
-class CheckForHotGoal : Command {
+class CheckForHotGoal : public Command {
 public:
 	CheckForHotGoal(double time);
 	void Initialize();

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Commands/DriveAndShootAutonomous.cpp

@@ -6,6 +6,7 @@
 #include "Commands/SetPivotSetpoint.h"
 #include "Commands/DriveForward.h"
 #include "Commands/Shoot.h"
+#include "Commands/CheckForHotGoal.h"
 
 DriveAndShootAutonomous::DriveAndShootAutonomous() {
     AddSequential(new CloseClaw());

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/DriveTrain.cpp

@@ -43,8 +43,6 @@ DriveTrain::DriveTrain() :
 		leftEncoder->SetDistancePerPulse((4.0/*in*/*M_PI)/(360.0*12.0/*in/ft*/));
 	#endif
 
-	rightEncoder->Start();
-	leftEncoder->Start();
 	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Right Encoder", rightEncoder);
 	LiveWindow::GetInstance()->AddSensor("DriveTrain", "Left Encoder", leftEncoder);
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/Simple Robot Example/Robot.java

@@ -1,17 +0,0 @@
-package $package;
-
-/**
- * Simplest possible robot program
- * 
- * @author Team $team-number
-  */
-public class Robot {
-
-    /**
-     * @param args Input....
-     */
-    public static void main(String[] args) {
-    	// Do stuff here!
-    }
-
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/examples.xml

@@ -1,5 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <examples>
+  <!-- TODO add back in when there are enough samples to justify tags
   <tagDescription>
     <name>Simple Robot</name>
     <description>Examples for simple robot programs.</description>
@@ -10,47 +11,34 @@
     variety of tasks such as sending and receiving values to both
     dashboards and co-processors.</description>
   </tagDescription>
+  <tagDescription>
+    <name>Simulation</name>
+    <description>Examples that can be run in simulation.</description>
+  </tagDescription>-->
+  <tagDescription>
+	<name>Getting Started with C++</name>
+	<description>Examples for getting started with FRC C++</description>
+  </tagDescription>
+  <example>
+	<name>Getting Started</name>
+	<description>An example program which demonstrates the simplest autonomous and
+	teleoperated routines.</description>
+	<tags>
+	  <tag>Getting Started with C++</tag>
+	</tags>
+	<packages>
+	  <package>src</package>
+	</packages>
+	<files>
+	  <file source="examples/GettingStarted/src/Robot.cpp"
+			destination="src/Robot.cpp"></file>
+	</files>
+  </example>
+	
   <tagDescription>
     <name>CommandBased Robot</name>
     <description>Examples for CommandBased robot programs.</description>
   </tagDescription>
-  <tagDescription>
-    <name>Simulation</name>
-    <description>Examples that can be run in simulation.</description>
-  </tagDescription>
-  
-  <example>
-    <name>Simple Robot Example</name>
-    <description>The simplest possible program that compiles. This
-    shows the structure of a simple program that does nothing at
-    all.</description>
-    <tags>
-      <tag>Simple Robot</tag>
-    </tags>
-    <packages>
-      <package>src</package>
-    </packages>
-    <files>
-      <file source="examples/Simple Robot Example/Robot.java" destination="src/Robot.cpp" />
-    </files>
-  </example>
-  
-  <example>
-    <name>Network Table Counter</name>
-    <description>A simple program that increments a network table
-    variable once every second. This shows the structure of a simple
-    program that only uses network tables.</description>
-    <tags>
-      <tag>Simple Robot</tag>
-      <tag>Network Tables</tag>
-    </tags>
-    <packages>
-      <package>src</package>
-    </packages>
-    <files>
-      <file source="examples/Network Table Counter/Robot.cpp" destination="src/Robot.cpp" />
-    </files>
-  </example>
 
   <example>
     <name>GearsBot</name>
@@ -59,7 +47,6 @@
     supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
-      <tag>Simulation</tag>
     </tags>
     <packages>
       <package>src</package>
@@ -137,14 +124,12 @@
             destination="src/Subsystems/Wrist.h"></file>
     </files>
   </example>
-  
+
   <example>
     <name>PacGoat</name>
     <description>A fully functional example CommandBased program for FRC Team 190&#39;s 2014 robot. This code can run on your computer if it supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
-      <tag>Simulation</tag>
-      <tag>2014 Season</tag>
     </tags>
     <packages>
       <package>src</package>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/sample/Robot.cpp

@@ -1,19 +1,23 @@
 #include "WPILib.h"
 
 /**
- * This is a demo program showing the use of the RobotBase class.
- * The SimpleRobot class is the base of a robot application that will automatically call your
+ * This is a demo program showing the use of the RobotDrive class.
+ * The SampleRobot class is the base of a robot application that will automatically call your
  * Autonomous and OperatorControl methods at the right time as controlled by the switches on
  * the driver station or the field controls.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
  */
-class Robot: public SimpleRobot
+class Robot: public SampleRobot
 {
 	RobotDrive myRobot; // robot drive system
 	Joystick stick; // only joystick
 
 public:
 	Robot() :
-			myRobot(1, 2),	// these must be initialized in the same order
+			myRobot(0, 1),	// these must be initialized in the same order
 			stick(1)		// as they are declared above.
 	{
 		myRobot.SetExpiration(0.1);
@@ -31,7 +35,7 @@ public:
 	}
 
 	/**
-	 * Runs the motors with arcade steering. 
+	 * Runs the motors with arcade steering.
 	 */
 	void OperatorControl()
 	{
@@ -48,7 +52,6 @@ public:
 	 */
 	void Test()
 	{
-
 	}
 };
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/WPILibCPPPlugin.java

@@ -58,13 +58,9 @@ public class WPILibCPPPlugin extends AbstractUIPlugin implements IStartup {
 		return plugin;
 	}
 
-	public String getDefaultToolchainVersion() {
-		return "arm-none-linux-gnueabi-4.4.1";
-	}
-
 	public String getToolchain() {
 		return WPILibCore.getDefault().getWPILibBaseDir()
-				+ File.separator + "toolchains" + File.separator + getPreferenceStore().getString(PreferenceConstants.TOOLCHAIN_VERSION);
+				+ File.separator + "toolchains" + File.separator + "current";
 	}
 	
 	public String getCurrentVersion() {
@@ -82,7 +78,7 @@ public class WPILibCPPPlugin extends AbstractUIPlugin implements IStartup {
 
 	public String getCPPDir() {
 		return WPILibCore.getDefault().getWPILibBaseDir()
-				+ File.separator + "cpp" + File.separator + getPreferenceStore().getString(PreferenceConstants.LIBRARY_VERSION);
+				+ File.separator + "cpp" + File.separator + "current";
 	}
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/installer/CPPInstaller.java

@@ -1,11 +1,6 @@
 package edu.wpi.first.wpilib.plugins.cpp.installer;
 
 import java.io.InputStream;
-import java.util.Properties;
-
-import org.eclipse.jface.preference.IPreferenceStore;
-
-import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
 import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
@@ -19,28 +14,23 @@ import edu.wpi.first.wpilib.plugins.cpp.preferences.PreferenceConstants;
 public class CPPInstaller extends AbstractInstaller {
 
 	public CPPInstaller(String version) {
-		super(version);
+		super(version, 
+				WPILibCPPPlugin.getDefault().getPreferenceStore().getString(PreferenceConstants.LIBRARY_INSTALLED), WPILibCPPPlugin.getDefault().getCPPDir());
 	}
-
-	@Override
-	protected String getFeatureName() {
-		return "cpp";
-	}
-
 	@Override
 	protected void updateInstalledVersion(String version) {
-		IPreferenceStore prefs = WPILibCPPPlugin.getDefault().getPreferenceStore();
-		if (prefs.getBoolean(PreferenceConstants.UPDATE_LIBRARY_VERSION)) {
-			WPILibCPPPlugin.logInfo("Forcing library version to "+version);
-	    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
-	    	props.setProperty("cpp-version", version);
-	    	WPILibCore.getDefault().saveGlobalProperties(props);
-			prefs.setValue(PreferenceConstants.LIBRARY_VERSION, version);
-		}
+		WPILibCPPPlugin.getDefault().getPreferenceStore().setValue(PreferenceConstants.LIBRARY_INSTALLED,
+				version);
 	}
-
+	
 	@Override
 	protected InputStream getInstallResourceStream() {
 		return CPPInstaller.class.getResourceAsStream("/resources/cpp.zip");
 	}
+
+	@Override
+	protected String getFeatureName()
+	{
+		return "cpp";
+	}
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/DeployLaunchShortcut.java

@@ -3,6 +3,7 @@ package edu.wpi.first.wpilib.plugins.cpp.launching;
 import java.util.ArrayList;
 import java.util.Collection;
 import java.util.List;
+import java.io.File;
 
 import org.eclipse.cdt.debug.core.ICDTLaunchConfigurationConstants;
 import org.eclipse.cdt.debug.core.executables.Executable;
@@ -28,12 +29,13 @@ import org.eclipse.ui.PlatformUI;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
+import edu.wpi.first.wpilib.plugins.core.launching.AntLauncher;
 
 /**
  * Launch shortcut base functionality, common for deploying to the robot.
  * Retrieves the project the operation is being called on, and runs the correct
  * ant targets based on polymorphically determined data values
- * 
+ *
  * @author Ryan O'Meara
  * @author Alex Henning
  */
@@ -46,7 +48,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	/**
 	 * Returns the launch type of the shortcut that was used, one of the
 	 * constants defined in BaseLaunchShortcut
-	 * 
+	 *
 	 * @return Launch shortcut type
 	 */
 	public String getLaunchType()
@@ -91,7 +93,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	}
 	
 	/**
-	 * 
+	 *
 	 * @param activeProj
 	 *            The project that the script will be run on/from
 	 * @param mode
@@ -99,23 +101,39 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 	 *            ILaunchManager.DEBUG_MODE)
 	 */
 	public void runConfig(IProject activeProj, String mode, Shell shell) {
-        // TODO: figure out UI issues. that's why this is undocumented
-		ILaunchConfigurationWorkingCopy config;
-		try {
-			config = getRemoteDebugConfig(activeProj);
-			//config.doSave(); // NOTE: For debugging
-			//org.eclipse.debug.core.DebugPlugin.getDefault().getLaunchManager().addLaunch(config.launch(mode, null));
-			//THIS IS MADDENING! we want to add to the recent history, but I can't seem to find a public api to do so, so lets just launch the config dialog
-			//DebugUITools.openLaunchConfigurationPropertiesDialog(shell, config, "org.eclipse.cdt.launch.launchGroup");
-			//config.launch(mode, new NullProgressMonitor(), false, true);
-			DebugUITools.launch(config, mode);
-		} catch (CoreException e) {
-			WPILibCPPPlugin.logError("Debug attach failed.", e);
+		if(mode.equals(ILaunchManager.RUN_MODE)) {
+			// Regular deploys are done with an ant script for now, for both
+			// C++ and Java.
+			WPILibCPPPlugin.logInfo("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
+			WPILibCPPPlugin.logInfo("Targets: deploy, Mode: " + mode);
+			AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), "deploy", null, mode);
+		} else {
+			// Debug deploys are done with the Eclipse Remote System Explorer,
+			// which lets it work with Eclipse's C++ debugger.
+			
+			// Kill running program before using RSE as RSE can't
+			WPILibCPPPlugin.logInfo("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
+			WPILibCPPPlugin.logInfo("Targets: kill-program, Mode: " + mode);
+			AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), "kill-program", null, mode);
+			
+			// TODO: figure out UI issues. that's why this is undocumented
+			ILaunchConfigurationWorkingCopy config;
+			try {
+				config = getRemoteDebugConfig(activeProj);
+				//config.doSave(); // NOTE: For debugging
+				//org.eclipse.debug.core.DebugPlugin.getDefault().getLaunchManager().addLaunch(config.launch(mode, null));
+				//THIS IS MADDENING! we want to add to the recent history, but I can't seem to find a public api to do so, so lets just launch the config dialog
+				//DebugUITools.openLaunchConfigurationPropertiesDialog(shell, config, "org.eclipse.cdt.launch.launchGroup");
+				//config.launch(mode, new NullProgressMonitor(), false, true);
+				DebugUITools.launch(config, mode);
+			} catch (CoreException e) {
+				WPILibCPPPlugin.logError("Debug attach failed.", e);
+			}
+			
+			try {
+				activeProj.refreshLocal(Resource.DEPTH_INFINITE, null);
+			} catch (Exception e) {}
 		}
-		
-		try {
-			activeProj.refreshLocal(Resource.DEPTH_INFINITE, null);
-		} catch (Exception e) {}
 	}
 	
 	private ILaunchConfigurationWorkingCopy getRemoteDebugConfig(IProject activeProj) throws CoreException
@@ -126,21 +144,37 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 		String remote_connection = RSEUtils.getTarget(teamNumber).getName();
 		
 		ILaunchConfigurationWorkingCopy config = type.newInstance(null, activeProj.getName());
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_COREFILE_PATH, "");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_REGISTER_BOOKKEEPING, false);
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_VARIABLE_BOOKKEEPING, false);
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "org.eclipse.rse.remotecdt.RemoteGDBDebugger");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_REGISTER_GROUPS, "");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_START_MODE, "run");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_STOP_AT_MAIN, true);
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_STOP_AT_MAIN_SYMBOL, "main");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_USE_TERMINAL, true);
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROJECT_NAME, activeProj.getName());
 		Collection<Executable> exes = ExecutablesManager.getExecutablesManager().getExecutablesForProject(activeProj);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME, 
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME,
 				exes.size() > 0 ? exes.toArray(new Executable[0])[0].getPath().makeRelativeTo(activeProj.getLocation()).toString():
 			 "Debug/FRCUserProgram");
+			 
+			 
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/admin/FRCUserProgram");
-		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUG_NAME, WPILibCPPPlugin.getDefault().getToolchain() + "/bin/arm-none-linux-gnueabi-gdb");
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_CONNECTION, remote_connection);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "gdbserver");
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_SKIP_DOWNLOAD_TO_TARGET, false);
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_PORT, "2345");
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_COMMAND, "gdbserver");
+		
+		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUG_NAME, WPILibCPPPlugin.getDefault().getToolchain() + "/bin/arm-none-linux-gnueabi-gdb");
 		List<String> solibs = new ArrayList<>();
 		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/lib");
 		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/usr/lib");
 		solibs.add(WPILibCPPPlugin.getDefault().getCPPDir() + "/lib");
 		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_SOLIB_PATH, solibs);
-		
+		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_AUTO_SOLIB, true);
+		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_STOP_ON_SOLIB_EVENTS, false);
+		config.doSave();
 		return config;
 	}
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/launching/RSEUtils.java

@@ -16,8 +16,10 @@ public class RSEUtils {
 
 	public static IHost getTarget(int teamNumber) {
 		// The ip address based on the team number
-        String hostName = "10."+(teamNumber/100)+"."+(teamNumber%100)+".2";
-        String connectionName = hostName; //"Team "+teamNumber;
+        //String hostName = "10."+(teamNumber/100)+"."+(teamNumber%100)+".2";
+        //String connectionName = hostName; //"Team "+teamNumber;
+		String hostName = "roboRIO-" + teamNumber + ".local";
+		String connectionName = hostName;
    
         // get the singleton RSE registry
         try {

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/CPPPreferencePage.java

@@ -1,118 +0,0 @@
-package edu.wpi.first.wpilib.plugins.cpp.preferences;
-
-import java.io.File;
-import java.io.FileFilter;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.Properties;
-
-import org.eclipse.jface.preference.BooleanFieldEditor;
-import org.eclipse.jface.preference.FieldEditorPreferencePage;
-import org.eclipse.ui.IWorkbench;
-import org.eclipse.ui.IWorkbenchPreferencePage;
-
-import edu.wpi.first.wpilib.plugins.core.WPILibCore;
-import edu.wpi.first.wpilib.plugins.core.preferences.ComboFieldEditor;
-import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
-
-/**
- * This class represents a preference page that
- * is contributed to the Preferences dialog. By 
- * subclassing <samp>FieldEditorPreferencePage</samp>, we
- * can use the field support built into JFace that allows
- * us to create a page that is small and knows how to 
- * save, restore and apply itself.
- * <p>
- * This page is used to modify preferences only. They
- * are stored in the preference store that belongs to
- * the main plug-in class. That way, preferences can
- * be accessed directly via the preference store.
- */
-
-public class CPPPreferencePage
-	extends FieldEditorPreferencePage
-	implements IWorkbenchPreferencePage {
-	ComboFieldEditor toolchainVersionEditor;
-	BooleanFieldEditor autoUpdateToolchainEditor;
-	private ComboFieldEditor wpiLibVersionEditor;
-	private BooleanFieldEditor autoUpdateEditor;
-
-	public CPPPreferencePage() {
-		super(GRID);
-		setPreferenceStore(WPILibCPPPlugin.getDefault().getPreferenceStore());
-		setDescription("Change workspace level settings for C++.");
-	}
-	
-	/**
-	 * Creates the field editors. Field editors are abstractions of
-	 * the common GUI blocks needed to manipulate various types
-	 * of preferences. Each field editor knows how to save and
-	 * restore itself.
-	 */
-	public void createFieldEditors() {
-		wpiLibVersionEditor = new ComboFieldEditor(PreferenceConstants.LIBRARY_VERSION,
-				"&Library Version:", getFieldEditorParent(), getInstalledVersions());
-		addField(wpiLibVersionEditor);
-		autoUpdateEditor =	new BooleanFieldEditor(PreferenceConstants.UPDATE_LIBRARY_VERSION,
-				"&Auto Update Library Version", getFieldEditorParent());
-		addField(autoUpdateEditor);
-		toolchainVersionEditor = new ComboFieldEditor(PreferenceConstants.TOOLCHAIN_VERSION,
-				"&Toolchain Version:", getFieldEditorParent(), getInstalledToolchains());
-		addField(toolchainVersionEditor);
-		autoUpdateToolchainEditor =	new BooleanFieldEditor(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION,
-				"&Auto Update Toolchain Version", getFieldEditorParent());
-		addField(autoUpdateToolchainEditor);
-	}
-
-	private List<String> getInstalledVersions() {
-		File[] dirs = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"cpp")
-							.listFiles(new FileFilter() {
-			@Override public boolean accept(File f) {
-				return f.isDirectory();
-			}
-		});
-		List<String> versions = new ArrayList<String>();
-		for (File dir : dirs) {
-			versions.add(dir.getName());
-		}
-		Collections.sort(versions);
-		return versions;
-	}
-	
-	private List<String> getInstalledToolchains() {
-		File[] dirs = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"toolchains")
-							.listFiles(new FileFilter() {
-			@Override public boolean accept(File f) {
-				return f.isDirectory();
-			}
-		});
-		List<String> versions = new ArrayList<String>();
-		for (File dir : dirs) {
-			versions.add(dir.getName());
-		}
-		Collections.sort(versions);
-		return versions;
-	}
-
-	/* (non-Javadoc)
-	 * @see org.eclipse.ui.IWorkbenchPreferencePage#init(org.eclipse.ui.IWorkbench)
-	 */
-	public void init(IWorkbench workbench) {
-		WPILibCPPPlugin.logInfo("Preferences initialized.");
-		Properties props = WPILibCore.getDefault().getProjectProperties(null);
-		getPreferenceStore().setValue(PreferenceConstants.LIBRARY_VERSION,
-				props.getProperty("cpp-version", WPILibCPPPlugin.getDefault().getCurrentVersion()));
-	}
-	
-	@Override public void performApply() {
-		performOk();
-	}
-	
-    @Override public boolean performOk() {
-    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
-    	props.setProperty("cpp-version", wpiLibVersionEditor.getChoice());
-    	WPILibCore.getDefault().saveGlobalProperties(props);
-		return super.performOk();
-	}
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/PreferenceConstants.java

@@ -4,8 +4,6 @@ package edu.wpi.first.wpilib.plugins.cpp.preferences;
  * Constant definitions for plug-in preferences
  */
 public class PreferenceConstants {
-	public static final String LIBRARY_VERSION = "libraryVersionPreference";
-	public static final String UPDATE_LIBRARY_VERSION = "udpateLibraryVersionPreference";
-	public static final String TOOLCHAIN_VERSION = "toolchainVersionPreference";
-	public static final String UPDATE_TOOLCHAIN_VERSION = "udpateToolchainVersionPreference";
+	public static final String LIBRARY_INSTALLED = "libraryVersion_current";
+	public static final String TOOLCHAIN_INSTALLED = "toolchainVersion_current";
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/preferences/PreferenceInitializer.java

@@ -18,11 +18,8 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 	 */
 	public void initializeDefaultPreferences() {
 		IPreferenceStore store = WPILibCPPPlugin.getDefault().getPreferenceStore();
-		store.setDefault(PreferenceConstants.LIBRARY_VERSION,
-				WPILibCore.getDefault().getProjectProperties(null)
-				.getProperty("cpp-version", WPILibCPPPlugin.getDefault().getCurrentVersion()));
-		store.setDefault(PreferenceConstants.UPDATE_LIBRARY_VERSION, true);
-		store.setDefault(PreferenceConstants.TOOLCHAIN_VERSION, WPILibCPPPlugin.getDefault().getDefaultToolchainVersion());
-		store.setDefault(PreferenceConstants.UPDATE_TOOLCHAIN_VERSION, true);
+		if (!store.contains(PreferenceConstants.LIBRARY_INSTALLED))
+			store.setValue(PreferenceConstants.LIBRARY_INSTALLED,
+					"none");
 	}
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/newproject/CPPProjectType.java

@@ -8,13 +8,6 @@ import edu.wpi.first.wpilib.plugins.core.wizards.ProjectType;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
 
 public class CPPProjectType implements ProjectType {
-	static ProjectType SIMPLE = new CPPProjectType() {
-		@Override public Map<String, String> getFiles(String packageName) {
-			Map<String, String> files = super.getFiles(packageName);
-			files.put("src/Robot.cpp", "simple/Robot.cpp");
-			return files;
-		}
-	};
 	static ProjectType ITERATIVE = new CPPProjectType() {
 		@Override public Map<String, String> getFiles(String packageName) {
 			Map<String, String> files = super.getFiles(packageName);
@@ -45,11 +38,18 @@ public class CPPProjectType implements ProjectType {
 			return files;
 		}
 	};
+	static ProjectType SAMPLE = new CPPProjectType() {
+		@Override public Map<String, String> getFiles(String packageName) {
+			Map<String, String> files = super.getFiles(packageName);
+			files.put("src/Robot.cpp", "sample/Robot.cpp");
+			return files;
+		}
+	};
 	@SuppressWarnings("serial")
 	static Map<String, ProjectType> TYPES = new HashMap<String, ProjectType>() {{
-		put(ProjectType.SIMPLE, SIMPLE);
 		put(ProjectType.ITERATIVE, ITERATIVE);
 		put(ProjectType.COMMAND_BASED, COMMAND_BASED);
+		put(ProjectType.SAMPLE, SAMPLE);
 	}};
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/build.xml

@@ -1,11 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 
 <project name="athena-project-build" default="deploy">
-  
-  <property file="${wpilib.ant.dir}/../so.properties"/>
-  <property name="opkg.name" value="wpilib" />
-  <property name="opkg.arch" value="armv7a-vfp" />
-  
+
   <!-- Load Tasks -->
   <taskdef resource="net/sf/antcontrib/antlib.xml">
     <classpath>
@@ -23,107 +19,42 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
-    <math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
-    <math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
-    <property name="target" value="10.${ip.upper}.${ip.lower}.2" />
-     <echo>Target IP: ${target}</echo>
+    <property name="target" value="roboRIO-${team-number}.local" />
+    <echo>Target: ${target}</echo>
   </target>
-  
+
   <target name="deploy" depends="get-target-ip" description="Deploy the progam and start it running.">
     <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="rm ${deploy.dir}/FRCUserProgram" />
+         username="${username}"
+         password="${password}"
+         trust="true"
+         failonerror="no"
+         command="rm ${deploy.dir}/FRCUserProgram" />
+
     <echo>[athena-deploy] Copying code over.</echo>
-    <scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}"
-	 password="${password}" trust="true"/>
-    <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="opkg info wpilib |grep Version | awk '{printf $2}'"
-	     outputproperty="installedWpilibSo"/>
-	<if>
-		<equals arg1="${installedWpilibSo}" arg2="${cpp-sos}" />
-		<then>
-		
-	<echo>Found version of WPILib: ${installedWpilibSo} (latest)</echo>
-		</then>
-		<else>
-	<echo>Found version of WPILib: ${installedWpilibSo}</echo>
-			<echo>Upgrading WPILib to ${cpp-sos}...</echo>
-			<delete>
-			    <fileset dir="${wpilib.ant.dir}">
-			    	<include name="data.tar*" />
-			    	<include name="control*" />
-			    	<include name="post*" />
-			    	<include name="md5sums" />
-			    	<include name="*.deb" />
-			    </fileset>
-			</delete>
-			<tar destfile="${wpilib.ant.dir}/data.tar">
-				<tarfileset dir="${wpilib.ant.dir}/../lib"  username="root" group="admin" uid="0" gid="0"
-							prefix="usr/local/frc/lib">
-					 	<include name="libWPILibAthena.so" />
-					 	<include name="libNetworkTables.so" />
-					 	<include name="libHALAthena.so" />
-				</tarfileset>
-			</tar>
-			<gzip destfile="${wpilib.ant.dir}/data.tar.gz" src="${wpilib.ant.dir}/data.tar"/>
-			<echo file="${wpilib.ant.dir}/debian-binary">2.0</echo>
-			<echo file="${wpilib.ant.dir}/control">Package: ${opkg.name}
-Version: ${cpp-sos}
-Section: devel
-Priority: optional
-Architecture: ${opkg.arch}
-Depends: libc6 (>= 2.11.1-r7), libgcc1 (>= 4.4.1)
-Maintainer: Brad Miller &gt;bamiller@wpi.edu&lt;
-Description: WPILib, NetworkTables and HAL for RoboRIO target
- .
- This package contains the shared objects for WPILib, NetworkTables, and HAL for the 2015 target on the RoboRIO
-</echo>
-			<echo file="${wpilib.ant.dir}/postinst">#!/bin/sh
-ldconfig
-</echo>
-			<echo file="${wpilib.ant.dir}/postrm">#!/bin/sh
-ldconfig
-</echo>
-			<checksum property="md5.wpilib" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libWPILibAthena.so" />
-			<checksum property="md5.nwt" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libNetworkTables.so" />
-			<checksum property="md5.hal" format="MD5SUM" file="${wpilib.ant.dir}/../lib/libHALAthena.so" />
-			<echo file="${wpilib.ant.dir}/md5sums">${md5.wpilib} usr/local/frc/lib/libWPILibAthena.so
-${md5.nwt} usr/local/frc/lib/libNetworkTables.so
-${md5.hal} usr/local/frc/lib/libHALAthena.so</echo>
-<tar destfile="${wpilib.ant.dir}/control.tar">
-				<tarfileset dir="${wpilib.ant.dir}" username="root" group="admin" uid="0" gid="0"
-							prefix="">
-					 	<include name="control" />
-					 	<include name="md5sums" />
-				</tarfileset>
-				<tarfileset dir="${wpilib.ant.dir}" filemode="755"  username="root" group="admin" uid="0" gid="0"
-							prefix="">
-					 	<include name="postinst" />
-					 	<include name="postrm" />
-				</tarfileset>
-			</tar>
-			<gzip destfile="${wpilib.ant.dir}/control.tar.gz" src="${wpilib.ant.dir}/control.tar"/>
-			<exec command="${wpilib.ant.dir}\..\..\..\toolchains\arm-none-linux-gnueabi-4.4.1\bin\arm-none-linux-gnueabi-ar -r ${opkg.name}_${cpp-sos}_${opkg.arch}.deb debian-binary control.tar.gz data.tar.gz" dir="${wpilib.ant.dir}"/>
-		    <scp file="${wpilib.ant.dir}/${opkg.name}_${cpp-sos}_${opkg.arch}.deb" todir="${username}@${target}:/tmp"
-				 password="${password}" trust="true"/>
-			<sshexec host="${target}"
-				 username="${username}"
-				 password="${password}"
-				 trust="true"
-				 command="opkg install /tmp/${opkg.name}_${cpp-sos}_${opkg.arch}.deb; sh -c 'rm -rf /tmp/wpilib*.deb'"/>
-		</else>
-	</if>
+    <scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+    <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:/home/lvuser/" password="${password}" trust="true"/>
+
     <echo>[athena-deploy] Starting program.</echo>
     <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="chmod +x ${deploy.dir}/FRCUserProgram; ${deploy.dir}/FRCUserProgram"/>
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command=". /etc/profile.d/natinst-path.sh; chmod a+x ${deploy.dir}/${out}; ${deploy.kill.command};"/>
+
+    <sshexec host="${target}"
+       username="${username}"
+       password="${password}"
+       trust="true"
+       command="tail -F -n 0 ${deploy.log.file}"/>
+  </target>
+  
+  <target name="kill-program" depends="get-target-ip" description="Kill the currently running FRC program">
+	  <sshexec host="${target}"
+		   username="${username}"
+		   password="${password}"
+		   trust="true"
+		   command="/usr/local/frc/bin/frcKillRobot.sh"/>
   </target>
 
   <target name="debug-deploy" depends="get-target-ip" description="Deploy the jar and start the program running in debug mode.">
@@ -171,4 +102,4 @@ ${md5.hal} usr/local/frc/lib/libHALAthena.so</echo>
       </sequential>
     </parallel>
   </target>
-</project> 
+</project>

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/resources/cpp-zip/ant/robotCommand

@@ -0,0 +1 @@
+/home/admin/FRCUserProgram

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/plugin.xml

@@ -67,10 +67,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.CommandWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -80,10 +86,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.CommandGroupWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -93,10 +105,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.SubsystemWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -106,10 +124,16 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.PIDSubsystemWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
@@ -119,23 +143,20 @@
             wizardId="edu.wpi.first.wpilib.plugins.java.wizards.file_template.TriggerWizard">
          <enablement>
       	   <with variable="selection"><iterate>
-               <test
-                    args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
-                    property="org.eclipse.jdt.launching.hasProjectNature">
-                </test>
+               <and>
+                    <test
+                        args="edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                    <test
+						args="org.eclipse.jdt.core.javanature"
+                        property="org.eclipse.jdt.launching.hasProjectNature">
+                    </test>
+                </and>
            </iterate></with>
          </enablement>
       </commonWizard>
    </extension>
-   <extension
-       point="org.eclipse.ui.preferencePages">
-      <page
-            category="edu.wpi.first.wpilib.plugins.core.preferences.WPILibPreferencePage"
-            class="edu.wpi.first.wpilib.plugins.java.preferences.JavaPreferencePage"
-            id="edu.wpi.first.wpilib.plugins.java.preferences.JavaPreferencePage"
-            name="Java Preferences">
-      </page>
-   </extension>
    <extension
          point="org.eclipse.core.runtime.preferences">
       <initializer
@@ -146,10 +167,10 @@
          point="org.eclipse.debug.ui.launchShortcuts">
       <shortcut
             class="edu.wpi.first.wpilib.plugins.java.launching.DeployLaunchShortcut"
-            description="Deploy the WPILib project to the athena board."
+            description="Deploy the WPILib project to the roboRIO"
             icon="resources/icons/wpi.ico"
             id="edu.wpi.first.wpilib.plugins.java.launching.deploy"
-            label="WPILib Deploy"
+            label="WPILib Java Deploy"
             modes="run,debug">
             <contextualLaunch>
             <enablement>
@@ -171,11 +192,11 @@
             </enablement>
          </contextualLaunch>
          <description
-               description="Deploy the WPILib project to the athena board."
+               description="Deploy the WPILib project to the roboRIO board."
                mode="run">
          </description>
          <description
-               description="Deploy the WPILib project to the athena board and debug it."
+               description="Deploy the WPILib project to the roboRIO board and debug it."
                mode="debug">
          </description>
       </shortcut>
@@ -184,7 +205,7 @@
             description="Test your WPILib program with the Gazebo simulator."
             icon="resources/icons/Gazebo.png"
             id="edu.wpi.first.wpilib.plugins.java.launching.simulate"
-            label="WPILib Simulation"
+            label="WPILib Java Simulation"
             modes="run,debug">
             <contextualLaunch>
             <enablement>

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/pom.xml

@@ -92,7 +92,7 @@
                 </artifactItem>
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
-				  <artifactId>wpilibJava</artifactId>
+				  <artifactId>wpilibJavaFinal</artifactId>
 				  <version>0.1.0-SNAPSHOT</version>
 				  <classifier>sources</classifier>
 				  <outputDirectory>${java-zip}/lib</outputDirectory>
@@ -100,6 +100,13 @@
                 </artifactItem>
 
 				<!-- Javadoc -->
+                <artifactItem>
+				  <groupId>edu.wpi.first.wpilibj</groupId>
+				  <artifactId>wpilibJavaDevices</artifactId>
+				  <version>0.1.0-SNAPSHOT</version>
+				  <type>javadoc</type>
+				  <outputDirectory>${java-zip}/javadoc-jar</outputDirectory>
+                </artifactItem>
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
 				  <artifactId>wpilibJava</artifactId>
@@ -132,6 +139,12 @@
                   <artifactId>JavaGazebo</artifactId>
                   <version>0.1.0-SNAPSHOT</version>
                 </artifactItem>
+                <artifactItem>
+				  <groupId>edu.wpi.first.wpilibj</groupId>
+				  <artifactId>wpilibJava</artifactId>
+				  <version>0.1.0-SNAPSHOT</version>
+				  <type>jar</type>
+                </artifactItem>
                 <artifactItem>
 				  <groupId>edu.wpi.first.wpilibj</groupId>
 				  <artifactId>wpilibJavaSim</artifactId>
@@ -323,6 +336,12 @@
 			  <version>0.1.0-SNAPSHOT</version>
 			  <type>jar</type>
 	</dependency>
+	<dependency>
+			  <groupId>edu.wpi.first.wpilibj</groupId>
+			  <artifactId>wpilibJavaFinal</artifactId>
+			  <version>0.1.0-SNAPSHOT</version>
+			  <classifier>sources</classifier>
+	</dependency>
 	<!-- dependency>
 			  <groupId>net.java.dev.jna</groupId>
 			  <artifactId>jna</artifactId>
@@ -348,6 +367,11 @@
 			  <artifactId>wpilibJava</artifactId>
 			  <version>0.1.0-SNAPSHOT</version>
 	</dependency>
+	<dependency>
+			  <groupId>edu.wpi.first.wpilibj</groupId>
+			  <artifactId>wpilibJavaDevices</artifactId>
+			  <version>0.1.0-SNAPSHOT</version>
+	</dependency>
 
 	<!-- Javadoc -->
 	<dependency>
@@ -356,5 +380,11 @@
 			  <version>0.1.0-SNAPSHOT</version>
 			  <type>javadoc</type>
 	</dependency>
+	<dependency>
+			  <groupId>edu.wpi.first.wpilibj</groupId>
+			  <artifactId>wpilibJavaDevices</artifactId>
+			  <version>0.1.0-SNAPSHOT</version>
+			  <type>javadoc</type>
+	</dependency>
   </dependencies>
 </project>

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/command-based/OI.java

@@ -0,0 +1,38 @@
+package $package;
+
+import edu.wpi.first.wpilibj.buttons.Button;
+import $package.commands.ExampleCommand;
+
+/**
+ * This class is the glue that binds the controls on the physical operator
+ * interface to the commands and command groups that allow control of the robot.
+ */
+public class OI {
+    //// CREATING BUTTONS
+    // One type of button is a joystick button which is any button on a joystick.
+    // You create one by telling it which joystick it's on and which button
+    // number it is.
+    // Joystick stick = new Joystick(port);
+    // Button button = new JoystickButton(stick, buttonNumber);
+    
+    // There are a few additional built in buttons you can use. Additionally,
+    // by subclassing Button you can create custom triggers and bind those to
+    // commands the same as any other Button.
+    
+    //// TRIGGERING COMMANDS WITH BUTTONS
+    // Once you have a button, it's trivial to bind it to a button in one of
+    // three ways:
+    
+    // Start the command when the button is pressed and let it run the command
+    // until it is finished as determined by it's isFinished method.
+    // button.whenPressed(new ExampleCommand());
+    
+    // Run the command while the button is being held down and interrupt it once
+    // the button is released.
+    // button.whileHeld(new ExampleCommand());
+    
+    // Start the command when the button is released  and let it run the command
+    // until it is finished as determined by it's isFinished method.
+    // button.whenReleased(new ExampleCommand());
+}
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/command-based/Robot.java

@@ -18,6 +18,7 @@ import $package.subsystems.ExampleSubsystem;
 public class Robot extends IterativeRobot {
 
 	public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
+	public static OI oi;
 
     Command autonomousCommand;
 
@@ -26,6 +27,7 @@ public class Robot extends IterativeRobot {
      * used for any initialization code.
      */
     public void robotInit() {
+		oi = new OI();
         // instantiate the command used for the autonomous period
         autonomousCommand = new ExampleCommand();
     }

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/command-based/RobotMap.java

@@ -0,0 +1,18 @@
+package $package;
+/**
+ * The RobotMap is a mapping from the ports sensors and actuators are wired into
+ * to a variable name. This provides flexibility changing wiring, makes checking
+ * the wiring easier and significantly reduces the number of magic numbers
+ * floating around.
+ */
+public class RobotMap {
+    // For example to map the left and right motors, you could define the
+    // following variables to use with your drivetrain subsystem.
+    // public static final int leftMotor = 1;
+    // public static final int rightMotor = 2;
+    
+    // If you are using multiple modules, make sure to define both the port
+    // number and the module. For example you with a rangefinder:
+    // public static final int rangefinderPort = 1;
+    // public static final int rangefinderModule = 1;
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/command-based/Trigger.java

@@ -1,6 +1,6 @@
 package $package;
 
-import edu.wpi.first.wpilibj.command.Trigger;
+import edu.wpi.first.wpilibj.buttons.Trigger;
 
 /**
  *

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GearsBot/src/org/usfirst/frc/team190/robot/subsystems/DriveTrain.java

@@ -51,9 +51,6 @@ public class DriveTrain extends Subsystem {
 			left_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0);
 			right_encoder.setDistancePerPulse((4.0/12.0*Math.PI) / 360.0);
 		}
-		
-		left_encoder.start();
-		right_encoder.start();
 
 		rangefinder = new AnalogInput(6);
 		gyro = new Gyro(1);

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/GettingStarted/src/org/usfirst/frc/team190/robot/Robot.java

@@ -0,0 +1,69 @@
+package $package;
+
+import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
+/**
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the IterativeRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ */
+public class Robot extends IterativeRobot {
+	RobotDrive myRobot;
+	Joystick stick;
+	int autoLoopCounter;
+	
+    /**
+     * This function is run when the robot is first started up and should be
+     * used for any initialization code.
+     */
+    public void robotInit() {
+    	myRobot = new RobotDrive(0,1);
+    	stick = new Joystick(1);
+    }
+    
+    /**
+     * This function is run once each time the robot enters autonomous mode
+     */
+    public void autonomousInit() {
+    	autoLoopCounter = 0;
+    }
+
+    /**
+     * This function is called periodically during autonomous
+     */
+    public void autonomousPeriodic() {
+    	if(autoLoopCounter < 100) //Check if we've completed 100 loops (approximately 2 seconds)
+		{
+			myRobot.drive(-0.5, 0.0); 	// drive forwards half speed
+			autoLoopCounter++;
+			} else {
+			myRobot.drive(0.0, 0.0); 	// stop robot
+		}
+    }
+    
+    /**
+     * This function is called once each time the robot enters tele-operated mode
+     */
+    public void teleopInit(){
+    }
+
+    /**
+     * This function is called periodically during operator control
+     */
+    public void teleopPeriodic() {
+        myRobot.arcadeDrive(stick);
+    }
+    
+    /**
+     * This function is called periodically during test mode
+     */
+    public void testPeriodic() {
+    	LiveWindow.run();
+    }
+    
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/Network Table Counter/Robot.java

@@ -1,39 +0,0 @@
-package $package;
-
-import edu.wpi.first.wpilibj.networktables.NetworkTable;
-
-/**
- * An example of a network table counter. 
- * 
- * @author Team $team-number
-  */
-public class Robot {
-
-    private static NetworkTable table;
-
-    /**
-     * @param args
-     */
-    public static void main(String[] args) {
-		NetworkTable.setServerMode();
-		NetworkTable.setTeam(190);
-		table = NetworkTable.getTable("SmartDashboard");
-		System.out.println("Started up");
-			
-		long i = 0;
-		while (true) {
-		    System.out.println(i);
-		    table.putNumber("i", i);
-		    i++;
-				
-		    try {
-		    	Thread.sleep(1000);
-		    } catch (InterruptedException e) {
-		    	// TODO Auto-generated catch block
-		    	e.printStackTrace();
-		    }
-		}
-		
-    }
-
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/Robot.java

@@ -33,7 +33,7 @@ public class Robot extends IterativeRobot {
 	public static Collector collector;
 	public static Shooter shooter;
 	public static Pneumatics pneumatics;
-	public static Pivot pivot;;
+	public static Pivot pivot;
 
 	public SendableChooser autoChooser;
 	public SendableChooser autonomousDirectionChooser;

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/PacGoat/src/org/usfirst/frc/team190/pacgoat/subsystems/DriveTrain.java

@@ -63,8 +63,6 @@ public class DriveTrain extends Subsystem {
 			leftEncoder.setDistancePerPulse((4.0/*in*/*Math.PI)/(360.0*12.0/*in/ft*/));
 		}
 
-		rightEncoder.start();
-		leftEncoder.start();		
 		LiveWindow.addSensor("DriveTrain", "Right Encoder", rightEncoder);
 		LiveWindow.addSensor("DriveTrain", "Left Encoder", leftEncoder);
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/Simple Robot Example/Robot.java

@@ -1,17 +0,0 @@
-package $package;
-
-/**
- * Simplest possible robot program
- * 
- * @author Team $team-number
-  */
-public class Robot {
-
-    /**
-     * @param args Input....
-     */
-    public static void main(String[] args) {
-    	// Do stuff here!
-    }
-
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/examples.xml

@@ -1,63 +1,49 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <examples>
+  <!-- TODO add back in when there are enough samples to justify tags
   <tagDescription>
     <name>Simple Robot</name>
     <description>Examples for simple robot programs.</description>
   </tagDescription>
-  <tagDescription>
-    <name>CommandBased Robot</name>
-    <description>Examples for CommandBased robot programs.</description>
-  </tagDescription>
-  <tagDescription>
-    <name>Simulation</name>
-    <description>Examples that can be run in simulation.</description>
-  </tagDescription>
   <tagDescription>
     <name>Network Tables</name>
     <description>Examples of how to use Network Tables to accomplish a
     variety of tasks such as sending and receiving values to both
     dashboards and co-processors.</description>
   </tagDescription>
-  
+  <tagDescription>
+    <name>Simulation</name>
+    <description>Examples that can be run in simulation.</description>
+  </tagDescription>-->
+  <tagDescription>
+	<name>Getting Started with Java</name>
+	<description>Examples for getting started with FRC Java</description>
+  </tagDescription>
   <example>
-    <name>Simple Robot Example</name>
-    <description>The simplest possible program that compiles. This
-    shows the structure of a simple program that does nothing at
-    all.</description>
-    <tags>
-      <tag>Simple Robot</tag>
-    </tags>
-    <packages>
-      <package>src/$package-dir</package>
-    </packages>
-    <files>
-      <file source="examples/Simple Robot Example/Robot.java" destination="src/$package-dir/Robot.java" />
-    </files>
-  </example>
-  
-  <example>
-    <name>Network Table Counter</name>
-    <description>A simple program that increments a network table
-    variable once every second. This shows the structure of a simple
-    program that only uses network tables.</description>
-    <tags>
-      <tag>Simple Robot</tag>
-      <tag>Network Tables</tag>
-    </tags>
-    <packages>
-      <package>src/$package-dir</package>
-    </packages>
-    <files>
-      <file source="examples/Network Table Counter/Robot.java" destination="src/$package-dir/Robot.java" />
-    </files>
+	<name>Getting Started</name>
+	<description>An example program which demonstrates the simplest autonomous and
+	teleoperated routines.</description>
+	<tags>
+	  <tag>Getting Started with Java</tag>
+	</tags>
+	<packages>
+	  <package>src/$package-dir</package>
+	</packages>
+	<files>
+	  <file source="examples/GettingStarted/src/org/usfirst/frc/team190/robot/Robot.java"
+			destination="src/$package-dir/Robot.java"></file>
+	</files>
   </example>
+  <tagDescription>
+    <name>CommandBased Robot</name>
+    <description>Examples for CommandBased robot programs.</description>
+  </tagDescription>
 
   <example>
     <name>GearsBot</name>
     <description>A fully functional example CommandBased program for WPIs GearsBot robot. This code can run on your computer if it supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
-      <tag>Simulation</tag>
     </tags>
     <packages>
       <package>src/$package-dir</package>
@@ -90,8 +76,6 @@
     <description>A fully functional example CommandBased program for FRC Team 190&#39;s 2014 robot. This code can run on your computer if it supports simulation.</description>
     <tags>
       <tag>CommandBased Robot</tag>
-      <tag>Simulation</tag>
-      <tag>2014 Season</tag>
     </tags>
     <packages>
       <package>src/$package-dir</package>

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/sample/Robot.java

@@ -0,0 +1,62 @@
+
+package $package;
+
+
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a demo program showing the use of the RobotDrive class.
+ * The SampleRobot class is the base of a robot application that will automatically call your
+ * Autonomous and OperatorControl methods at the right time as controlled by the switches on
+ * the driver station or the field controls.
+ *
+ * The VM is configured to automatically run this class, and to call the
+ * functions corresponding to each mode, as described in the SampleRobot
+ * documentation. If you change the name of this class or the package after
+ * creating this project, you must also update the manifest file in the resource
+ * directory.
+ *
+ * WARNING: While it may look like a good choice to use for your code if you're inexperienced,
+ * don't. Unless you know what you are doing, complex code will be much more difficult under
+ * this system. Use IterativeRobot or Command-Based instead if you're new.
+ */
+public class Robot extends SampleRobot {
+    RobotDrive myRobot;
+    Joystick stick;
+
+    public Robot() {
+        myRobot = new RobotDrive(0, 1);
+        myRobot.setExpiration(0.1);
+        stick = new Joystick(1);
+    }
+
+    /**
+     * Drive left & right motors for 2 seconds then stop
+     */
+    public void autonomous() {
+        myRobot.setSafetyEnabled(false);
+        myRobot.drive(-0.5, 0.0);	// drive forwards half speed
+        Timer.delay(2.0);		//    for 2 seconds
+        myRobot.drive(0.0, 0.0);	// stop robot
+    }
+
+    /**
+     * Runs the motors with arcade steering.
+     */
+    public void operatorControl() {
+        myRobot.setSafetyEnabled(true);
+        while (isOperatorControl()) {
+            myRobot.arcadeDrive(stick); // drive with arcade style (use right stick)
+            Timer.delay(0.005);		// wait for a motor update time
+        }
+    }
+
+    /**
+     * Runs during test mode
+     */
+    public void test() {
+    }
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/simple/Robot.java

@@ -1,35 +0,0 @@
-
-package $package;
-
-
-import edu.wpi.first.wpilibj.SimpleRobot;
-
-/**
- * The VM is configured to automatically run this class, and to call the
- * functions corresponding to each mode, as described in the SimpleRobot
- * documentation. If you change the name of this class or the package after
- * creating this project, you must also update the manifest file in the resource
- * directory.
- */
-public class Robot extends SimpleRobot {
-    /**
-     * This function is called once each time the robot enters autonomous mode.
-     */
-    public void autonomous() {
-        
-    }
-
-    /**
-     * This function is called once each time the robot enters operator control.
-     */
-    public void operatorControl() {
-
-    }
-    
-    /**
-     * This function is called once each time the robot enters test mode.
-     */
-    public void test() {
-    
-    }
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/WPILibJavaPlugin.java

@@ -78,12 +78,16 @@ public class WPILibJavaPlugin extends AbstractUIPlugin implements IStartup {
 			return "DEVELOPMENT";
 		}
 	}
+	public String getJavaPath() {
+		return WPILibCore.getDefault().getWPILibBaseDir()
+				+ File.separator + "java" + File.separator + "current";
+	}
 
 	public Properties getProjectProperties(IProject project) {
 		Properties defaults = WPILibCore.getDefault().getProjectProperties(project);
 		Properties props;
 		try {
-			File file = new File(WPILibCore.getDefault().getWPILibBaseDir()+"/java/"+getCurrentVersion()+"/ant/build.properties");
+			File file = new File(WPILibCore.getDefault().getWPILibBaseDir()+"/java/current/ant/build.properties");
 			props = new AntPropertiesParser(new FileInputStream(file)).getProperties(defaults);
 		} catch (Exception e) {
             WPILibJavaPlugin.logError("Error getting properties.", e);
@@ -100,11 +104,15 @@ public class WPILibJavaPlugin extends AbstractUIPlugin implements IStartup {
 	    IProject[] projects = root.getProjects();
 	    // Loop over all projects
 	    for (IProject project : projects) {
-	      try {
-	    	  updateVariables(project);
-	      } catch (CoreException e) {
-            WPILibJavaPlugin.logError("Error updating projects.", e);
-	      }
+			  try {
+				  if(project.hasNature("edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature")){
+					WPILibJavaPlugin.logInfo("Updating project");
+					updateVariables(project);
+				  } else {
+				  }
+			  } catch (CoreException e) {
+				WPILibJavaPlugin.logError("Error updating projects.", e);
+			  }
 	    }
 	}
 	

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/installer/JavaInstaller.java

@@ -1,11 +1,8 @@
 package edu.wpi.first.wpilib.plugins.java.installer;
 
 import java.io.InputStream;
-import java.util.Properties;
-
 import org.eclipse.jface.preference.IPreferenceStore;
 
-import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.core.installer.AbstractInstaller;
 import edu.wpi.first.wpilib.plugins.java.WPILibJavaPlugin;
 import edu.wpi.first.wpilib.plugins.java.preferences.PreferenceConstants;
@@ -19,7 +16,9 @@ import edu.wpi.first.wpilib.plugins.java.preferences.PreferenceConstants;
 public class JavaInstaller extends AbstractInstaller {
 
 	public JavaInstaller(String version) {
-		super(version);
+		super(version, 
+				WPILibJavaPlugin.getDefault().getPreferenceStore().getString(PreferenceConstants.LIBRARY_INSTALLED),
+				WPILibJavaPlugin.getDefault().getJavaPath());
 	}
 
 	@Override
@@ -30,14 +29,7 @@ public class JavaInstaller extends AbstractInstaller {
 	@Override
 	protected void updateInstalledVersion(String version) {
 		IPreferenceStore prefs = WPILibJavaPlugin.getDefault().getPreferenceStore();
-		if (prefs.getBoolean(PreferenceConstants.UPDATE_LIBRARY_VERSION)) {
-			WPILibJavaPlugin.logInfo("Forcing library version to "+version);
-	    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
-	    	props.setProperty("version", version);
-	    	WPILibCore.getDefault().saveGlobalProperties(props);
-			prefs.setValue(PreferenceConstants.LIBRARY_VERSION, version);
-		}
-    	WPILibJavaPlugin.getDefault().updateProjects();
+			prefs.setValue(PreferenceConstants.LIBRARY_INSTALLED, version);
 	}
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/preferences/JavaPreferencePage.java

@@ -1,96 +0,0 @@
-package edu.wpi.first.wpilib.plugins.java.preferences;
-
-import java.io.File;
-import java.io.FileFilter;
-import java.util.ArrayList;
-import java.util.Collections;
-import java.util.List;
-import java.util.Properties;
-
-import org.eclipse.jface.preference.BooleanFieldEditor;
-import org.eclipse.jface.preference.FieldEditorPreferencePage;
-import org.eclipse.ui.IWorkbenchPreferencePage;
-import org.eclipse.ui.IWorkbench;
-
-import edu.wpi.first.wpilib.plugins.core.WPILibCore;
-import edu.wpi.first.wpilib.plugins.core.preferences.ComboFieldEditor;
-import edu.wpi.first.wpilib.plugins.java.WPILibJavaPlugin;
-
-/**
- * This class represents a preference page that
- * is contributed to the Preferences dialog. By 
- * subclassing <samp>FieldEditorPreferencePage</samp>, we
- * can use the field support built into JFace that allows
- * us to create a page that is small and knows how to 
- * save, restore and apply itself.
- * <p>
- * This page is used to modify preferences only. They
- * are stored in the preference store that belongs to
- * the main plug-in class. That way, preferences can
- * be accessed directly via the preference store.
- */
-
-public class JavaPreferencePage
-	extends FieldEditorPreferencePage
-	implements IWorkbenchPreferencePage {
-	ComboFieldEditor wpiLibVersionEditor;
-	BooleanFieldEditor autoUpdateEditor;
-
-	public JavaPreferencePage() {
-		super(GRID);
-		setPreferenceStore(WPILibJavaPlugin.getDefault().getPreferenceStore());
-		setDescription("Change workspace level settings for Java.");
-	}
-	
-	/**
-	 * Creates the field editors. Field editors are abstractions of
-	 * the common GUI blocks needed to manipulate various types
-	 * of preferences. Each field editor knows how to save and
-	 * restore itself.
-	 */
-	public void createFieldEditors() {
-		wpiLibVersionEditor = new ComboFieldEditor(PreferenceConstants.LIBRARY_VERSION,
-				"&Library Version:", getFieldEditorParent(), getInstalledVersions());
-		addField(wpiLibVersionEditor);
-		autoUpdateEditor =	new BooleanFieldEditor(PreferenceConstants.UPDATE_LIBRARY_VERSION,
-				"&Auto Update Library Version", getFieldEditorParent());
-		addField(autoUpdateEditor);
-	}
-
-	private List<String> getInstalledVersions() {
-		File[] dirs = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"java")
-							.listFiles(new FileFilter() {
-			@Override public boolean accept(File f) {
-				return f.isDirectory();
-			}
-		});
-		List<String> versions = new ArrayList<String>();
-		for (File dir : dirs) {
-			versions.add(dir.getName());
-		}
-		Collections.sort(versions);
-		return versions;
-	}
-
-	/* (non-Javadoc)
-	 * @see org.eclipse.ui.IWorkbenchPreferencePage#init(org.eclipse.ui.IWorkbench)
-	 */
-	public void init(IWorkbench workbench) {
-		WPILibJavaPlugin.logInfo("Preferences initialized.");
-		Properties props = WPILibCore.getDefault().getProjectProperties(null);
-		getPreferenceStore().setValue(PreferenceConstants.LIBRARY_VERSION,
-				props.getProperty("version", WPILibJavaPlugin.getDefault().getCurrentVersion()));
-	}
-	
-	@Override public void performApply() {
-		performOk();
-	}
-	
-    @Override public boolean performOk() {
-    	Properties props = WPILibCore.getDefault().getProjectProperties(null);
-    	props.setProperty("version", wpiLibVersionEditor.getChoice());
-    	WPILibCore.getDefault().saveGlobalProperties(props);
-    	WPILibJavaPlugin.getDefault().updateProjects();
-		return super.performOk();
-	}
-}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/preferences/PreferenceConstants.java

@@ -4,6 +4,5 @@ package edu.wpi.first.wpilib.plugins.java.preferences;
  * Constant definitions for plug-in preferences
  */
 public class PreferenceConstants {
-	public static final String LIBRARY_VERSION = "libraryVersionPreference";
-	public static final String UPDATE_LIBRARY_VERSION = "udpateLibraryVersionPreference";
+	public static final String LIBRARY_INSTALLED = "libraryVersion_current";
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/preferences/PreferenceInitializer.java

@@ -18,9 +18,7 @@ public class PreferenceInitializer extends AbstractPreferenceInitializer {
 	 */
 	public void initializeDefaultPreferences() {
 		IPreferenceStore store = WPILibJavaPlugin.getDefault().getPreferenceStore();
-		store.setDefault(PreferenceConstants.LIBRARY_VERSION,
-				WPILibCore.getDefault().getProjectProperties(null)
-				.getProperty("version", WPILibJavaPlugin.getDefault().getCurrentVersion()));
-		store.setDefault(PreferenceConstants.UPDATE_LIBRARY_VERSION, true);
+		if (!store.contains(PreferenceConstants.LIBRARY_INSTALLED))
+			store.setValue(PreferenceConstants.LIBRARY_INSTALLED, "none");
 	}
 }

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/wizards/newproject/JavaProjectType.java

@@ -8,10 +8,10 @@ import edu.wpi.first.wpilib.plugins.core.wizards.ProjectType;
 import edu.wpi.first.wpilib.plugins.java.WPILibJavaPlugin;
 
 public class JavaProjectType implements ProjectType {
-	static ProjectType SIMPLE = new JavaProjectType() {
+	static ProjectType SAMPLE = new JavaProjectType() {
 		@Override public Map<String, String> getFiles(String packageName) {
 			Map<String, String> files = super.getFiles(packageName);
-			files.put("src/"+packageName.replace(".", "/")+"/Robot.java", "simple/Robot.java");
+			files.put("src/"+packageName.replace(".", "/")+"/Robot.java", "sample/Robot.java");
 			return files;
 		}
 	};
@@ -33,6 +33,8 @@ public class JavaProjectType implements ProjectType {
 		@Override public Map<String, String> getFiles(String packageName) {
 			Map<String, String> files = super.getFiles(packageName);
 			files.put("src/"+packageName.replace(".", "/")+"/Robot.java", "command-based/Robot.java");
+			files.put("src/"+packageName.replace(".", "/")+"/RobotMap.java", "command-based/RobotMap.java");
+			files.put("src/"+packageName.replace(".", "/")+"/OI.java", "command-based/OI.java");
 			files.put("src/"+packageName.replace(".", "/")+"/commands/ExampleCommand.java", "command-based/ExampleCommand.java");
 			files.put("src/"+packageName.replace(".", "/")+"/subsystems/ExampleSubsystem.java", "command-based/ExampleSubsystem.java");
 			return files;
@@ -40,7 +42,7 @@ public class JavaProjectType implements ProjectType {
 	};
 	@SuppressWarnings("serial")
 	static Map<String, ProjectType> TYPES = new HashMap<String, ProjectType>() {{
-		put(ProjectType.SIMPLE, SIMPLE);
+		put(ProjectType.SAMPLE, SAMPLE);
 		put(ProjectType.ITERATIVE, ITERATIVE);
 		put(ProjectType.COMMAND_BASED, COMMAND_BASED);
 	}};

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.properties

@@ -2,10 +2,12 @@
 username=admin
 password=
 deploy.dir=/home/admin
-deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
-deploy.debug.command = /usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar ${deploy.dir}/FRCUserProgram.jar
+deploy.kill.command=. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r
 deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
+deploy.log.command=tail -F -n 0 ${deploy.log.file}
+debug.flag.dir=/tmp/
 command.dir=/home/lvuser/
+version=current
 
 # Libraries to use
 wpilib=${user.home}/wpilib/java/${version}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/build.xml

@@ -19,10 +19,8 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
-    <math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
-    <math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
-    <property name="target" value="10.${ip.upper}.${ip.lower}.2" />
-     <echo>Target IP: ${target}</echo>
+    <property name="target" value="roboRIO-${team-number}.local" />
+     <echo>Target: ${target}</echo>
   </target>
 
   <target name="compile" description="Compile the source code.">
@@ -34,9 +32,9 @@
      includeAntRuntime="no"
      includeJavaRuntime="no"
      classpath="${classpath}"
-     target="1.7"
-     source="1.7"
-     compiler="javac1.7"
+     target="${ant.java.version}"
+     source="${ant.java.version}"
+     compiler="javac${ant.java.version}"
      debug="true">
     </javac>
   </target>
@@ -78,25 +76,35 @@
        username="${username}"
        password="${password}"
        trust="true"
-       command=". /etc/profile.d/natinst-path.sh; chmod a+x run*program; ${deploy.kill.command};"/>
+       command="${deploy.kill.command};"/>
 
     <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
-       command="tail -f -s 0 -n 1 ${deploy.log.file}"/>
+       command="${deploy.log.command}"/>
   </target>
 
   <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
     <echo>[athena-deploy] Copying code over.</echo>
     <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+  	<!-- The remoteDebugCommand file is used by /usr/local/frc/bin/frcRunRobot.sh on the roboRIO  -->
+    <scp file="${wpilib.ant.dir}/robotDebugCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
+  	<!-- The frcdebug file is used as a flag for /usr/local/frc/bin/frcRunRobot.sh to run the robot program in debug mode -->
+  	<scp file="${wpilib.ant.dir}/frcdebug" todir="${username}@${target}:${debug.flag.dir}" password="${password}" trust="true"/>
 
-    <echo>[athena-deploy] Starting program.</echo>
+    <echo>[athena-deploy] Starting Debug program.</echo>
     <sshexec host="${target}"
-       username="${username}"
-       password="${password}"
-       trust="true"
-       command=". /etc/profile.d/natinst-path.sh; ${deploy.debug.command}"/>
+        username="${username}"
+        password="${password}"
+        trust="true"
+        command="${deploy.kill.command}"/>
+
+    <sshexec host="${target}"
+        username="${username}"
+        password="${password}"
+        trust="true"
+        command="${deploy.log.command}"/>
   </target>
 
   <!-- Simulate -->

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/frcdebug

@@ -0,0 +1,2 @@
+# This file is used as a flag to determine if debugging should be used.
+# It is uploaded to the robot when launched in debug mode and should be removed automatically once used.

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/resources/java-zip/ant/robotDebugCommand

@@ -0,0 +1,3 @@
+/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y
+-jar /home/admin/FRCUserProgram.jar
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/site.xml

@@ -12,7 +12,7 @@
    <feature url="features/edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature_0.2.0.jar" id="edu.wpi.first.wpilib.plugins.cpp.toolchains.mac.feature" version="0.2.0">
       <category name="edu.wpi.first.wpilib.plugins.cpp.toolchains"/>
    </feature>
-   <feature url="features/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature_0.2.0.jar" id="edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature" version="0.2.0">
+   <feature url="features/edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature_0.3.0.jar" id="edu.wpi.first.wpilib.plugins.cpp.toolchains.windows.feature" version="0.3.0">
       <category name="edu.wpi.first.wpilib.plugins.cpp.toolchains"/>
    </feature>
    <category-def name="edu.wpi.first.wpilib.plugins" label="WPILib Robot Development">

hal/CMakeLists.txt

@@ -2,13 +2,12 @@ cmake_minimum_required(VERSION 2.8)
 project(HAL)
 
 file(GLOB_RECURSE SRC_FILES lib/Athena/*.cpp)
-include_directories(lib/Athena include)
+include_directories(lib/Athena lib/Athena/FRC_FPGA_ChipObject include)
 add_library(HALAthena STATIC ${SRC_FILES})
 target_link_libraries(HALAthena ${NI_LIBS})
 INSTALL(TARGETS HALAthena ARCHIVE DESTINATION lib COMPONENT lib)
 INSTALL(FILES ${NI_LIBS} DESTINATION lib COMPONENT ni_lib)
 INSTALL(DIRECTORY include DESTINATION ${CMAKE_INSTALL_PREFIX} COMPONENT headers)
 # lib/ c m gcc_s ld-linux
-# usr/lib stdc++
+# usr/lib 
 # FRC_NetworkCommunication FRC_FPGA_ChipObject RoboRIO_FRC_ChipObject
-

hal/include/HAL/Accelerometer.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+enum AccelerometerRange {
+	kRange_2G = 0,
+	kRange_4G = 1,
+	kRange_8G = 2,
+};
+
+extern "C" {
+	void setAccelerometerActive(bool);
+	void setAccelerometerRange(AccelerometerRange);
+	double getAccelerometerX();
+	double getAccelerometerY();
+	double getAccelerometerZ();
+}

hal/include/HAL/Analog.hpp

@@ -26,11 +26,9 @@ extern "C"
 	void* initializeAnalogInputPort(void* port_pointer, int32_t *status);
 	bool checkAnalogModule(uint8_t module);
 	bool checkAnalogInputChannel(uint32_t pin);
-	
+
 	void setAnalogSampleRate(double samplesPerSecond, int32_t *status);
 	float getAnalogSampleRate(int32_t *status);
-	void setAnalogSampleRateWithModule(uint8_t module, double samplesPerSecond, int32_t *status);
-	float getAnalogSampleRateWithModule(uint8_t module, int32_t *status);
 	void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *status);
 	uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status);
 	void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *status);
@@ -71,14 +69,11 @@ extern "C"
 	//// Float JNA Hack
 	// Float
 	int getAnalogSampleRateIntHack(int32_t *status);
-	int getAnalogSampleRateWithModuleIntHack(uint8_t module, int32_t *status);
 	int getAnalogVoltageIntHack(void* analog_port_pointer, int32_t *status);
 	int getAnalogAverageVoltageIntHack(void* analog_port_pointer, int32_t *status);
 
 	// Doubles
 	void setAnalogSampleRateIntHack(int samplesPerSecond, int32_t *status);
-	void setAnalogSampleRateWithModuleIntHack(uint8_t module, int samplesPerSecond,
-			int32_t *status);
 	int32_t getAnalogVoltsToValueIntHack(void* analog_port_pointer, int voltage, int32_t *status);
 	void setAnalogTriggerLimitsVoltageIntHack(void* analog_trigger_pointer, int lower, int upper,
 			int32_t *status);

hal/include/HAL/CAN.hpp

@@ -1,15 +1,26 @@
 #pragma once
 
-#ifdef __vxworks
-#include <vxWorks.h>
-#else
 #include <stdint.h>
-#endif
+#include "NetworkCommunication/CANSessionMux.h"
 
-extern "C"
-{
-	void JaguarCANSendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize,
-			int32_t *status);
-	void JaguarCANReceiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize,
-			uint32_t timeoutMs, int32_t *status);
-}
+void canTxSend(uint32_t arbID, uint8_t length, int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
+
+void canTxPackInt8 (uint32_t arbID, uint8_t offset, uint8_t  value);
+void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value);
+void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value);
+void canTxPackFXP16(uint32_t arbID, uint8_t offset, double   value);
+void canTxPackFXP32(uint32_t arbID, uint8_t offset, double   value);
+
+uint8_t  canTxUnpackInt8 (uint32_t arbID, uint8_t offset);
+uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset);
+uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset);
+double   canTxUnpackFXP16(uint32_t arbID, uint8_t offset);
+double   canTxUnpackFXP32(uint32_t arbID, uint8_t offset);
+
+bool canRxReceive(uint32_t arbID);
+
+uint8_t  canRxUnpackInt8 (uint32_t arbID, uint8_t offset);
+uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset);
+uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset);
+double   canRxUnpackFXP16(uint32_t arbID, uint8_t offset);
+double   canRxUnpackFXP32(uint32_t arbID, uint8_t offset);

hal/include/HAL/Digital.hpp

@@ -4,6 +4,7 @@
 #else
 #include <stdint.h>
 #endif
+#include "HAL/cpp/Synchronized.hpp"
 
 enum Mode
 {
@@ -12,40 +13,23 @@ enum Mode
 	kPulseLength = 2,
 	kExternalDirection = 3
 };
-enum tSPIConstants
-{
-	kReceiveFIFODepth = 512,
-	kTransmitFIFODepth = 512
-};
-enum tFrameMode
-{
-	kChipSelect,
-	kPreLatchPulse,
-	kPostLatchPulse,
-	kPreAndPostLatchPulse
-};
+
 extern "C"
 {
 	void* initializeDigitalPort(void* port_pointer, int32_t *status);
-	bool checkDigitalModule(uint8_t module);
 	bool checkPWMChannel(void* digital_port_pointer);
 	bool checkRelayChannel(void* digital_port_pointer);
 
 	void setPWM(void* digital_port_pointer, unsigned short value, int32_t *status);
+	bool allocatePWMChannel(void* digital_port_pointer, int32_t *status);
+	void freePWMChannel(void* digital_port_pointer, int32_t *status);
 	unsigned short getPWM(void* digital_port_pointer, int32_t *status);
 	void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t *status);
 	void* allocatePWM(int32_t *status);
-	void* allocatePWMWithModule(uint8_t module, int32_t *status);
 	void freePWM(void* pwmGenerator, int32_t *status);
-	void freePWMWithModule(uint8_t module, void* pwmGenerator, int32_t *status);
 	void setPWMRate(double rate, int32_t *status);
-	void setPWMRateWithModule(uint8_t module, double rate, int32_t *status);
 	void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status);
-	void setPWMDutyCycleWithModule(uint8_t module, void* pwmGenerator, double dutyCycle,
-			int32_t *status);
 	void setPWMOutputChannel(void* pwmGenerator, uint32_t pin, int32_t *status);
-	void setPWMOutputChannelWithModule(uint8_t module, void* pwmGenerator, uint32_t pin,
-			int32_t *status);
 
 	void setRelayForward(void* digital_port_pointer, bool on, int32_t *status);
 	void setRelayReverse(void* digital_port_pointer, bool on, int32_t *status);
@@ -60,18 +44,15 @@ extern "C"
 	void pulse(void* digital_port_pointer, double pulseLength, int32_t *status);
 	bool isPulsing(void* digital_port_pointer, int32_t *status);
 	bool isAnyPulsing(int32_t *status);
-	bool isAnyPulsingWithModule(uint8_t module, int32_t *status);
 
 	void* initializeCounter(Mode mode, uint32_t *index, int32_t *status);
 	void freeCounter(void* counter_pointer, int32_t *status);
 	void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status);
-	void setCounterUpSourceWithModule(void* counter_pointer, uint8_t module, uint32_t pin,
-			bool analogTrigger, int32_t *status); // TODO: Without Module
+	void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
 	void setCounterUpSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
 			int32_t *status);
 	void clearCounterUpSource(void* counter_pointer, int32_t *status);
-	void setCounterDownSourceWithModule(void* counter_pointer, uint8_t module, uint32_t pin,
-			bool analogTrigger, int32_t *status); // TODO: Without Module
+	void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigger, int32_t *status);
 	void setCounterDownSourceEdge(void* counter_pointer, bool risingEdge, bool fallingEdge,
 			int32_t *status);
 	void clearCounterDownSource(void* counter_pointer, int32_t *status);
@@ -110,48 +91,30 @@ extern "C"
 	uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
 
 	uint16_t getLoopTiming(int32_t *status);
-	uint16_t getLoopTimingWithModule(uint8_t module, int32_t *status);
 
-	void* initializeSPI(uint8_t sclk_routing_module, uint32_t sclk_routing_pin,
-			uint8_t mosi_routing_module, uint32_t mosi_routing_pin, uint8_t miso_routing_module,
-			uint32_t miso_routing_pin, int32_t *status);
-	void cleanSPI(void* spi_pointer, int32_t *status);
-	void setSPIBitsPerWord(void* spi_pointer, uint32_t bits, int32_t *status);
-	uint32_t getSPIBitsPerWord(void* spi_pointer, int32_t *status);
-	void setSPIClockRate(void* spi_pointer, double hz, int32_t *status);
-	void setSPIMSBFirst(void* spi_pointer, int32_t *status);
-	void setSPILSBFirst(void* spi_pointer, int32_t *status);
-	void setSPISampleDataOnFalling(void* spi_pointer, int32_t *status);
-	void setSPISampleDataOnRising(void* spi_pointer, int32_t *status);
-	void setSPISlaveSelect(void* spi_pointer, uint8_t ss_routing_module, uint32_t ss_routing_pin,
-			int32_t *status);
-	void setSPILatchMode(void* spi_pointer, tFrameMode mode, int32_t *status);
-	tFrameMode getSPILatchMode(void* spi_pointer, int32_t *status);
-	void setSPIFramePolarity(void* spi_pointer, bool activeLow, int32_t *status);
-	bool getSPIFramePolarity(void* spi_pointer, int32_t *status);
-	void setSPIClockActiveLow(void* spi_pointer, int32_t *status);
-	void setSPIClockActiveHigh(void* spi_pointer, int32_t *status);
-	void applySPIConfig(void* spi_pointer, int32_t *status);
-	uint16_t getSPIOutputFIFOAvailable(void* spi_pointer, int32_t *status);
-	uint16_t getSPINumReceived(void* spi_pointer, int32_t *status);
-	bool isSPIDone(void* spi_pointer, int32_t *status);
-	bool hadSPIReceiveOverflow(void* spi_pointer, int32_t *status);
-	void writeSPI(void* spi_pointer, uint32_t data, int32_t *status);
-	uint32_t readSPI(void* spi_pointer, bool initiate, int32_t *status);
-	void resetSPI(void* spi_pointer, int32_t *status);
-	void clearSPIReceivedData(void* spi_pointer, int32_t *status);
+	void spiInitialize(uint8_t port, int32_t *status);
+	int32_t spiTransaction(uint8_t port, uint8_t *dataToSend, uint8_t *dataReceived, uint8_t size);
+	int32_t spiWrite(uint8_t port, uint8_t* dataToSend, uint8_t sendSize);
+	int32_t spiRead(uint8_t port, uint8_t *buffer, uint8_t count);
+	void spiClose(uint8_t port);
+	void spiSetSpeed(uint8_t port, uint32_t speed);
+	void spiSetBitsPerWord(uint8_t port, uint8_t bpw);
+	void spiSetOpts(uint8_t port, int msb_first, int sample_on_trailing, int clk_idle_high);
+	void spiSetChipSelectActiveHigh(uint8_t port, int32_t *status);
+	void spiSetChipSelectActiveLow(uint8_t port, int32_t *status);
+	int32_t spiGetHandle(uint8_t port);
+	void spiSetHandle(uint8_t port, int32_t handle);
+	MUTEX_ID spiGetSemaphore(uint8_t port);
+	void spiSetSemaphore(uint8_t port, MUTEX_ID semaphore);
 
 	void i2CInitialize(uint8_t port, int32_t *status);
-	int i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
-	int i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
-	int i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
+	int32_t i2CTransaction(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize, uint8_t *dataReceived, uint8_t receiveSize);
+	int32_t i2CWrite(uint8_t port, uint8_t deviceAddress, uint8_t *dataToSend, uint8_t sendSize);
+	int32_t i2CRead(uint8_t port, uint8_t deviceAddress, uint8_t *buffer, uint8_t count);
 	void i2CClose(uint8_t port);
 
 	//// Float JNA Hack
 	// double
 	void setPWMRateIntHack(int rate, int32_t *status);
-	void setPWMRateWithModuleIntHack(uint8_t module, int32_t rate, int32_t *status);
 	void setPWMDutyCycleIntHack(void* pwmGenerator, int32_t dutyCycle, int32_t *status);
-	void setPWMDutyCycleWithModuleIntHack(uint8_t module, void* pwmGenerator, int32_t dutyCycle,
-			int32_t *status);
 }

hal/include/HAL/Errors.hpp

@@ -3,7 +3,7 @@
 #define SAMPLE_RATE_TOO_HIGH 1
 #define SAMPLE_RATE_TOO_HIGH_MESSAGE "Analog module sample rate is too high"
 #define VOLTAGE_OUT_OF_RANGE 2
-#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [-10; 10]"
+#define VOLTAGE_OUT_OF_RANGE_MESSAGE "Voltage to convert to raw value is out of range [0; 5]"
 #define LOOP_TIMING_ERROR 4
 #define LOOP_TIMING_ERROR_MESSAGE "Digital module loop timing is not the expected value"
 #define SPI_WRITE_NO_MOSI 12

hal/include/HAL/HAL.hpp

@@ -12,7 +12,9 @@
 #endif
 #include <cmath>
 
+#include "Accelerometer.hpp"
 #include "Analog.hpp"
+#include "CAN.hpp"
 #include "Compressor.hpp"
 #include "Digital.hpp"
 #include "Solenoid.hpp"
@@ -20,6 +22,7 @@
 #include "Interrupts.hpp"
 #include "Errors.hpp"
 #include "PDP.hpp"
+#include "Power.hpp"
 
 #include "Utilities.hpp"
 #include "Semaphore.hpp"
@@ -28,7 +31,6 @@
 #define HAL_IO_CONFIG_DATA_SIZE 32
 #define HAL_SYS_STATUS_DATA_SIZE 44
 #define HAL_USER_STATUS_DATA_SIZE (984 - HAL_IO_CONFIG_DATA_SIZE - HAL_SYS_STATUS_DATA_SIZE)
-#define HAL_USER_DS_LCD_DATA_SIZE 128
 
 #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Input 17
 #define HALFRC_NetworkCommunication_DynamicType_DSEnhancedIO_Output 18
@@ -140,119 +142,32 @@ namespace HALUsageReporting
 	};
 }
 
-struct HALCommonControlData
-{
-	uint16_t packetIndex;
-	union
-	{
-		uint8_t control;
-#ifndef __vxworks
-		struct
-		{
-			uint8_t checkVersions :1;
-			uint8_t test :1;
-			uint8_t resync :1;
-			uint8_t fmsAttached :1;
-			uint8_t autonomous :1;
-			uint8_t enabled :1;
-			uint8_t notEStop :1;
-			uint8_t reset :1;
-		};
-#else
-		struct
-		{
-			uint8_t reset : 1;
-			uint8_t notEStop : 1;
-			uint8_t enabled : 1;
-			uint8_t autonomous : 1;
-			uint8_t fmsAttached:1;
-			uint8_t resync : 1;
-			uint8_t test :1;
-			uint8_t checkVersions :1;
-		};
-#endif
-	};
-	uint8_t dsDigitalIn;
-	uint16_t teamID;
-
-	char dsID_Alliance;
-	char dsID_Position;
-
-	union
-	{
-		int8_t stick0Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick0Axis1;
-			int8_t stick0Axis2;
-			int8_t stick0Axis3;
-			int8_t stick0Axis4;
-			int8_t stick0Axis5;
-			int8_t stick0Axis6;
-		};
-	};
-	uint16_t stick0Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick1Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick1Axis1;
-			int8_t stick1Axis2;
-			int8_t stick1Axis3;
-			int8_t stick1Axis4;
-			int8_t stick1Axis5;
-			int8_t stick1Axis6;
-		};
-	};
-	uint16_t stick1Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick2Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick2Axis1;
-			int8_t stick2Axis2;
-			int8_t stick2Axis3;
-			int8_t stick2Axis4;
-			int8_t stick2Axis5;
-			int8_t stick2Axis6;
-		};
-	};
-	uint16_t stick2Buttons;		// Left-most 4 bits are unused
-
-	union
-	{
-		int8_t stick3Axes[6];
-		struct
-		{ // TODO: ???
-			int8_t stick3Axis1;
-			int8_t stick3Axis2;
-			int8_t stick3Axis3;
-			int8_t stick3Axis4;
-			int8_t stick3Axis5;
-			int8_t stick3Axis6;
-		};
-	};
-	uint16_t stick3Buttons;		// Left-most 4 bits are unused
-
-	//Analog inputs are 10 bit right-justified
-	uint16_t analog1;
-	uint16_t analog2;
-	uint16_t analog3;
-	uint16_t analog4;
-
-	uint64_t cRIOChecksum;
-	uint32_t FPGAChecksum0;
-	uint32_t FPGAChecksum1;
-	uint32_t FPGAChecksum2;
-	uint32_t FPGAChecksum3;
-
-	char versionData[8];
+struct HALControlWord {
+	uint32_t enabled : 1;
+	uint32_t autonomous : 1;
+	uint32_t test :1;
+	uint32_t eStop : 1;
+	uint32_t fmsAttached:1;
+	uint32_t dsAttached:1;
+	uint32_t control_reserved : 26;
 };
 
+enum HALAllianceStationID {
+	kHALAllianceStationID_red1,
+	kHALAllianceStationID_red2,
+	kHALAllianceStationID_red3,
+	kHALAllianceStationID_blue1,
+	kHALAllianceStationID_blue2,
+	kHALAllianceStationID_blue3,
+};
+
+struct HALJoystickAxes {
+	uint16_t count;
+	int16_t axes[6];
+};
+
+typedef uint32_t HALJoystickButtons;
+
 inline float intToFloat(int value)
 {
 	return (float)value;
@@ -278,18 +193,16 @@ extern "C"
 	uint32_t getFPGARevision(int32_t *status);
 	uint32_t getFPGATime(int32_t *status);
 
-	void setFPGALED(uint32_t state, int32_t *status);
-	int32_t getFPGALED(int32_t *status);
+	bool getFPGAButton(int32_t *status);
 
 	int HALSetErrorData(const char *errors, int errorsLength, int wait_ms);
-	int HALSetUserDsLcdData(const char *userDsLcdData, int userDsLcdDataLength, int wait_ms);
-	int HALOverrideIOConfig(const char *ioConfig, int wait_ms);
-	int HALGetDynamicControlData(uint8_t type, char *dynamicData, int32_t maxLength, int wait_ms);
-	int HALGetCommonControlData(HALCommonControlData *data, int wait_ms);
+
+	int HALGetControlWord(HALControlWord *data);
+	int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
+	int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes, uint8_t maxAxes);
+	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
+
 	void HALSetNewDataSem(pthread_mutex_t *);
-	int HALSetStatusData(float battery, uint8_t dsDigitalOut, uint8_t updateNumber,
-			const char *userDataHigh, int userDataHighLength, const char *userDataLow,
-			int userDataLowLength, int wait_ms);
 
 	int HALInitialize(int mode = 0);
 	void HALNetworkCommunicationObserveUserProgramStarting();
@@ -311,4 +224,3 @@ extern "C"
 	void EDVR_CreateReference();
 	void Occur();
 }
-

hal/include/HAL/Interrupts.hpp

@@ -6,6 +6,9 @@
 #include <stdint.h>
 #endif
 
+#include <iostream>
+#include "errno.h"
+
 extern "C"
 {
 	typedef void (*InterruptHandlerFunction)(uint32_t interruptAssertedMask, void *param);

hal/include/HAL/Power.hpp

@@ -0,0 +1,15 @@
+#pragma once
+
+#include <stdint.h>
+
+extern "C"
+{
+	float getVinVoltage(int32_t *status);
+	float getVinCurrent(int32_t *status);
+	float getUserVoltage6V(int32_t *status);
+	float getUserCurrent6V(int32_t *status);
+	float getUserVoltage5V(int32_t *status);
+	float getUserCurrent5V(int32_t *status);
+	float getUserVoltage3V3(int32_t *status);
+	float getUserCurrent3V3(int32_t *status);
+}

hal/include/HAL/cpp/StackTrace.hpp

@@ -1,13 +0,0 @@
-#pragma once
-
-#ifdef __vxworks
-#include <vxWorks.h>
-#else
-#include <stdint.h>
-#endif
-
-extern "C"
-{
-	void printCurrentStackTrace();
-	bool getErrnoToName(int32_t errNo, char* name);
-}

hal/lib/Athena/Accelerometer.cpp

@@ -0,0 +1,234 @@
+#include "HAL/Accelerometer.hpp"
+
+#include "ChipObject.h"
+#include <stdint.h>
+#include <stdio.h>
+#include <assert.h>
+
+// The 7-bit I2C address with a 0 "send" bit
+static const uint8_t kSendAddress = (0x1c << 1) | 0;
+
+// The 7-bit I2C address with a 1 "receive" bit
+static const uint8_t kReceiveAddress = (0x1c << 1) | 1;
+
+static const uint8_t kControlTxRx = 1;
+static const uint8_t kControlStart = 2;
+static const uint8_t kControlStop = 4;
+
+static tAccel *accel = 0;
+static AccelerometerRange accelerometerRange;
+
+// Register addresses
+enum Register {
+	kReg_Status = 0x00,
+	kReg_OutXMSB = 0x01,
+	kReg_OutXLSB = 0x02,
+	kReg_OutYMSB = 0x03,
+	kReg_OutYLSB = 0x04,
+	kReg_OutZMSB = 0x05,
+	kReg_OutZLSB = 0x06,
+	kReg_Sysmod = 0x0B,
+	kReg_IntSource = 0x0C,
+	kReg_WhoAmI = 0x0D,
+	kReg_XYZDataCfg = 0x0E,
+	kReg_HPFilterCutoff = 0x0F,
+	kReg_PLStatus = 0x10,
+	kReg_PLCfg = 0x11,
+	kReg_PLCount = 0x12,
+	kReg_PLBfZcomp = 0x13,
+	kReg_PLThsReg = 0x14,
+	kReg_FFMtCfg = 0x15,
+	kReg_FFMtSrc = 0x16,
+	kReg_FFMtThs = 0x17,
+	kReg_FFMtCount = 0x18,
+	kReg_TransientCfg = 0x1D,
+	kReg_TransientSrc = 0x1E,
+	kReg_TransientThs = 0x1F,
+	kReg_TransientCount = 0x20,
+	kReg_PulseCfg = 0x21,
+	kReg_PulseSrc = 0x22,
+	kReg_PulseThsx = 0x23,
+	kReg_PulseThsy = 0x24,
+	kReg_PulseThsz = 0x25,
+	kReg_PulseTmlt = 0x26,
+	kReg_PulseLtcy = 0x27,
+	kReg_PulseWind = 0x28,
+	kReg_ASlpCount = 0x29,
+	kReg_CtrlReg1 = 0x2A,
+	kReg_CtrlReg2 = 0x2B,
+	kReg_CtrlReg3 = 0x2C,
+	kReg_CtrlReg4 = 0x2D,
+	kReg_CtrlReg5 = 0x2E,
+	kReg_OffX = 0x2F,
+	kReg_OffY = 0x30,
+	kReg_OffZ = 0x31
+};
+
+extern "C" uint32_t getFPGATime(int32_t *status);
+
+static void writeRegister(Register reg, uint8_t data);
+static uint8_t readRegister(Register reg);
+
+/**
+ * Initialize the accelerometer.
+ */
+static void initializeAccelerometer() {
+	int32_t status;
+
+	if(!accel) {
+		accel = tAccel::create(&status);
+
+		// Enable I2C
+		accel->writeCNFG(1, &status);
+
+		// Set the counter to 100 kbps
+		accel->writeCNTR(213, &status);
+
+		// The device identification number should be 0x2a
+		assert(readRegister(kReg_WhoAmI) == 0x2a);
+	}
+}
+
+static void writeRegister(Register reg, uint8_t data) {
+	int32_t status = 0;
+	uint32_t initialTime;
+
+	accel->writeADDR(kSendAddress, &status);
+
+	// Send a start transmit/receive message with the register address
+	accel->writeCNTL(kControlStart | kControlTxRx, &status);
+	accel->writeDATO(reg, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	// Send a stop transmit/receive message with the data
+	accel->writeCNTL(kControlStop | kControlTxRx, &status);
+	accel->writeDATO(data, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	fflush(stdout);
+}
+
+static uint8_t readRegister(Register reg) {
+	int32_t status = 0;
+	uint32_t initialTime;
+
+	// Send a start transmit/receive message with the register address
+	accel->writeADDR(kSendAddress, &status);
+	accel->writeCNTL(kControlStart | kControlTxRx, &status);
+	accel->writeDATO(reg, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	// Receive a message with the data and stop
+	accel->writeADDR(kReceiveAddress, &status);
+	accel->writeCNTL(kControlStart | kControlStop | kControlTxRx, &status);
+	accel->strobeGO(&status);
+
+	// Execute and wait until it's done (up to a millisecond)
+	initialTime = getFPGATime(&status);
+	while(accel->readSTAT(&status) & 1) {
+		if(getFPGATime(&status) > initialTime + 1000) break;
+	}
+
+	fflush(stdout);
+
+	return accel->readDATI(&status);
+}
+
+/**
+ * Convert a 12-bit raw acceleration value into a scaled double in units of
+ * 1 g-force, taking into account the accelerometer range.
+ */
+static double unpackAxis(int16_t raw) {
+	// The raw value is actually 12 bits, not 16, so we need to propogate the
+	// 2's complement sign bit to the unused 4 bits for this to work with
+	// negative numbers.
+	raw <<= 4;
+	raw >>= 4;
+
+	switch(accelerometerRange) {
+	case kRange_2G: return raw / 1024.0;
+	case kRange_4G: return raw / 512.0;
+	case kRange_8G: return raw / 256.0;
+	default: return 0.0;
+	}
+}
+
+/**
+ * Set the accelerometer to active or standby mode.  It must be in standby
+ * mode to change any configuration.
+ */
+void setAccelerometerActive(bool active) {
+	initializeAccelerometer();
+
+	uint8_t ctrlReg1 = readRegister(kReg_CtrlReg1);
+	ctrlReg1 &= ~1; // Clear the existing active bit
+	writeRegister(kReg_CtrlReg1, ctrlReg1 | (active? 1 : 0));
+}
+
+/**
+ * Set the range of values that can be measured (either 2, 4, or 8 g-forces).
+ * The accelerometer should be in standby mode when this is called.
+ */
+void setAccelerometerRange(AccelerometerRange range) {
+	initializeAccelerometer();
+
+	accelerometerRange = range;
+
+	uint8_t xyzDataCfg = readRegister(kReg_XYZDataCfg);
+	xyzDataCfg &= ~3; // Clear the existing two range bits
+	writeRegister(kReg_XYZDataCfg, xyzDataCfg | range);
+}
+
+/**
+ * Get the x-axis acceleration
+ *
+ * This is a floating point value in units of 1 g-force
+ */
+double getAccelerometerX() {
+	initializeAccelerometer();
+
+	int raw = (readRegister(kReg_OutXMSB) << 4) | (readRegister(kReg_OutXLSB) >> 4);
+	return unpackAxis(raw);
+}
+
+/**
+ * Get the y-axis acceleration
+ *
+ * This is a floating point value in units of 1 g-force
+ */
+double getAccelerometerY() {
+	initializeAccelerometer();
+
+	int raw = (readRegister(kReg_OutYMSB) << 4) | (readRegister(kReg_OutYLSB) >> 4);
+	return unpackAxis(raw);
+}
+
+/**
+ * Get the z-axis acceleration
+ *
+ * This is a floating point value in units of 1 g-force
+ */
+double getAccelerometerZ() {
+	initializeAccelerometer();
+
+	int raw = (readRegister(kReg_OutZMSB) << 4) | (readRegister(kReg_OutZLSB) >> 4);
+	return unpackAxis(raw);
+}

hal/lib/Athena/Analog.cpp

@@ -102,7 +102,7 @@ bool checkAnalogModule(uint8_t module) {
  * @return Analog channel is valid
  */
 bool checkAnalogInputChannel(uint32_t pin) {
-  if (pin >= 0 && pin < kAnalogInputPins)
+  if (pin < kAnalogInputPins)
     return true;
   return false;
 }
@@ -115,7 +115,7 @@ bool checkAnalogInputChannel(uint32_t pin) {
  * @return Analog channel is valid
  */
 bool checkAnalogOutputChannel(uint32_t pin) {
-  if (pin >= 0 && pin < kAnalogOutputPins)
+  if (pin < kAnalogOutputPins)
     return true;
   return false;
 }
@@ -185,40 +185,6 @@ float getAnalogSampleRate(int32_t *status) {
   return (float)kTimebase / (float)ticksPerSample;
 }
 
-/**
- * Set the sample rate on the module.
- *
- * This is a global setting for the module and effects all channels.
- *
- * @param module The module to use
- * @param samplesPerSecond The number of samples per channel per second.
- */
-void setAnalogSampleRateWithModule(uint8_t module, double samplesPerSecond, int32_t *status) {
-  if (checkAnalogModule(module)) {
-	setAnalogSampleRate(samplesPerSecond, status);
-  } else {
-	// XXX: Set error status
-  }
-}
-
-/**
- * Get the current sample rate on the module.
- *
- * This assumes one entry in the scan list.
- * This is a global setting for the module and effects all channels.
- *
- * @param module The module to use
- * @return Sample rate.
- */
-float getAnalogSampleRateWithModule(uint8_t module, int32_t *status) {
-  if (checkAnalogModule(module)) {
-	return getAnalogSampleRate(status);
-  } else {
-	return -1; // XXX: Set error status
-  }
-}
-
-
 /**
  * Set the number of averaging bits.
  *
@@ -283,7 +249,7 @@ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
 /**
  * Get a sample straight from the channel on this module.
  *
- * The sample is a 12-bit value representing the -10V to 10V range of the A/D converter in the module.
+ * The sample is a 12-bit value representing the 0V to 5V range of the A/D converter in the module.
  * The units are in A/D converter codes.  Use GetVoltage() to get the analog value in calibrated units.
  *
  * @param analog_port_pointer Pointer to the analog port to use.
@@ -322,7 +288,7 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
  */
 int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
   AnalogPort* port = (AnalogPort*) analog_port_pointer;
-  int16_t value;
+  int32_t value;
   checkAnalogInputChannel(port->port.pin);
 
   tAI::tReadSelect readSelect;
@@ -333,7 +299,7 @@ int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
     Synchronized sync(analogRegisterWindowSemaphore);
     analogInputSystem->writeReadSelect(readSelect, status);
     analogInputSystem->strobeLatchOutput(status);
-    value = (int16_t) analogInputSystem->readOutput(status);
+    value = (int32_t) analogInputSystem->readOutput(status);
   }
 
   return value;
@@ -387,12 +353,12 @@ float getAnalogAverageVoltage(void* analog_port_pointer, int32_t *status) {
  * @return The raw value for the channel.
  */
 int32_t getAnalogVoltsToValue(void* analog_port_pointer, double voltage, int32_t *status) {
-  if (voltage > 10.0) {
-    voltage = 10.0;
+  if (voltage > 5.0) {
+    voltage = 5.0;
     *status = VOLTAGE_OUT_OF_RANGE;
   }
-  if (voltage < -10.0) {
-    voltage = -10.0;
+  if (voltage < 0.0) {
+    voltage = 0.0;
     *status = VOLTAGE_OUT_OF_RANGE;
   }
   uint32_t LSBWeight = getAnalogLSBWeight(analog_port_pointer, status);
@@ -736,10 +702,6 @@ int getAnalogSampleRateIntHack(int32_t *status) {
   return floatToInt(getAnalogSampleRate(status));
 }
 
-int getAnalogSampleRateWithModuleIntHack(uint8_t module, int32_t *status) {
-  return floatToInt(getAnalogSampleRateWithModuleIntHack(module, status));
-}
-
 int getAnalogVoltageIntHack(void* analog_port_pointer, int32_t *status) {
   return floatToInt(getAnalogVoltage(analog_port_pointer, status));
 }
@@ -754,10 +716,6 @@ void setAnalogSampleRateIntHack(int samplesPerSecond, int32_t *status) {
   setAnalogSampleRate(intToFloat(samplesPerSecond), status);
 }
 
-void setAnalogSampleRateWithModuleIntHack(uint8_t module, int samplesPerSecond, int32_t *status) {
-  setAnalogSampleRateWithModule(module, intToFloat(samplesPerSecond), status);
-}
-
 int32_t getAnalogVoltsToValueIntHack(void* analog_port_pointer, int voltage, int32_t *status) {
   return getAnalogVoltsToValue(analog_port_pointer, intToFloat(voltage), status);
 }

hal/lib/Athena/CAN.cpp

@@ -0,0 +1,232 @@
+#include "HAL/CAN.hpp"
+#include <map>
+
+struct CANMessage
+{
+	uint8_t data[8];
+};
+
+static std::map<uint32_t, CANMessage> outgoingMessages;
+static std::map<uint32_t, CANMessage> incomingMessages;
+
+static const uint32_t kFullMessageIDMask = 0x1fffffff;
+
+/**
+ * Gets the data from the outgoing hashmap and calls
+ * CANSessionMux...sendMessage.
+ */
+void canTxSend(uint32_t arbID, uint8_t length, int32_t period)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	int32_t status;
+
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(
+		arbID, message.data, length, period, &status);
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time an single byte field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt8(uint32_t arbID, uint8_t offset, uint8_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	message.data[offset] = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a short integer field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt16(uint32_t arbID, uint8_t offset, uint16_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	*(uint16_t *)(message.data + offset) = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a long integer field changes in a message.data,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackInt32(uint32_t arbID, uint8_t offset, uint32_t value)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	*(uint32_t *)(message.data + offset) = value;
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time an 8.8 fixed point field changes in a message,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackFXP16(uint32_t arbID, uint8_t offset, double value)
+{
+	int16_t raw = value * 255.0;
+
+	canTxPackInt16(arbID, offset, raw);
+}
+
+/**
+ * Updates a field in the outgoing hashmap.
+ *
+ * This is called every time a 16.16 fixed point field changes in a message,
+ * such as when a setter on a CAN device is called.
+ */
+void canTxPackFXP32(uint32_t arbID, uint8_t offset, double value)
+{
+	int32_t raw = value * 65535.0;
+
+	canTxPackInt32(arbID, offset, raw);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint8_t canTxUnpackInt8(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return message.data[offset];
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint16_t canTxUnpackInt16(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return *reinterpret_cast<uint16_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+uint32_t canTxUnpackInt32(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = outgoingMessages[arbID];
+
+	return *reinterpret_cast<uint32_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+double canTxUnpackFXP16(uint32_t arbID, uint8_t offset)
+{
+	int16_t raw = canTxUnpackInt16(arbID, offset);
+
+	return raw / 255.0;
+}
+
+/**
+ * Unpack a field from the outgoing hashmap.
+ *
+ * This is called in getters for configuration data.
+ */
+double canTxUnpackFXP32(uint32_t arbID, uint8_t offset)
+{
+	int32_t raw = canTxUnpackInt32(arbID, offset);
+
+	return raw / 65535.0;
+}
+
+/**
+ * Get data from CANSessionMux (if it's available) and put it in the incoming
+ * hashmap.
+ *
+ * @return true if there's new data.  Otherwise, the last received value should
+ * still be in the hashmap.
+ */
+bool canRxReceive(uint32_t arbID)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	uint8_t length;
+	uint32_t timestamp;
+	int32_t status;
+
+	FRC_NetworkCommunication_CANSessionMux_receiveMessage(
+		&arbID, kFullMessageIDMask, message.data, &length, &timestamp, &status);
+
+	return status != ERR_CANSessionMux_MessageNotFound;
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint8_t canRxUnpackInt8(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return message.data[offset];
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint16_t canRxUnpackInt16(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return *reinterpret_cast<uint16_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+uint32_t canRxUnpackInt32(uint32_t arbID, uint8_t offset)
+{
+	CANMessage &message = incomingMessages[arbID];
+
+	return *reinterpret_cast<uint32_t *>(message.data + offset);
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+double canRxUnpackFXP16(uint32_t arbID, uint8_t offset)
+{
+	int16_t raw = canRxUnpackInt16(arbID, offset);
+
+	return raw / 255.0;
+}
+
+/**
+ * Unpack a field from the incoming hashmap.
+ *
+ * This is called in getters for status data.
+ */
+double canRxUnpackFXP32(uint32_t arbID, uint8_t offset)
+{
+	int32_t raw = canRxUnpackInt32(arbID, offset);
+
+	return raw / 65535.0;
+}

hal/lib/Athena/ChipObject.h

@@ -4,33 +4,35 @@
 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
 /*----------------------------------------------------------------------------*/
 #pragma once
+#pragma GCC diagnostic ignored "-Wignored-qualifiers"
 
 #include <stdint.h>
-#include "ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
-#include "ChipObject/tDMAManager.h"
-#include "ChipObject/tInterruptManager.h"
-#include "ChipObject/tSystem.h"
-#include "ChipObject/tSystemInterface.h"
 
-#include "ChipObject/nInterfaceGlobals.h"
-#include "ChipObject/tAccel.h"
-#include "ChipObject/tAccumulator.h"
-#include "ChipObject/tAI.h"
-#include "ChipObject/tAlarm.h"
-#include "ChipObject/tAnalogTrigger.h"
-#include "ChipObject/tAO.h"
-#include "ChipObject/tBIST.h"
-#include "ChipObject/tCounter.h"
-#include "ChipObject/tDIO.h"
-#include "ChipObject/tDMA.h"
-#include "ChipObject/tEncoder.h"
-#include "ChipObject/tGlobal.h"
-#include "ChipObject/tInterrupt.h"
-#include "ChipObject/tPower.h"
-#include "ChipObject/tPWM.h"
-#include "ChipObject/tRelay.h"
-#include "ChipObject/tSPI.h"
-#include "ChipObject/tSysWatchdog.h"
+#include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
+#include "FRC_FPGA_ChipObject/tDMAManager.h"
+#include "FRC_FPGA_ChipObject/tInterruptManager.h"
+#include "FRC_FPGA_ChipObject/tSystem.h"
+#include "FRC_FPGA_ChipObject/tSystemInterface.h"
+
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h"
+#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h"
 
 // FIXME: these should not be here!
 using namespace nFPGA;

hal/lib/Athena/ChipObject/nInterfaceGlobals.h

@@ -1,15 +0,0 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2015_1_0_5_nInterfaceGlobals_h__
-#define __nFRC_2015_1_0_5_nInterfaceGlobals_h__
-
-namespace nFPGA
-{
-namespace nFRC_2015_1_0_5
-{
-   extern unsigned int g_currentTargetClass;
-}
-}
-
-#endif // __nFRC_2015_1_0_5_nInterfaceGlobals_h__

hal/lib/Athena/ChipObject/tPower.h

@@ -1,107 +0,0 @@
-// Copyright (c) National Instruments 2008.  All Rights Reserved.
-// Do Not Edit... this file is generated!
-
-#ifndef __nFRC_2015_1_0_5_Power_h__
-#define __nFRC_2015_1_0_5_Power_h__
-
-#include "tSystemInterface.h"
-
-namespace nFPGA
-{
-namespace nFRC_2015_1_0_5
-{
-
-class tPower
-{
-public:
-   tPower(){}
-   virtual ~tPower(){}
-
-   virtual tSystemInterface* getSystemInterface() = 0;
-   static tPower* create(tRioStatusCode *status);
-
-   typedef enum
-   {
-      kNumSystems = 1,
-   } tIfaceConstants;
-
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 8;
-         unsigned User5V : 8;
-         unsigned User6V : 8;
-#else
-         unsigned User6V : 8;
-         unsigned User5V : 8;
-         unsigned User3V3 : 8;
-#endif
-      };
-      struct{
-         unsigned value : 24;
-      };
-   } tStatus;
-   typedef
-   union{
-      struct{
-#ifdef __vxworks
-         unsigned User3V3 : 1;
-         unsigned User5V : 1;
-         unsigned User6V : 1;
-#else
-         unsigned User6V : 1;
-         unsigned User5V : 1;
-         unsigned User3V3 : 1;
-#endif
-      };
-      struct{
-         unsigned value : 3;
-      };
-   } tDisable;
-
-
-
-   typedef enum
-   {
-   } tStatus_IfaceConstants;
-
-   virtual tStatus readStatus(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
-   virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tDisable_IfaceConstants;
-
-   virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
-   virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
-   virtual tDisable readDisable(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
-   virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
-
-
-   typedef enum
-   {
-   } tIndicateOutOfRange_IfaceConstants;
-
-   virtual void writeIndicateOutOfRange(bool value, tRioStatusCode *status) = 0;
-   virtual bool readIndicateOutOfRange(tRioStatusCode *status) = 0;
-
-
-
-
-private:
-   tPower(const tPower&);
-   void operator=(const tPower&);
-};
-
-}
-}
-
-#endif // __nFRC_2015_1_0_5_Power_h__

hal/lib/Athena/Compressor.cpp

@@ -2,21 +2,20 @@
 #include "ctre/PCM.h"
 #include <iostream>
 
-static const int NUM_PCMS = 2;
-extern PCM *modules[NUM_PCMS];
-extern void initializePCM();
+static const int NUM_MODULE_NUMBERS = 63;
+extern PCM *modules[NUM_MODULE_NUMBERS];
+extern void initializePCM(int module);
 
 void *initializeCompressor(uint8_t module) {
-	initializePCM();
+	initializePCM(module);
 	
-	return modules[module - 1];
+	return modules[module];
 }
 
 bool checkCompressorModule(uint8_t module) {
-	return module > 0 and module <= NUM_PCMS;
+	return module < NUM_MODULE_NUMBERS;
 }
 
-
 bool getCompressor(void *pcm_pointer, int32_t *status) {
 	PCM *module = (PCM *)pcm_pointer;
 	bool value;