Updated release to version 5.

The request is not guaranteed to be in a single packet, so it may be necessary
to perform multiple reads to get the complete request.  The previous code
could unpredictably fail as it only performed a single read.

Fixes artf4817.

Change-Id: I7734a12e1a2542f5d7ca0889453c387f0bb30538

.gitignore

@@ -175,3 +175,9 @@ __pycache__
 
 #catkin stuff
 package.xml
+
+# Doxygen stuff
+NO
+
+# Simulation folder stuff
+!simulation/install_resources/*

BSD_License_for_WPILib_code.txt

@@ -1,4 +1,4 @@
-* Copyright (c) 2009 FIRST
+* Copyright (c) 2009-2016 FIRST
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without

CMakeLists.txt

@@ -5,27 +5,9 @@ include(CheckCXXCompilerFlag)
 include (FindPkgConfig)
 include(GNUInstallDirs)
 
-#copied from GazeboUtils.cmake
-macro (APPEND_TO_CACHED_STRING _string _cacheDesc)
-  FOREACH (newItem ${ARGN})
-    SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
-  ENDFOREACH (newItem ${ARGN})
-endmacro (APPEND_TO_CACHED_STRING)
-
 #check for depenedencies
 find_package(gazebo REQUIRED)
 find_package(Boost COMPONENTS system filesystem REQUIRED)
-find_package(Protobuf REQUIRED)
-
-if (NOT PROTOBUF_FOUND)
-	MESSAGE ("Missing: Google Protobuf (libprotobuf-dev)")
-endif()
-if (NOT PROTOBUF_PROTOC_EXECUTABLE)
-	MESSAGE ( "Missing: Google Protobuf Compiler (protobuf-compiler)")
-endif()
-if (NOT PROTOBUF_PROTOC_LIBRARY)
-	MESSAGE ("Missing: Google Protobuf Compiler Library (libprotoc-dev)")
-endif()
 
 #on windows we produce .dlls with no prefix
 if(WIN32)
@@ -48,12 +30,10 @@ endif()
 if (MSVC)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DFRC_SIMULATOR /MDd /Zi")
 else ()
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++1y -DFRC_SIMULATOR -Wno-unused-parameter -pthread -fPIC -fpermissive")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -std=c++1y -DFRC_SIMULATOR -Wno-unused-parameter -pthread -fPIC -fpermissive")
 endif()
 
-
 include_directories("build")
 add_subdirectory(simulation/gz_msgs)
 add_subdirectory(wpilibc/simulation)
 add_subdirectory(simulation/frc_gazebo_plugins)
-add_subdirectory(ntcore)

README.md

@@ -22,6 +22,24 @@ To build a specific subproject, such as wpilibc, you must access the subproject
 ./gradlew :wpilibc:build
 ```
 
+If you also want simulation to be build, add -PmakeSim. This requires gazebo_transport. We have tested on 14.04 and 15.05, but any correct install of gazebo should work, even on windows if you build from source. Correct means cmake needs to be able to find gazebo-config.cmake, which you get for free with ubuntu installs.
+
+```bash
+./gradlew build -PmakeSim
+```
+
+C++ simulation tasks (including plugins, gz_msgs, and wpilibcSim) all depend on gazebo_transport. In order for this to build you must have installed gazebo. See [The Gazebo website](https://gazebosim.org/) for installation instructions.
+If you prefer to use CMake directly, the you can still do so.
+The common cmake tasks are wpilibcSim, frc_gazebo_plugins, and gz_msgs
+
+```bash
+mkdir build #run this in the root of allwpilib
+cd build
+cmake ..
+make
+```
+
+
 The gradlew wrapper only exists in the root of the main project, so be sure to run all commands from there. All of the subprojects have build tasks that can be run. Gradle automatically determines and rebuilds dependencies, so if you make a change to the HAL and then run `:wpilibc:build`, the HAL will be rebuilt, then wpilibc.
 
 There are a few tasks other than `build` available. To see them, run the meta-task `tasks`. This will print a list of all available tasks, with a description of each task.
@@ -42,3 +60,14 @@ The following maven targets a published by this task:
 - edu.wpi.first.wpilibj:wpilibJavaSim:0.1.0-SNAPSHOT - Simulation Java
 - edu.wpi.first.wpilibj.simulation:SimDS:0.1.0-SNAPSHOT - The driverstation for controlling simulation.
 - org.gazebosim:JavaGazebo:0.1.0-SNAPSHOT - Gazebo protocol for Java.
+
+## Structure and Organization
+The main wpilib code you're probably looking for is in wpilibj and wpilibc. Those directories are split into shared, sim, and athena. Athena contains the wpilib code meant to run on your RoboRIO. Sim is wpilib code meant to run on your computer with gazebo, and shared is code shared between the two. Shared code must be platform-independent, since it will be compiled with both the ARM cross-compiler and whatever desktop compiler you are using (g++, msvc, etc...).
+
+The Simulation directory contains extra simulation tools and libraries, such as gz_msgs and JavaGazebo. See sub-directories for more information.
+
+The integration test directories for C++ and Java contain test code that runs on our test-system. When you submit code for review, it is tested by those programs. If you add new functionality you should make sure to write tests for it so we don't break it in the future.
+
+The hal directory contains more C++ code meant to run on the RoboRIO. HAL is an acronym for "Hardware Abstraction Layer", and it interfaces with the NI Libraries. The NI Libraries contain the low-level code for controlling devices on your robot. The NI Libraries are found in the ni-libraries folder.
+
+The styleguide directory contains the styleguide for C++ and Java code. Anything submitted to the wpilib project needs to follow the code style guides outlined in there.

build.gradle

@@ -7,6 +7,8 @@ if (!hasProperty('repo')) {
 def repoBaseUrl = "http://first.wpi.edu/FRC/roborio/maven/${repo}"
 def publishUrl = "${System.getProperty('user.home')}/releases/maven/${repo}"
 
+ext.simulationInstallDir = "$rootDir/build/install/simulation"
+
 allprojects {
     ext.enableSimulation = enableSimulation
     ext.repo = repo
@@ -16,7 +18,6 @@ allprojects {
         maven {
             url publishUrl
         }
-        mavenLocal()
         maven {
             url repoBaseUrl
         }
@@ -43,4 +44,4 @@ subprojects {
     }
 }
 
-apply from: 'cppSettings.gradle'
+apply from: 'cppSettings.gradle'

cppSettings.gradle

@@ -19,11 +19,20 @@ niLibraryTree.each { lib ->
     }
 }
 
-def ntDependency =
+def armNtDependency =
     project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:arm@zip")
-def config = project.configurations.detachedConfiguration(ntDependency)
-config.setTransitive(false)
-def netTables = config.files[0].canonicalFile
+def armConfig = project.configurations.detachedConfiguration(armNtDependency)
+armConfig.setTransitive(false)
+def armNetTables = armConfig.files[0].canonicalFile
+
+def desktopNetTables
+if (project.hasProperty('makeSim')){
+    def desktopNtDependency =
+        project.dependencies.create("edu.wpi.first.wpilib.networktables.cpp:NetworkTables:3.0.0-SNAPSHOT:desktop@zip")
+    def desktopConfig = project.configurations.detachedConfiguration(desktopNtDependency)
+    desktopConfig.setTransitive(false)
+    desktopNetTables = desktopConfig.files[0].canonicalFile
+}
 
 def netTablesUnzipLocation = "$buildDir/networktables"
 
@@ -31,7 +40,10 @@ def netTablesUnzipLocation = "$buildDir/networktables"
 task unzipNetworkTables(type: Copy) {
     description = 'Unzips the networktables maven dependency so that the include files and libraries can be used'
     group = 'WPILib'
-    from zipTree(netTables)
+    if (project.hasProperty('makeSim')){
+        from zipTree(desktopNetTables)
+    }
+    from zipTree(armNetTables)
     into netTablesUnzipLocation
 }
 
@@ -47,9 +59,12 @@ subprojects {
         ext.defineNetworkTablesProperties = {
             ext.netTables = netTablesUnzipLocation
             ext.netTablesInclude = "$netTablesUnzipLocation/include"
-            ext.netLibLocation = "$netTablesUnzipLocation/Linux/arm"
-            ext.netSharedLib = "$netLibLocation/libntcore.so"
-            ext.netStaticLib = "$netLibLocation/libntcore.a"
+            ext.netLibArmLocation = "$netTablesUnzipLocation/Linux/arm"
+            if (project.hasProperty('makeSim')){
+              ext.netLibDesktopLocation = "$netTablesUnzipLocation/Linux/amd64"
+            }
+            ext.netSharedLib = "$netLibArmLocation/libntcore.so"
+            ext.netStaticLib = "$netLibArmLocation/libntcore.a"
 
             task addNetworkTablesLibraryLinks() {
                 description = 'Adds the linker flags for the networktables libraries retreived from maven'

hal/include/HAL/HAL.hpp

@@ -222,11 +222,14 @@ extern "C"
 
 	uint16_t getFPGAVersion(int32_t *status);
 	uint32_t getFPGARevision(int32_t *status);
-	uint32_t getFPGATime(int32_t *status);
+	uint64_t getFPGATime(int32_t *status);
 
 	bool getFPGAButton(int32_t *status);
 
 	int HALSetErrorData(const char *errors, int errorsLength, int wait_ms);
+	int HALSendError(int isError, int32_t errorCode, int isLVCode,
+		const char *details, const char *location, const char *callStack,
+		int printMsg);
 
 	int HALGetControlWord(HALControlWord *data);
 	int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);

hal/include/HAL/Notifier.hpp

@@ -4,8 +4,9 @@
 
 extern "C"
 {
-	void* initializeNotifier(void (*ProcessQueue)(uint32_t, void*), void* param, int32_t *status);
+	void* initializeNotifier(void (*process)(uint64_t, void*), void* param, int32_t *status);
 	void cleanNotifier(void* notifier_pointer, int32_t *status);
-
-	void updateNotifierAlarm(void* notifier_pointer, uint32_t triggerTime, int32_t *status);
+	void* getNotifierParam(void* notifier_pointer, int32_t *status);
+	void updateNotifierAlarm(void* notifier_pointer, uint64_t triggerTime, int32_t *status);
+	void stopNotifierAlarm(void* notifier_pointer, int32_t *status);
 }

hal/include/HAL/Port.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 typedef struct port_t

hal/include/HAL/cpp/priority_condition_variable.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 /* std::condition_variable provides the native_handle() method to return its

hal/include/HAL/cpp/priority_mutex.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 // Allows usage with std::lock_guard without including <mutex> separately

hal/lib/Athena/Accelerometer.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Accelerometer.hpp"
 
 #include "ChipObject.h"
@@ -171,6 +178,8 @@ static double unpackAxis(int16_t raw) {
 	}
 }
 
+extern "C" {
+
 /**
  * Set the accelerometer to active or standby mode.  It must be in standby
  * mode to change any configuration.
@@ -232,3 +241,5 @@ double getAccelerometerZ() {
 	int raw = (readRegister(kReg_OutZMSB) << 4) | (readRegister(kReg_OutZLSB) >> 4);
 	return unpackAxis(raw);
 }
+
+}  // extern "C"

hal/lib/Athena/Analog.cpp

@@ -1,3 +1,9 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
 
 #include "HAL/Analog.hpp"
 
@@ -24,18 +30,20 @@ struct AnalogPort {
   tAccumulator *accumulator;
 };
 
-bool analogSampleRateSet = false;
-priority_recursive_mutex analogRegisterWindowMutex;
-tAI* analogInputSystem = NULL;
-tAO* analogOutputSystem = NULL;
-uint32_t analogNumChannelsToActivate = 0;
+static bool analogSampleRateSet = false;
+static priority_recursive_mutex analogRegisterWindowMutex;
+static tAI* analogInputSystem = NULL;
+static tAO* analogOutputSystem = NULL;
+static uint32_t analogNumChannelsToActivate = 0;
+
+extern "C" {
 
 // Utility methods defined below.
-uint32_t getAnalogNumActiveChannels(int32_t *status);
-uint32_t getAnalogNumChannelsToActivate(int32_t *status);
-void setAnalogNumChannelsToActivate(uint32_t channels);
+static uint32_t getAnalogNumActiveChannels(int32_t *status);
+static uint32_t getAnalogNumChannelsToActivate(int32_t *status);
+static void setAnalogNumChannelsToActivate(uint32_t channels);
 
-bool analogSystemInitialized = false;
+static bool analogSystemInitialized = false;
 
 /**
  * Initialize the analog System.
@@ -424,7 +432,7 @@ int32_t getAnalogOffset(void* analog_port_pointer, int32_t *status) {
  *
  * @return Active channels.
  */
-uint32_t getAnalogNumActiveChannels(int32_t *status) {
+static uint32_t getAnalogNumActiveChannels(int32_t *status) {
   uint32_t scanSize = analogInputSystem->readConfig_ScanSize(status);
   if (scanSize == 0)
     return 8;
@@ -442,7 +450,7 @@ uint32_t getAnalogNumActiveChannels(int32_t *status) {
  *
  * @return Value to write to the active channels field.
  */
-uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
+static uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
   if(analogNumChannelsToActivate == 0) return getAnalogNumActiveChannels(status);
   return analogNumChannelsToActivate;
 }
@@ -455,7 +463,7 @@ uint32_t getAnalogNumChannelsToActivate(int32_t *status) {
  *
  * @param channels Number of active channels.
  */
-void setAnalogNumChannelsToActivate(uint32_t channels) {
+static void setAnalogNumChannelsToActivate(uint32_t channels) {
   analogNumChannelsToActivate = channels;
 }
 
@@ -744,3 +752,5 @@ int32_t getAnalogVoltsToValueIntHack(void* analog_port_pointer, int voltage, int
 void setAnalogTriggerLimitsVoltageIntHack(void* analog_trigger_pointer, int lower, int upper, int32_t *status) {
   setAnalogTriggerLimitsVoltage(analog_trigger_pointer, intToFloat(lower), intToFloat(upper), status);
 }
+
+}  // extern "C"

hal/lib/Athena/ChipObject.h

@@ -1,8 +1,10 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
 /*----------------------------------------------------------------------------*/
+
 #pragma once
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wpedantic"

hal/lib/Athena/Compressor.cpp

@@ -1,15 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Compressor.hpp"
 #include "ctre/PCM.h"
 #include <iostream>
 
 static const int NUM_MODULE_NUMBERS = 63;
-extern PCM *modules[NUM_MODULE_NUMBERS];
+extern PCM *PCM_modules[NUM_MODULE_NUMBERS];
 extern void initializePCM(int module);
 
+extern "C" {
+
 void *initializeCompressor(uint8_t module) {
 	initializePCM(module);
 	
-	return modules[module];
+	return PCM_modules[module];
 }
 
 bool checkCompressorModule(uint8_t module) {
@@ -114,3 +123,5 @@ void clearAllPCMStickyFaults(void *pcm_pointer, int32_t *status) {
 	
 	*status = module->ClearStickyFaults();
 }
+
+}  // extern "C"

hal/lib/Athena/Digital.cpp

@@ -1,3 +1,9 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
 
 #include "HAL/Digital.hpp"
 
@@ -53,42 +59,43 @@ struct DigitalPort {
   uint32_t PWMGeneratorID;
 };
 
-// XXX: Set these back to static once we figure out the memory clobbering issue
 // Create a mutex to protect changes to the digital output values
-priority_recursive_mutex digitalDIOMutex;
+static priority_recursive_mutex digitalDIOMutex;
 // Create a mutex to protect changes to the relay values
-priority_recursive_mutex digitalRelayMutex;
+static priority_recursive_mutex digitalRelayMutex;
 // Create a mutex to protect changes to the DO PWM config
-priority_recursive_mutex digitalPwmMutex;
-priority_recursive_mutex digitalI2COnBoardMutex;
-priority_recursive_mutex digitalI2CMXPMutex;
+static priority_recursive_mutex digitalPwmMutex;
+static priority_recursive_mutex digitalI2COnBoardMutex;
+static priority_recursive_mutex digitalI2CMXPMutex;
 
-tDIO* digitalSystem = NULL;
-tRelay* relaySystem = NULL;
-tPWM* pwmSystem = NULL;
-hal::Resource *DIOChannels = NULL;
-hal::Resource *DO_PWMGenerators = NULL;
-hal::Resource *PWMChannels = NULL;
+static tDIO* digitalSystem = NULL;
+static tRelay* relaySystem = NULL;
+static tPWM* pwmSystem = NULL;
+static hal::Resource *DIOChannels = NULL;
+static hal::Resource *DO_PWMGenerators = NULL;
+static hal::Resource *PWMChannels = NULL;
 
-bool digitalSystemsInitialized = false;
+static bool digitalSystemsInitialized = false;
 
-uint8_t i2COnboardObjCount = 0;
-uint8_t i2CMXPObjCount = 0;
-uint8_t i2COnBoardHandle = 0;
-uint8_t i2CMXPHandle = 0;
+static uint8_t i2COnboardObjCount = 0;
+static uint8_t i2CMXPObjCount = 0;
+static uint8_t i2COnBoardHandle = 0;
+static uint8_t i2CMXPHandle = 0;
 
-int32_t m_spiCS0Handle = 0;
-int32_t m_spiCS1Handle = 0;
-int32_t m_spiCS2Handle = 0;
-int32_t m_spiCS3Handle = 0;
-int32_t m_spiMXPHandle = 0;
-priority_recursive_mutex spiOnboardSemaphore;
-priority_recursive_mutex spiMXPSemaphore;
-tSPI *spiSystem;
+static int32_t m_spiCS0Handle = 0;
+static int32_t m_spiCS1Handle = 0;
+static int32_t m_spiCS2Handle = 0;
+static int32_t m_spiCS3Handle = 0;
+static int32_t m_spiMXPHandle = 0;
+static priority_recursive_mutex spiOnboardSemaphore;
+static priority_recursive_mutex spiMXPSemaphore;
+static tSPI *spiSystem;
+
+extern "C" {
 
 struct SPIAccumulator {
 	void* notifier = nullptr;
-	uint32_t triggerTime;
+	uint64_t triggerTime;
 	uint32_t period;
 
 	int64_t value = 0;
@@ -805,7 +812,7 @@ void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status)
  * If it's an analog trigger, determine the module from the high order routing channel
  * else do normal digital input remapping based on pin number (MXP)
  */
-void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module) {
+extern "C++" void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module) {
   if (analogTrigger) {
     module = pin >> 4;
   } else {
@@ -1492,14 +1499,14 @@ void spiSetHandle(uint8_t port, int32_t handle){
  * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP
  * @return The semaphore for the SPI port.
  */
-priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
+extern "C++" priority_recursive_mutex& spiGetSemaphore(uint8_t port) {
 	if(port < 4)
 		return spiOnboardSemaphore;
 	else
 		return spiMXPSemaphore;
 }
 
-static void spiAccumulatorProcess(uint32_t currentTime, void *param) {
+static void spiAccumulatorProcess(uint64_t currentTime, void *param) {
 	SPIAccumulator* accum = (SPIAccumulator*)param;
 
 	// perform SPI transaction
@@ -1872,3 +1879,5 @@ void i2CClose(uint8_t port) {
 	}
 	return;
 }
+
+}  // extern "C"

hal/lib/Athena/HALAthena.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/HAL.hpp"
 
 #include "HAL/Port.h"
@@ -12,6 +19,7 @@
 #include <cstdlib>
 #include <fstream>
 #include <iostream>
+#include <mutex>
 #include <unistd.h>
 #include <sys/prctl.h>
 #include <signal.h> // linux for kill
@@ -23,6 +31,14 @@ const uint32_t kSystemClockTicksPerMicrosecond = 40;
 static tGlobal *global = nullptr;
 static tSysWatchdog *watchdog = nullptr;
 
+static priority_mutex timeMutex;
+static priority_mutex msgMutex;
+static uint32_t timeEpoch = 0;
+static uint32_t prevFPGATime = 0;
+static void* rolloverNotifier = nullptr;
+
+extern "C" {
+
 void* getPort(uint8_t pin)
 {
 	Port* port = new Port();
@@ -99,6 +115,8 @@ const char* getHALErrorMessage(int32_t code)
 			return INCOMPATIBLE_STATE_MESSAGE;
 		case NO_AVAILABLE_RESOURCES:
 			return NO_AVAILABLE_RESOURCES_MESSAGE;
+		case RESOURCE_IS_ALLOCATED:
+			return RESOURCE_IS_ALLOCATED_MESSAGE;
 		case NULL_PARAMETER:
 			return NULL_PARAMETER_MESSAGE;
 		case ANALOG_TRIGGER_LIMIT_ORDER_ERROR:
@@ -182,13 +200,19 @@ uint32_t getFPGARevision(int32_t *status)
  *
  * @return The current time in microseconds according to the FPGA (since FPGA reset).
  */
-uint32_t getFPGATime(int32_t *status)
+uint64_t getFPGATime(int32_t *status)
 {
 	if (!global) {
 		*status = NiFpga_Status_ResourceNotInitialized;
 		return 0;
 	}
-	return global->readLocalTime(status);
+	std::lock_guard<priority_mutex> lock(timeMutex);
+	uint32_t fpgaTime = global->readLocalTime(status);
+	if (*status != 0) return 0;
+	// check for rollover
+	if (fpgaTime < prevFPGATime) ++timeEpoch;
+	prevFPGATime = fpgaTime;
+	return (((uint64_t)timeEpoch) << 32) | ((uint64_t)fpgaTime);
 }
 
 /**
@@ -209,6 +233,54 @@ int HALSetErrorData(const char *errors, int errorsLength, int wait_ms)
 	return setErrorData(errors, errorsLength, wait_ms);
 }
 
+int HALSendError(int isError, int32_t errorCode, int isLVCode,
+	const char *details, const char *location, const char *callStack,
+	int printMsg)
+{
+	// Avoid flooding console by keeping track of previous 5 error
+	// messages and only printing again if they're longer than 1 second old.
+	static constexpr int KEEP_MSGS = 5;
+	std::lock_guard<priority_mutex> lock(msgMutex);
+	static std::string prev_msg[KEEP_MSGS];
+	static uint64_t prev_msg_time[KEEP_MSGS] = { 0, 0, 0 };
+
+	int32_t status = 0;
+	uint64_t curTime = getFPGATime(&status);
+	int i;
+	for (i=0; i<KEEP_MSGS; ++i) {
+		if (prev_msg[i] == details) break;
+	}
+	int retval = 0;
+	if (i == KEEP_MSGS || (curTime - prev_msg_time[i]) >= 1000000) {
+		retval = FRC_NetworkCommunication_sendError(isError, errorCode, isLVCode, details, location, callStack);
+		if (printMsg) {
+			if (location && location[0] != '\0') {
+				fprintf(stderr, "%s at %s: ",
+					isError ? "Error" : "Warning",
+					location);
+			}
+			fprintf(stderr, "%s\n", details);
+			if (callStack && callStack[0] != '\0') {
+				fprintf(stderr, "%s\n", callStack);
+			}
+		}
+		if (i == KEEP_MSGS) {
+			// replace the oldest one
+			i = 0;
+			uint64_t first = prev_msg_time[0];
+			for (int j=1; j<KEEP_MSGS; ++j) {
+				if (prev_msg_time[j] < first) {
+					first = prev_msg_time[j];
+					i = j;
+				}
+			}
+			prev_msg[i] = details;
+		}
+		prev_msg_time[i] = curTime;
+	}
+	return retval;
+}
+
 
 bool HALGetSystemActive(int32_t *status)
 {
@@ -233,6 +305,12 @@ static void HALCleanupAtExit() {
 	watchdog = nullptr;
 }
 
+static void timerRollover(uint64_t currentTime, void*) {
+	// reschedule timer for next rollover
+	int32_t status = 0;
+	updateNotifierAlarm(rolloverNotifier, currentTime + 0x80000000ULL, &status);
+}
+
 /**
  * Call this to start up HAL. This is required for robot programs.
  */
@@ -254,6 +332,14 @@ int HALInitialize(int mode)
 
 	std::atexit(HALCleanupAtExit);
 
+	if (!rolloverNotifier)
+		rolloverNotifier = initializeNotifier(timerRollover, nullptr, &status);
+	if (status == 0) {
+		uint64_t curTime = getFPGATime(&status);
+		if (status == 0)
+			updateNotifierAlarm(rolloverNotifier, curTime + 0x80000000ULL, &status);
+	}
+
 	// Kill any previous robot programs
 	std::fstream fs;
 	// By making this both in/out, it won't give us an error if it doesnt exist
@@ -300,6 +386,7 @@ int HALInitialize(int mode)
 	pid = getpid();
 	fs << pid << std::endl;
 	fs.close();
+
 	return 1;
 }
 
@@ -337,3 +424,5 @@ void imaqGetLastError()
 void niTimestamp64()
 {
 }
+
+}  // extern "C"

hal/lib/Athena/Interrupts.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Interrupts.hpp"
 #include "ChipObject.h"
 
@@ -9,6 +16,8 @@ struct Interrupt // FIXME: why is this internal?
 	tInterruptManager *manager;
 };
 
+extern "C" {
+
 void* initializeInterrupts(uint32_t interruptIndex, bool watcher, int32_t *status)
 {
 	Interrupt* anInterrupt = new Interrupt();
@@ -121,3 +130,5 @@ void setInterruptUpSourceEdge(void* interrupt_pointer, bool risingEdge, bool fal
 	anInterrupt->anInterrupt->writeConfig_RisingEdge(risingEdge, status);
 	anInterrupt->anInterrupt->writeConfig_FallingEdge(fallingEdge, status);
 }
+
+}  // extern "C"

hal/lib/Athena/Notifier.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Notifier.hpp"
 #include "ChipObject.h"
 #include "HAL/HAL.hpp"
@@ -12,12 +19,12 @@ static priority_mutex notifierInterruptMutex;
 static priority_recursive_mutex notifierMutex;
 static tAlarm *notifierAlarm = nullptr;
 static tInterruptManager *notifierManager = nullptr;
-static uint32_t closestTrigger = UINT32_MAX;
+static uint64_t closestTrigger = UINT64_MAX;
 struct Notifier {
 	Notifier *prev, *next;
 	void *param;
-	void (*process)(uint32_t, void*);
-	uint32_t triggerTime = UINT32_MAX;
+	void (*process)(uint64_t, void*);
+	uint64_t triggerTime = UINT64_MAX;
 };
 static Notifier *notifiers = nullptr;
 static std::atomic_flag notifierAtexitRegistered = ATOMIC_FLAG_INIT;
@@ -28,19 +35,19 @@ static void alarmCallback(uint32_t, void*)
 	std::unique_lock<priority_recursive_mutex> sync(notifierMutex);
 
 	int32_t status = 0;
-	uint32_t currentTime = 0;
+	uint64_t currentTime = 0;
 
 	// the hardware disables itself after each alarm
-	closestTrigger = UINT32_MAX;
+	closestTrigger = UINT64_MAX;
 
 	// process all notifiers
 	Notifier *notifier = notifiers;
 	while (notifier) {
-		if (notifier->triggerTime != UINT32_MAX) {
+		if (notifier->triggerTime != UINT64_MAX) {
 			if (currentTime == 0)
 				currentTime = getFPGATime(&status);
 			if (notifier->triggerTime < currentTime) {
-				notifier->triggerTime = UINT32_MAX;
+				notifier->triggerTime = UINT64_MAX;
 				auto process = notifier->process;
 				auto param = notifier->param;
 				sync.unlock();
@@ -59,9 +66,11 @@ static void cleanupNotifierAtExit() {
 	notifierManager = nullptr;
 }
 
-void* initializeNotifier(void (*ProcessQueue)(uint32_t, void*), void *param, int32_t *status)
+extern "C" {
+
+void* initializeNotifier(void (*process)(uint64_t, void*), void *param, int32_t *status)
 {
-	if (!ProcessQueue) {
+	if (!process) {
 		*status = NULL_PARAMETER;
 		return nullptr;
 	}
@@ -85,7 +94,7 @@ void* initializeNotifier(void (*ProcessQueue)(uint32_t, void*), void *param, int
 	notifier->next = notifiers;
 	if (notifier->next) notifier->next->prev = notifier;
 	notifier->param = param;
-	notifier->process = ProcessQueue;
+	notifier->process = process;
 	notifiers = notifier;
 	return notifier;
 }
@@ -119,25 +128,40 @@ void cleanNotifier(void* notifier_pointer, int32_t *status)
 	}
 }
 
-void updateNotifierAlarm(void* notifier_pointer, uint32_t triggerTime, int32_t *status)
+void* getNotifierParam(void* notifier_pointer, int32_t *status)
+{
+	return ((Notifier*)notifier_pointer)->param;
+}
+
+void updateNotifierAlarm(void* notifier_pointer, uint64_t triggerTime, int32_t *status)
 {
 	std::lock_guard<priority_recursive_mutex> sync(notifierMutex);
 
 	Notifier* notifier = (Notifier*)notifier_pointer;
 	notifier->triggerTime = triggerTime;
-	bool wasActive = (closestTrigger != UINT32_MAX);
+	bool wasActive = (closestTrigger != UINT64_MAX);
 
-        if (!notifierInterruptMutex.try_lock() || notifierRefCount == 0 ||
-            !notifierAlarm)
-          return;
+	if (!notifierInterruptMutex.try_lock() || notifierRefCount == 0 ||
+			!notifierAlarm)
+		return;
 
-        // Update alarm time if closer than current.
+	// Update alarm time if closer than current.
 	if (triggerTime < closestTrigger) {
 		closestTrigger = triggerTime;
-		notifierAlarm->writeTriggerTime(triggerTime, status);
+		// Simply truncate the hardware trigger time to 32-bit.
+		notifierAlarm->writeTriggerTime((uint32_t)triggerTime, status);
 	}
 	// Enable the alarm.  The hardware disables itself after each alarm.
 	if (!wasActive) notifierAlarm->writeEnable(true, status);
 
 	notifierInterruptMutex.unlock();
 }
+
+void stopNotifierAlarm(void* notifier_pointer, int32_t *status)
+{
+	std::lock_guard<priority_recursive_mutex> sync(notifierMutex);
+	Notifier* notifier = (Notifier*)notifier_pointer;
+	notifier->triggerTime = UINT64_MAX;
+}
+
+}  // extern "C"

hal/lib/Athena/PDP.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/PDP.hpp"
 #include "ctre/PDP.h"
 //static PDP pdp;
@@ -6,6 +13,8 @@ static const int NUM_MODULE_NUMBERS = 63;
 
 static PDP *pdp[NUM_MODULE_NUMBERS] = { NULL };
 
+extern "C" {
+
 void initializePDP(uint8_t module) {
 	if(!pdp[module]) {
 		pdp[module] = new PDP(module);
@@ -68,4 +77,4 @@ void clearPDPStickyFaults(uint8_t module, int32_t *status) {
 	*status = pdp[module]->ClearStickyFaults();
 }
 
-
+}  // extern "C"

hal/lib/Athena/Power.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Power.hpp"
 #include "ChipObject.h"
 
@@ -9,6 +16,8 @@ static void initializePower(int32_t *status) {
 	}
 }
 
+extern "C" {
+
 /**
  * Get the roboRIO input voltage
  */
@@ -125,3 +134,5 @@ int getUserCurrentFaults3V3(int32_t *status) {
 	initializePower(status);
 	return (int)power->readFaultCounts_OverCurrentFaultCount3V3(status);
 }
+
+}  // extern "C"

hal/lib/Athena/Semaphore.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Semaphore.hpp"
 
 #include "Log.hpp"
@@ -9,6 +16,8 @@ TLogLevel semaphoreLogLevel = logDEBUG;
     if (level > semaphoreLogLevel) ; \
     else Log().Get(level)
 
+extern "C" {
+
 MUTEX_ID initializeMutexNormal() { return new priority_mutex; }
 
 void deleteMutex(MUTEX_ID sem) { delete sem; }
@@ -40,3 +49,5 @@ void takeMultiWait(MULTIWAIT_ID cond, MUTEX_ID m) {
 }
 
 void giveMultiWait(MULTIWAIT_ID cond) { cond->notify_all(); }
+
+}  // extern "C"

hal/lib/Athena/SerialPort.cpp

@@ -1,9 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/SerialPort.hpp"
 #include "visa/visa.h"
 
 
-uint32_t m_resourceManagerHandle;
-uint32_t m_portHandle[2];
+static uint32_t m_resourceManagerHandle;
+static uint32_t m_portHandle[2];
+
+extern "C" {
 
 void serialInitializePort(uint8_t port, int32_t *status) {
 	char const * portName;
@@ -144,5 +153,5 @@ void serialClose(uint8_t port, int32_t *status) {
 	if(*status > 0)
 		*status = 0;
 }
-	
-	
+
+}  // extern "C"

hal/lib/Athena/Solenoid.cpp

@@ -1,3 +1,9 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
 
 #include "HAL/Solenoid.hpp"
 
@@ -9,7 +15,7 @@
 
 static const int NUM_MODULE_NUMBERS = 63;
 
-PCM *modules[NUM_MODULE_NUMBERS] = { NULL };
+PCM *PCM_modules[NUM_MODULE_NUMBERS] = { NULL };
 
 struct solenoid_port_t {
 	PCM *module;
@@ -17,17 +23,19 @@ struct solenoid_port_t {
 };
 
 void initializePCM(int module) {
-	if(!modules[module]) {
-		modules[module] = new PCM(module);
+	if(!PCM_modules[module]) {
+		PCM_modules[module] = new PCM(module);
 	}
 }
 
+extern "C" {
+
 void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
 	Port* port = (Port*) port_pointer;
 	initializePCM(port->module);
 	
 	solenoid_port_t *solenoid_port = new solenoid_port_t;
-	solenoid_port->module = modules[port->module];
+	solenoid_port->module = PCM_modules[port->module];
 	solenoid_port->pin = port->pin;
 
 	return solenoid_port;
@@ -95,3 +103,5 @@ void clearAllPCMStickyFaults_sol(void *solenoid_port_pointer, int32_t *status){
 	
 	*status = port->module->ClearStickyFaults();
 }
+
+}  // extern "C"

hal/lib/Athena/Task.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Task.hpp"
 
 #ifndef OK
@@ -9,6 +16,8 @@
 
 #include <signal.h>
 
+extern "C" {
+
 STATUS verifyTaskID(TASK task) {
   if (task != nullptr && pthread_kill(*task, 0) == 0) {
 	return OK;
@@ -49,3 +58,5 @@ STATUS getTaskPriority(TASK task, int* priority) {
     return ERROR;
   }
 }
+
+}  // extern "C"

hal/lib/Athena/Utilities.cpp

@@ -1,9 +1,18 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/Utilities.hpp"
 #include <time.h>
 
 const int32_t HAL_NO_WAIT = 0;
 const int32_t HAL_WAIT_FOREVER = -1;
 
+extern "C" {
+
 void delayTicks(int32_t ticks)
 {
 	struct timespec test, remaining;
@@ -42,3 +51,5 @@ void delaySeconds(double s)
 		test = remaining;
 	}
 }
+
+}  // extern "C"

hal/lib/Athena/cpp/Resource.cpp

@@ -1,7 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
+/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
 #include "HAL/cpp/Resource.hpp"

hal/lib/Athena/cpp/Semaphore.cpp

@@ -1,7 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2015. All Rights Reserved.                             */
+/* Copyright (c) FIRST 2015-2016. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
 /*----------------------------------------------------------------------------*/
 
 #include "HAL/cpp/Semaphore.hpp"

hal/lib/Athena/cpp/priority_mutex.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "HAL/cpp/priority_mutex.h"
 
 void priority_recursive_mutex::lock() {

hal/lib/Athena/ctre/PDP.cpp

@@ -11,10 +11,10 @@
 #define CONTROL_1		0x08041C00	/* PDP_Control_ClearStats */
 
 #define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
-#define GET_STATUS1()		CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS2()		CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS3()		CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_STATUS_ENERGY()	CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS1()		CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS2()		CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS3()		CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS_ENERGY()	CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
 
 /* encoder/decoders */
 typedef struct _PdpStatus1_t{

hal/lib/Shared/HAL.cpp

@@ -3,6 +3,8 @@
 #include "FRC_NetworkCommunication/FRCComm.h"
 #include <cstring>
 
+extern "C" {
+
 int HALGetControlWord(HALControlWord *data)
 {
 	return FRC_NetworkCommunication_getControlWord((ControlWord_t*) data);
@@ -32,11 +34,32 @@ int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
 {
 	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, &buttons->buttons, &buttons->count);
 }
-
+/**
+ * Retrieve the Joystick Descriptor for particular slot
+ * @param desc [out] descriptor (data transfer object) to fill in.  desc is filled in regardless of success.
+ *                              In other words, if descriptor is not available, desc is filled in with default
+ *                              values matching the init-values in Java and C++ Driverstation for when caller
+ *                              requests a too-large joystick index.
+ *
+ * @return error code reported from Network Comm back-end.  Zero is good, nonzero is bad.
+ */
 int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
 {
-	return FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name),
+	desc->isXbox = 0;
+	desc->type = -1;
+	desc->name[0] = '\0';
+	desc->axisCount = kMaxJoystickAxes; /* set to the desc->axisTypes's capacity */
+	desc->buttonCount = 0;
+	desc->povCount = 0;
+	int retval = FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name),
 		&desc->axisCount, (uint8_t *)&desc->axisTypes, &desc->buttonCount, &desc->povCount);
+	/* check the return, if there is an error and the RIOimage predates FRC2017, then axisCount needs to be cleared */
+	if(retval != 0)
+	{
+		/* set count to zero so downstream code doesn't decode invalid axisTypes. */
+		desc->axisCount = 0;
+	}
+	return retval;
 }
 
 int HALGetJoystickIsXbox(uint8_t joystickNum)
@@ -126,3 +149,5 @@ void HALNetworkCommunicationObserveUserProgramTest(void)
 {
 	FRC_NetworkCommunication_observeUserProgramTest();
 }
+
+}  // extern "C"

ni-libraries/libwpi_2015.so

@@ -1,3 +1,3 @@
 /* GNU ld script */
 OUTPUT_FORMAT(elf32-littlearm)
-GROUP ( AS_NEEDED ( -lwpilib_nonshared -lHALAthena -lntcore -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread -lrt -lGCBase_gcc-4.4-arm_v2_3 -lGenApi_gcc-4.4-arm_v2_3 -lLog_gcc-4.4-arm_v2_3 -lMathParser_gcc-4.4-arm_v2_3 -llog4cpp_gcc-4.4-arm_v2_3 -lniimaqdx -lnivision -lnivissvc ) )
+GROUP ( AS_NEEDED ( -lwpilib_nonshared -lHALAthena -lntcore -lFRC_NetworkCommunication -li2c -lni_emb -lNiFpgaLv -lNiFpga -lnirio_emb_can -lNiRioSrv -lni_rtlog -lRoboRIO_FRC_ChipObject -lspi -lvisa -ldl -lpthread -lrt -lGCBase_gcc-4.4-arm_v2_3 -lGenApi_gcc-4.4-arm_v2_3 -lLog_gcc-4.4-arm_v2_3 -lMathParser_gcc-4.4-arm_v2_3 -llog4cpp_gcc-4.4-arm_v2_3 -lniimaqdx -lnivision -lnivissvc -lnipalu) )

settings.gradle

@@ -2,6 +2,10 @@ include 'hal',
         'wpilibc',
         'wpilibcIntegrationTests',
         'wpilibj',
-        'wpilibjIntegrationTests',
+        'wpilibjIntegrationTests'
+
+if (hasProperty("makeSim")){
+include 'simulation',
         'simulation:JavaGazebo',
         'simulation:SimDS'
+}

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Connection.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 import gazebo.msgs.GzPacket.Packet;

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Msgs.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 import gazebo.msgs.GzBool.Bool;

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Node.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 import gazebo.msgs.GzPacket.Packet;

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Publisher.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 import java.io.IOException;

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/PublisherRecord.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 public interface PublisherRecord {

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/RemotePublisherRecord.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 import gazebo.msgs.GzPublish.Publish;

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/ServerCallback.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 import java.io.IOException;

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/Subscriber.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 import gazebo.msgs.GzSubscribe.Subscribe;

simulation/JavaGazebo/src/main/java/org/gazebosim/transport/SubscriberCallback.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package org.gazebosim.transport;
 
 public interface SubscriberCallback<T> {

simulation/README.md

@@ -1,29 +1,32 @@
-## Simulation Directory
+## Components and Location
 
-Observe the following directory structure
-
-.
-|-- frc_gazebo_plugins (contains Gazebo Plugins)
-|   |-- clock
-|   |-- dc_motor
-|   |-- encoder
-|   |-- gyro
-|   |-- plugins
-|   |-- pneumatic_piston
-|   |-- potentiometer
-|   |-- rangefinder
-|   |-- servo
-|
-|-- frcsim.bat (launches gazebo with model/plugin paths on windows)
-|-- frcsim.sh (launches gazebo with model/plugin paths on linux/mac)
-|-- install.sh (convenient linux script to install Eclipse, Eclipse Plugins, and Gazebo)
-|-- JavaGazebo (java library used by java simulation. Equivelant of the C++ gazebo_transport)
-|-- SimDS (linux driverstation)
+Simluation is a mix of wpilib and other components.
+The wpilib components are in their respective locations in the /wpilibc and /wpilibj directories.
 
 The gazbeo plugins are currently built with CMake.
 Eventually they will be built with gradle.
 
-All of this is delivered to students via the eclipse plugins
+## Simulation delivery and installation
+
+For 2016 FRCSim is only officially supported on Ubuntu 14.04 or greater.
+However it is possible on any platform that runs Gazebo.
+FRCSim is currently delivered via a zip file published by this project,
+and is available at first.wpi.edu/FRC/roborio/maven/PROMOTION_STATUS/edu/wpi/first/wpilib/simulation/simulation/1.0.0/simulation-1.0.0.zip
+where PROMOTION_STATUS is one of:
+- development (the latest commit merged into wpilib)
+- beta (used periodically before release)
+- release (used just before kick-off and possibly a few other times)
+- stable (used for old releases we want to keep around)
+
+The zip contains most of the contents of ~/wpilib/simulation, such as C++ libraries, jars, and scripts
+
+The exmple robot model files are seperate, and can be found under "file releases" on collabnet.
+
+All together you need eclipse, gazebo, those two zips, g++ 4.9, java8, and a few other small packages.
+See the frcsim-installer script or the screensteps on manual install for all the nitty-gritty details
+
+The frcsim-installer script is meant for quick and painless setup on Ubuntu 14.04, 15.04, or 15.10
+A manual install is a more tedious process, so this is an easy option for students.
 
 ## Building
-see the top level building.md
+See the top level README.md.

simulation/SimDS/build.gradle

@@ -51,4 +51,14 @@ task simDsJavadoc(type: Jar, dependsOn: javadoc) {
     group = 'WPILib'
     classifier = 'javadoc'
     from javadoc.destinationDir
-}
+}
+
+//we need to move the simulation jars to the install directory
+task copyJars(type: Copy) {
+    description = 'copy SimDS-all.jar to make simulation zip'
+    group = 'WPILib Simulation'
+    from shadowJar.archivePath
+    into "$simulationInstallDir/jar"
+}
+
+build.dependsOn shadowJar

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/DS.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import java.awt.Dimension;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/EnableAction.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import java.awt.event.ActionEvent;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/FakeJoystick.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import org.gazebosim.transport.Node;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/ISimJoystick.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import org.gazebosim.transport.Node;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/JoystickList.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import java.awt.datatransfer.DataFlavor;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/JoystickProvider.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import java.util.ArrayList;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/Main.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import gazebo.msgs.GzFloat64.Float64;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/ModeAction.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import java.awt.event.ActionEvent;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/RefreshAction.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import java.awt.event.ActionEvent;

simulation/SimDS/src/main/java/edu/wpi/first/wpilibj/simulation/ds/SimJoystick.java

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 package edu.wpi.first.wpilibj.simulation.ds;
 
 import gazebo.msgs.GzJoystick.Joystick;

simulation/build.gradle

@@ -0,0 +1,35 @@
+apply plugin: 'java'
+apply plugin: 'maven-publish'
+
+publishing {
+    publications {
+        simulation(MavenPublication) {
+            artifact zip
+            groupId 'edu.wpi.first.wpilib.simulation'
+            artifactId 'simulation'
+            version '1.0.0'
+        }
+    }
+
+    setupWpilibRepo(it)
+}
+
+task copy_resources(type: Copy) {
+    description = 'copy gz_msgs and install_resources to make simulation zip'
+    group = 'WPILib Simulation'
+    into ('gz_msgs') {
+        from 'gz_msgs'
+    }
+    into "$simulationInstallDir"
+    from 'install_resources'
+}
+
+task zip(type: Zip, dependsOn: [copy_resources,
+        ':wpilibc:wpilibcSimCopy',
+        ':simulation:SimDS:copyJars',
+        ':wpilibj:copyJars']) {
+    description = 'zip of all the resources for simulation'
+    group = 'WPILib Simulation'
+    baseName = 'simulation-trusty'
+    from "$simulationInstallDir"
+}

simulation/frc_gazebo_plugins/CMakeLists.txt

@@ -12,8 +12,6 @@ set (PLUGINS
 	rangefinder
 	servo)
 
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/plugins)
-
 link_directories(${GAZEBO_LIBRARY_DIRS})
 
 foreach(PLUGIN ${PLUGINS})
@@ -29,7 +27,11 @@ foreach(PLUGIN ${PLUGINS})
 	endif()
 
 	target_link_libraries(${PLUGIN} gz_msgs ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
-
-  install(TARGETS ${PLUGIN} DESTINATION $ENV{HOME}/wpilib/simulation/plugins)
+  set_target_properties(${PLUGIN}
+    PROPERTIES
+    LIBRARY_OUTPUT_DIRECTORY ${SIMULATION_INSTALL_DIR}/plugins)
 
 endforeach()
+
+# create a dummy target the depends on all the plugins
+add_custom_target(${PROJECT_NAME} DEPENDS ${PLUGINS})

simulation/frc_gazebo_plugins/clock/src/clock.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "clock.h"
 
 GZ_REGISTER_MODEL_PLUGIN(Clock)

simulation/frc_gazebo_plugins/clock/src/clock.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 

simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "dc_motor.h"
 
 GZ_REGISTER_MODEL_PLUGIN(DCMotor)

simulation/frc_gazebo_plugins/dc_motor/src/dc_motor.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "simulation/gz_msgs/msgs.h"

simulation/frc_gazebo_plugins/encoder/src/encoder.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "encoder.h"
 
 GZ_REGISTER_MODEL_PLUGIN(Encoder)

simulation/frc_gazebo_plugins/encoder/src/encoder.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "simulation/gz_msgs/msgs.h"

simulation/frc_gazebo_plugins/gyro/src/gyro.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "gyro.h"
 
 

simulation/frc_gazebo_plugins/gyro/src/gyro.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "simulation/gz_msgs/msgs.h"

simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "external_limit_switch.h"
 
 

simulation/frc_gazebo_plugins/limit_switch/src/external_limit_switch.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "switch.h"

simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "internal_limit_switch.h"
 
 InternalLimitSwitch::InternalLimitSwitch(physics::ModelPtr model, sdf::ElementPtr sdf) {

simulation/frc_gazebo_plugins/limit_switch/src/internal_limit_switch.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "switch.h"

simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #include "limit_switch.h"
 
 GZ_REGISTER_MODEL_PLUGIN(LimitSwitch)

simulation/frc_gazebo_plugins/limit_switch/src/limit_switch.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "simulation/gz_msgs/msgs.h"

simulation/frc_gazebo_plugins/limit_switch/src/switch.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 class Switch {

simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #ifdef _WIN32
   // Ensure that Winsock2.h is included before Windows.h, which can get
   // pulled in by anybody (e.g., Boost).

simulation/frc_gazebo_plugins/pneumatic_piston/src/pneumatic_piston.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "simulation/gz_msgs/msgs.h"

simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #ifdef _WIN32
   // Ensure that Winsock2.h is included before Windows.h, which can get
   // pulled in by anybody (e.g., Boost).

simulation/frc_gazebo_plugins/potentiometer/src/potentiometer.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include <simulation/gz_msgs/msgs.h>

simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #ifdef _WIN32
   // Ensure that Winsock2.h is included before Windows.h, which can get
   // pulled in by anybody (e.g., Boost).

simulation/frc_gazebo_plugins/rangefinder/src/rangefinder.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include <simulation/gz_msgs/msgs.h>

simulation/frc_gazebo_plugins/servo/src/servo.cpp

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #ifdef _WIN32
   // Ensure that Winsock2.h is included before Windows.h, which can get
   // pulled in by anybody (e.g., Boost).

simulation/frc_gazebo_plugins/servo/src/servo.h

@@ -1,3 +1,10 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
 #pragma once
 
 #include "simulation/gz_msgs/msgs.h"

simulation/frcsim-installer.sh

@@ -0,0 +1,308 @@
+#!/bin/bash
+
+function check-environment {
+  # Ensure root access
+  if [ "$(id -u)" != "0" ]; then
+    echo "*** This script must be run as root!" 1>&2
+    echo "*** Make sure that you followed the instructions properly." 1>&2
+    install-fail
+  fi
+
+  # Make sure that we're on Ubuntu.
+  if [ "$(lsb_release -is)" != "Ubuntu" ]; then
+    if [ "$(lsb_release -is)" = "" ]; then
+      echo "*** Distributions other than Ubuntu (such as yours, probably) are not supported." 1>&2
+    else
+      echo "*** Distributions other than Ubuntu (such as $(lsb_release -is)) are not supported." 1>&2
+    fi
+    echo "*** This means that the install will likely fail." 1>&2
+    echo "*** Continue anyway? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+  fi
+
+  # Make sure that we have /etc/apt/sources.list.d available.
+  if [ ! -e /etc/apt/sources.list.d ]; then
+    echo "*** Cannot find /etc/apt/sources.list.d - is apt installed?"
+    install-fail
+  fi
+
+  # Make sure that apt-key is installed.
+  if ! which apt-key >/dev/null; then
+    echo "*** You don't appear to have apt-key installed." 1>&2
+    echo "*** Please install apt and run the script again." 1>&2
+    install-fail
+  fi
+
+  # Make sure that apt-get is installed.
+  if ! which apt-get >/dev/null; then
+    echo "*** You don't appear to have apt-get installed." 1>&2
+    echo "*** Please install apt and run the script again." 1>&2
+    install-fail
+  fi
+
+  # Make sure that we have internet access.
+  if ! ping 8.8.8.8 -c 1 >/dev/null; then
+    echo "*** You don't appear to be able to access the internet! (Can't ping 8.8.8.8)" 1>&2
+    install-fail
+  fi
+
+  # Make sure that wget is installed.
+  if ! which wget >/dev/null; then
+    echo "*** You don't appear to have wget installed." 1>&2
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    apt-get install wget -y
+  fi
+
+  # Make sure that python is installed
+  if ! which python >/dev/null; then
+    echo "*** You don't appear to have python installed." 1>&2
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    apt-get install python -y
+  fi
+
+  # Make sure that unzip is installed
+  if ! which unzip >/dev/null; then
+    echo "*** You don't appear to have unzip installed." 1>&2
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    apt-get install unzip -y
+  fi
+
+  # Make sure that app-apt-repository is installed
+  if ! which add-apt-repository >/dev/null; then
+    echo "*** You don't appear to have all apt commands installed." 1>&2
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    apt-get install software-properties-common -y
+  fi
+}
+
+function remove-frcsim {
+  echo "*** Remove Gazebo package entry too? (y/n)" 1>&2
+  read CONT
+  if [ "$CONT" == "y" -o "$CONT" == "Y" ]; then
+  rm -f /etc/apt/sources.list.d/gazebo-latest.list
+  fi
+
+  apt-get remove --auto-remove libgazebo6-dev gazebo6 g++-4.9 openjdk-8-jdk
+  rm -rf /opt/eclipse
+  rm -f /usr/share/applications/frcsim.desktop /usr/share/applications/eclipse.desktop /usr/share/applications/sim_ds.desktop
+  rm -f /usr/bin/frcism /usr/bin/sim_ds /usr/bin/eclipse
+  rm -rf ~/wpilib/simulation
+
+  add-apt-repository --remove ppa:openjdk-r/ppa -y
+  add-apt-repository --remove ppa:ubuntu-toolchain-r/test -y
+}
+
+function install-eclipse-plugins {
+  #valid URLs can have promotion status of any of the following
+  # - development (used for most recent merge into wpilib)
+  # - beta
+  # - release
+  # - stable
+
+  #this file is published to maven repo by simulation/build.gradle
+  if ! (wget -O /tmp/simulation.zip http://first.wpi.edu/FRC/roborio/maven/$PROMOTION_STATUS/edu/wpi/first/wpilib/simulation/simulation/1.0.0/simulation-1.0.0.zip)
+  then
+    echo "***could not download wpilib simulation plugins, wrong URL probably***"
+    echo "promotion status = $PROMOTION_STATUS"
+    echo "url = http://first.wpi.edu/FRC/roborio/maven/$PROMOTION_STATUS/edu/wpi/first/wpilib/simulation/simulation/1.0.0/simulation-1.0.0.zip"
+    install-fail
+  fi
+
+  mkdir -p ~/wpilib/simulation
+  unzip /tmp/simulation.zip -d ~/wpilib/simulation
+  rm -f /usr/bin/frcsim /usr/bin/sim_ds
+  ln -s ~/wpilib/simulation/frcsim /usr/bin/frcsim
+  ln -s ~/wpilib/simulation/sim_ds /usr/bin/sim_ds
+}
+
+function install-eclipse {
+  if ! (wget -O /tmp/eclipse.tar.gz http://eclipse.mirror.rafal.ca/technology/epp/downloads/release/mars/1/eclipse-cpp-mars-1-linux-gtk-x86_64.tar.gz)
+  then
+    echo "***could not download eclipse, wrong URL probably***"
+    install-fail
+  fi
+
+  tar -xf /tmp/eclipse.tar.gz -C /opt
+  rm -f /usr/bin/eclipse
+  ln -s /opt/eclipse/eclipse /usr/bin/eclipse
+}
+
+function install-desktops {
+  # desktop files allow ubuntu (unity) users to "search" for their programs in the sidebar
+  mv ~/wpilib/simulation/eclipse.desktop /usr/share/applications/eclipse.desktop
+  mv ~/wpilib/simulation/frcsim.desktop /usr/share/applications/frcsim.desktop
+  mv ~/wpilib/simulation/sim_ds.desktop /usr/share/applications/sim_ds.desktop
+  mkdir -p /usr/share/icons/sim_ds
+  mv ~/wpilib/simulation/sim_ds_logo.png /usr/share/icons/sim_ds/sim_ds_logo.png
+}
+
+function install-gz_msgs {
+  # gz_msgs is built on the end-user system
+  # that way the versions of protobuf will match whatever the default for that platform is
+  cd ~/wpilib/simulation/gz_msgs
+  mkdir build
+  cd build
+  cmake ..
+  make
+  make install
+  chmod u+x ~/wpilib/simulation/lib/libgz_msgs.so
+}
+
+function install-toolchain {
+  # older version of ubuntu like 14.04 don't have the versions of g++ and java we need
+  # we can add some very reliable PPAs to get them however
+  if [[ "`lsb_release -rs`" == "14.04" ]]
+  then
+    echo "*** You're using `lsb_release -r`, you will need additional repositories***"
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    add-apt-repository ppa:openjdk-r/ppa -y
+    add-apt-repository ppa:ubuntu-toolchain-r/test -y
+  fi
+  if [[ "`lsb_release -rs`" == "15.04" ]]
+  then
+    echo "*** You're using `lsb_release -r`, you will need additional repositories***"
+    echo "*** Install? (y/n)" 1>&2
+    read CONT
+    if [ "$CONT" != "y" -a "$CONT" != "Y" ]; then
+      install-fail
+    fi
+    add-apt-repository ppa:openjdk-r/ppa -y
+  fi
+
+  # Update and install dependencies
+  if ! apt-get update
+  then
+    echo "*** Could not resynchronize package index files." 1>&2
+    echo "*** Are you running another update or install?" 1>&2
+    install-fail
+  fi
+
+  apt-get install cmake libprotoc-dev libprotobuf-dev protobuf-compiler g++-4.9 openjdk-8-jdk -y
+  rm -f /usr/bin/g++
+  ln -s /usr/bin/g++-4.9 /usr/bin/g++
+}
+
+function install-models {
+  # this zip file is made by hand. A better option to add models is to use the gazebo repository
+  if ! (wget -O /tmp/models.zip https://usfirst.collab.net/sf/frs/do/downloadFile/projects.wpilib/frs.simulation.frcsim_gazebo_models/frs1160?)
+  then
+    echo "*** failed to download models. Check your internet connection! ***"
+    install-fail
+  fi
+
+  unzip /tmp/models.zip -d /tmp
+  mv /tmp/frcsim-gazebo-models/models ~/wpilib/simulation/models
+  mv /tmp/frcsim-gazebo-models/worlds ~/wpilib/simulation/worlds
+}
+
+function install-frcsim {
+  check-environment
+
+  # Add Gazebo Repository and Key
+  if ! echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list
+  then
+    echo "*** Cannot add Gazebo repository!" 1>&2
+    install-fail
+  fi
+  if ! (wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -)
+  then
+    echo "*** Cannot add Gazebo repository key!" 1>&2
+    if ! ping packages.osrfoundation.org -c 1 >/dev/null; then
+      echo "*** The package host for Gazebo appears to be down. Try again later." 1>&2
+    fi
+    install-fail
+  fi
+
+  install-toolchain
+
+  if ! apt-get install -y libgazebo6-dev gazebo6
+  then
+    echo "*** Could not install frcsim packages. See above output for details." 1>&2
+    echo "*** Are you running another update or install?" 1>&2
+    install-fail
+  fi
+
+  install-eclipse-plugins
+  install-gz_msgs
+  install-eclipse
+  install-desktops
+  install-models
+
+  change-ownership
+
+  # Done
+  echo "Installation Finished!!"
+}
+
+function install-fail {
+  echo "***INSTALLATION UNSUCCESSFUL***"
+  echo "***Check the output about for anything that looks like errors***"
+  echo "Please comment on the following to tutorial if you're unable to resolve your problem:"
+  echo "https://wpilib.screenstepslive.com/s/4485/m/23353/l/478421-installing-frcsim-with-a-script-ubuntu"
+  exit 1
+}
+
+function change-ownership {
+  chown -R $NON_SUDO_USER:$NON_SUDO_USER ~/wpilib
+}
+
+if [ "$1" == "INSTALL-ROOT" ]
+then
+
+  if [ -z "$2" ]
+  then
+    echo "*** Could not set user ~/wpilib ownership to empty user***"
+    install-fail
+  else
+    NON_SUDO_USER="$2"
+  fi
+
+  if [ -z "$3" ]
+  then
+    PROMOTION_STATUS="release"
+  else
+    PROMOTION_STATUS="$3"
+  fi
+
+  install-frcsim
+
+elif [ "$1" == "INSTALL" ]
+then
+  NON_SUDO_USER="$USER"
+  PROMOTION_STATUS="$2"
+  SUDO_ASKPASS=/usr/bin/ssh-askpass sudo bash -c "$0 INSTALL-ROOT $NON_SUDO_USER $PROMOTION_STATUS"
+elif [ "$1" == "REMOVE-ROOT" ]
+then
+  remove-frcsim
+elif [ "$1" == "REMOVE" ]
+then
+  NON_SUDO_USER="$USER"
+  SUDO_ASKPASS=/usr/bin/ssh-askpass sudo bash -c "$0 REMOVE-ROOT $NON_SUDO_USER $PROMOTION_STATUS"
+else
+  echo "***This script requires an argument!***"
+  echo "***Run ./frcsim_installer.sh INSTALL to install***"
+  echo "***The other option is REMOVE"
+fi

simulation/frcsim.sh

@@ -1,5 +0,0 @@
-#!/bin/bash
-export GAZEBO_PLUGIN_PATH="${GAZEBO_PLUGIN_PATH}:${HOME}/wpilib/simulation/plugins"
-export GAZEBO_MODEL_PATH="${GAZEBO_MODEL_PATH}:${HOME}/wpilib/simulation/models"
-export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:${HOME}/wpilib/simulation/plugins"
-gazebo $@

simulation/gz_msgs/CMakeLists.txt

@@ -1,6 +1,25 @@
-cmake_minimum_required(VERSION 2.8)
+Cmake_minimum_required(VERSION 2.8)
 project(gz_msgs)
 
+#copied from GazeboUtils.cmake
+macro (APPEND_TO_CACHED_STRING _string _cacheDesc)
+  FOREACH (newItem ${ARGN})
+    SET (${_string} "${${_string}} ${newItem}" CACHE INTERNAL ${_cacheDesc} FORCE)
+  ENDFOREACH (newItem ${ARGN})
+endmacro (APPEND_TO_CACHED_STRING)
+
+find_package(Protobuf REQUIRED)
+
+if (NOT PROTOBUF_FOUND)
+	MESSAGE ("Missing: Google Protobuf (libprotobuf-dev)")
+endif()
+if (NOT PROTOBUF_PROTOC_EXECUTABLE)
+	MESSAGE ( "Missing: Google Protobuf Compiler (protobuf-compiler)")
+endif()
+if (NOT PROTOBUF_PROTOC_LIBRARY)
+	MESSAGE ("Missing: Google Protobuf Compiler Library (libprotoc-dev)")
+endif()
+
 #list all proto files used
 get_filename_component(PROTO_DIR src/main/proto ABSOLUTE)
 set(msgs
@@ -62,3 +81,9 @@ else()
 endif()
 
 target_link_libraries(${PROJECT_NAME} ${PROTOBUF_LIBRARIES})
+set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "$ENV{HOME}/wpilib/simulation/lib")
+
+install(TARGETS ${PROJECT_NAME}
+  DESTINATION "$ENV{HOME}/wpilib/simulation/lib")
+install(DIRECTORY "${GZ_MSGS_INCLUDE_DIR}/simulation"
+  DESTINATION "$ENV{HOME}/wpilib/simulation/include")

simulation/gz_msgs/README.md

@@ -1,6 +1,19 @@
 Building gz_msgs
 ================
 
-Currently uses cmake.
-This is build as a part of the whole cmake project.
-see top level building.md for detail
+gz_msgs currently uses cmake, is built on the end-users computer.
+This allows us to support various versions of protobuf (2.5 on Ubuntu 14.04, 2.6 on Ubuntu 15.10)
+
+To build, run the following commands in the ~/wpilib/simulation/gz_msgs directory.
+If that directory doesn't exist, it means you haven't installed correctly.
+
+If you're a developer for wpilib, you will need to unzip the simulation.zip file you published into ~/releases.
+If you are a student using FRCSim, you should have downloaded that zip when you installed frcsim.
+
+    mkdir build
+    cd build
+    cmake ..
+    make
+    make install
+
+If you are installing FRCSim with the script, then this *should* have be done for you.

simulation/install_resources/eclipse.desktop

@@ -0,0 +1,7 @@
+[Desktop Entry]
+Name=Eclipse
+Exec=/usr/bin/eclipse
+Icon=/opt/eclipse/icon.xpm
+Type=Application
+Categories=Development;Education;Science;
+StartupNotify=true

simulation/install_resources/frcsim

@@ -0,0 +1,5 @@
+#!/bin/bash
+export GAZEBO_PLUGIN_PATH="${HOME}/wpilib/simulation/plugins:${GAZEBO_PLUGIN_PATH}"
+export GAZEBO_MODEL_PATH="${HOME}/wpilib/simulation/models:${GAZEBO_MODEL_PATH}"
+export LD_LIBRARY_PATH="${HOME}/wpilib/simulation/plugins:${HOME}/wpilib/simulation/lib:${LD_LIBRARY_PATH}"
+gazebo --verbose $@

simulation/install_resources/frcsim.desktop

@@ -0,0 +1,9 @@
+[Desktop Entry]
+Name=FRCSim
+Keywords=frcsim,gazebo
+Exec=/usr/bin/frcsim
+Icon=gazebo
+Type=Application
+StartupNotify=true
+Terminal=false
+Categories=Development;IDE;Java;Education;Science

simulation/install_resources/sim_ds

@@ -0,0 +1 @@
+java -Djava.library.path=${HOME}/wpilib/simulation/lib -jar ~/wpilib/simulation/jar/SimDS-all.jar

simulation/install_resources/sim_ds.desktop

@@ -0,0 +1,9 @@
+[Desktop Entry]
+Name=Sim DS
+Keywords=frcsim,driverstation
+Exec=/usr/bin/sim_ds
+Icon=/usr/share/icons/sim_ds/sim_ds_logo.png
+Type=Application
+StartupNotify=true
+Terminal=false
+Categories=Development;IDE;Java;Education;Science

styleguide/eclipse-cpp-google-style.xml

@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<profiles version="1">
+<profile kind="CodeFormatterProfile" name="Google C++" version="1">
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_for" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_in_empty_block" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.lineSplit" value="80"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_member_access" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_base_types" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.keep_else_statement_on_same_line" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_switch" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_constructor_initializer_list" value="83"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_brace_in_array_initializer" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_parameters" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_if" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_parenthesized_expression" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_exception_specification" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_base_types" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_access_specifier" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_exception_specification" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_arguments" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_block" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_method_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.use_tabs_only_for_leading_indentations" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_labeled_statement" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_case" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.comment.min_distance_between_code_and_line_comment" value="2"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_array_initializer" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_enum_declarations" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_expressions_in_array_initializer" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_declarator_list" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_bracket" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_for" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_prefix_operator" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.tabulation.size" value="2"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_else_in_if_statement" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_enumerator_list" value="51"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_parenthesized_expression" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_method_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_switch" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_declarator_list" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_parenthesized_expression" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_empty_lines" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_switchstatements_compare_to_cases" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.keep_empty_array_initializer_on_one_line" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_method_declaration" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.put_empty_statement_on_new_line" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_switch" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_cast" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_braces_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_method_declaration" value="end_of_line"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_while" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_question_in_conditional" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_semicolon" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_angle_bracket_in_template_arguments" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_base_clause" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_breaks_compare_to_cases" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_unary_operator" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.join_wrapped_lines" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_declarator_list" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_arguments_in_method_invocation" value="18"/>
+<setting id="org.eclipse.cdt.core.formatter.comment.never_indent_line_comments_on_first_column" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_while" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_brackets" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_bracket" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_parameters_in_method_declaration" value="18"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_closing_brace_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.number_of_empty_lines_to_preserve" value="1"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_method_invocation" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_brace_in_array_initializer" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_semicolon_in_for" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_conditional" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_block" value="end_of_line"/>
+<setting id="org.eclipse.cdt.core.formatter.comment.preserve_white_space_between_code_and_line_comments" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_type_declaration" value="end_of_line"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_assignment_operator" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_arguments" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_expression_list" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_angle_bracket_in_template_parameters" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.continuation_indentation" value="2"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_expression_list" value="0"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_method_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_template_parameters" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_default" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_binary_operator" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_conditional_expression" value="34"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_method_invocation" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_if" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.format_guardian_clause_on_one_line" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_access_specifier_extra_spaces" value="1"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_cast" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_access_specifier_compare_to_type_header" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_type_declaration" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.continuation_indentation_for_array_initializer" value="2"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_labeled_statement" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_parameters" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_semicolon_in_for" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_method_invocation" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_body_declarations_compare_to_namespace_header" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_compact_if" value="0"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_assignment_operator" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_brace_in_block" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_array_initializer" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_at_end_of_file_if_missing" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_assignment" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_conditional_expression_chain" value="18"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_template_parameters" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_expression_list" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_question_in_conditional" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_exception_specification" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_binary_operator" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_identifier_in_function_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_base_clause_in_type_declaration" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_declaration_throws" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_between_empty_parens_in_exception_specification" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_method_invocation_arguments" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_declaration_compare_to_template_header" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_unary_operator" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_switch" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_statements_compare_to_body" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_declaration_throws" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_binary_expression" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.indent_statements_compare_to_block" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_template_arguments" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_catch_in_try_statement" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_throws_clause_in_method_declaration" value="16"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_method_invocation" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_paren_in_cast" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_paren_in_catch" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_angle_bracket_in_template_parameters" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.tabulation.char" value="space"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_parameters" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_colon_in_constructor_initializer_list" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_while" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_comma_in_method_invocation_arguments" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_block_in_case" value="end_of_line"/>
+<setting id="org.eclipse.cdt.core.formatter.compact_else_if" value="true"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_postfix_operator" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_after_template_declaration" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_base_clause" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_catch" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.keep_then_statement_on_same_line" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_switch" value="end_of_line"/>
+<setting id="org.eclipse.cdt.core.formatter.alignment_for_overloaded_left_shift_chain" value="18"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_if" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_paren_in_switch" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.keep_imple_if_on_one_line" value="false"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_after_opening_brace_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.indentation.size" value="2"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_namespace_declaration" value="end_of_line"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_colon_in_conditional" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_comma_in_enum_declarations" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_prefix_operator" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_angle_bracket_in_template_arguments" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.brace_position_for_array_initializer" value="end_of_line"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_colon_in_case" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_catch" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_brace_in_namespace_declaration" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_postfix_operator" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_closing_bracket" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_new_line_before_while_in_do_statement" value="do not insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_before_opening_paren_in_for" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_closing_angle_bracket_in_template_parameters" value="insert"/>
+<setting id="org.eclipse.cdt.core.formatter.insert_space_after_opening_angle_bracket_in_template_arguments" value="do not insert"/>
+</profile>
+</profiles>

styleguide/eclipse-java-google-style.xml

@@ -0,0 +1,337 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<profiles version="12">
+<profile kind="CodeFormatterProfile" name="GoogleStyle" version="12">
+<setting id="org.eclipse.jdt.core.formatter.comment.insert_new_line_before_root_tags" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.disabling_tag" value="@formatter:off"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_annotation" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_type_parameters" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_type_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_type_arguments" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_anonymous_type_declaration" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_case" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_brace_in_array_initializer" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.new_lines_at_block_boundaries" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_cascading_method_invocation_with_arguments.count_dependent" value="16|-1|16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_annotation_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_annotation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_field" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_while" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.use_on_off_tags" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_prefer_two_fragments" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_annotation_type_member_declaration" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_else_in_if_statement" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_prefix_operator" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.keep_else_statement_on_same_line" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_ellipsis" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.insert_new_line_for_parameter" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_comment_inline_tags" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_annotation_type_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.indent_breaks_compare_to_cases" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_at_in_annotation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_local_variable_declaration" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_multiple_fields" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_parameter" value="1040"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_expressions_in_array_initializer" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_type.count_dependent" value="1585|-1|1585"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_conditional_expression" value="80"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_for" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_multiple_fields.count_dependent" value="16|-1|16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_binary_operator" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_question_in_wildcard" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_array_initializer" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_enum_constant" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_finally_in_try_statement" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_annotation_on_local_variable" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_before_catch_in_try_statement" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_while" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_after_package" value="1"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_qualified_allocation_expression.count_dependent" value="16|4|80"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_throws_clause_in_method_declaration.count_dependent" value="16|4|48"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_type_parameters" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.continuation_indentation" value="2"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_superinterfaces_in_enum_declaration.count_dependent" value="16|4|49"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_postfix_operator" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_method_invocation" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_angle_bracket_in_type_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_superinterfaces" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_new_chunk" value="1"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_binary_operator" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_package" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_cascading_method_invocation_with_arguments" value="16"/>
+<setting id="org.eclipse.jdt.core.compiler.source" value="1.8"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_throws_clause_in_constructor_declaration.count_dependent" value="16|4|48"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_enum_constant_arguments" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_constructor_declaration" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.format_line_comments" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_closing_angle_bracket_in_type_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_enum_declarations" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.join_wrapped_lines" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_block" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_arguments_in_explicit_constructor_call" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_non_simple_local_variable_annotation" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_method_invocation_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.align_type_members_on_columns" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_member_type" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_enum_constant" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_enum_constants.count_dependent" value="16|5|48"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_for" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_method_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_selector_in_method_invocation" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_switch" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_unary_operator" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_case" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.indent_parameter_description" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_method_declaration" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_switch" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_enum_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_angle_bracket_in_type_parameters" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.clear_blank_lines_in_block_comment" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_type_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.lineSplit" value="80"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_if" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_selector_in_method_invocation.count_dependent" value="16|4|48"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_between_brackets_in_array_type_reference" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_parenthesized_expression" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_explicitconstructorcall_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_constructor_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_first_class_body_declaration" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_after_annotation_on_method" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.indentation.size" value="4"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_between_empty_parens_in_method_declaration" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.enabling_tag" value="@formatter:on"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_enum_constant" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_package" value="1585"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_superclass_in_type_declaration" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_assignment" value="16"/>
+<setting id="org.eclipse.jdt.core.compiler.problem.assertIdentifier" value="error"/>
+<setting id="org.eclipse.jdt.core.formatter.tabulation.char" value="space"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_semicolon_in_try_resources" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_constructor_declaration_parameters" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_prefix_operator" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.indent_statements_compare_to_body" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.blank_lines_before_method" value="1"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_outer_expressions_when_nested" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_non_simple_type_annotation" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.format_guardian_clause_on_one_line" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_for" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_field_declaration" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_cast" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_parameters_in_constructor_declaration" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_labeled_statement" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_annotation_type_declaration" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_method_body" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_method_declaration" value="0"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_try" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_method_invocation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_bracket_in_array_allocation_expression" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_brace_in_enum_constant" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_annotation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_at_in_annotation_type_declaration" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_method_declaration_throws" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_paren_in_if" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_switch" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comma_in_method_declaration_throws" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_parenthesized_expression_in_return" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_paren_in_annotation" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_question_in_conditional" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_question_in_wildcard" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_try" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_bracket_in_array_allocation_expression" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.comment.preserve_white_space_between_code_and_line_comments" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_parenthesized_expression_in_throw" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_type_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.compiler.problem.enumIdentifier" value="error"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_generic_type_arguments" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.indent_switchstatements_compare_to_switch" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.comment_new_line_at_start_of_html_paragraph" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_ellipsis" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_block" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_comment_prefix" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_comma_in_for_inits" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_method_declaration" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.compact_else_if" value="true"/>
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+<setting id="org.eclipse.jdt.core.formatter.alignment_for_union_type_in_multicatch" value="16"/>
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+<setting id="org.eclipse.jdt.core.formatter.force_if_else_statement_brace" value="true"/>
+<setting id="org.eclipse.jdt.core.formatter.brace_position_for_block_in_case" value="end_of_line"/>
+<setting id="org.eclipse.jdt.core.formatter.number_of_empty_lines_to_preserve" value="3"/>
+<setting id="org.eclipse.jdt.core.formatter.wrap_non_simple_package_annotation" value="true"/>
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+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_at_in_annotation_type_declaration" value="insert"/>
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+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_opening_paren_in_cast" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_unary_operator" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_new_anonymous_class" value="20"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_closing_angle_bracket_in_parameterized_type_reference" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_local_variable.count_dependent" value="1585|-1|1585"/>
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+<setting id="org.eclipse.jdt.core.formatter.keep_empty_array_initializer_on_one_line" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_in_empty_enum_declaration" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_annotations_on_field.count_dependent" value="1585|-1|1585"/>
+<setting id="org.eclipse.jdt.core.formatter.keep_imple_if_on_one_line" value="false"/>
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+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_colon_in_labeled_statement" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_new_line_at_end_of_file_if_missing" value="insert"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_after_colon_in_for" value="insert"/>
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+<setting id="org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode" value="enabled"/>
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+<setting id="org.eclipse.jdt.core.formatter.comment.format_html" value="true"/>
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+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_semicolon_in_try_resources" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.alignment_for_for_statement" value="16"/>
+<setting id="org.eclipse.jdt.core.formatter.insert_space_before_opening_angle_bracket_in_type_arguments" value="do not insert"/>
+<setting id="org.eclipse.jdt.core.formatter.never_indent_block_comments_on_first_column" value="false"/>
+<setting id="org.eclipse.jdt.core.formatter.keep_then_statement_on_same_line" value="false"/>
+</profile>
+</profiles>

styleguide/include/styleguide.css

@@ -0,0 +1,261 @@
+/* General CSS */
+
+body {
+  background-color: #fff;
+  color: #333;
+  font-family: sans-serif;
+  font-size: 10pt;
+  margin-right: 100px;
+  margin-left: 100px;
+}
+
+h1 {
+  text-align: center;
+  font-size: 18pt;
+}
+
+h1, h2, h3, h4, h5, h6 {
+  color: #06c;
+  margin-top: 2em;
+  margin-bottom: 1em;
+  padding: 25px;
+  font-weight:bold;
+}
+
+h2,
+h3,
+h4,
+h5,
+h6 {
+  margin-top:1.5em;
+  margin-bottom:.75em;
+}
+
+h1 {font-size:200%;}
+h2 {font-size:167%;}
+h3 {font-size:133%;}
+h4 {font-size:120%;}
+h5 {font-size:110%;}
+
+
+table {
+  border: 1px solid #bbb;
+  border-spacing: 0;
+  border-collapse: collapse;
+  margin: 0 0 1.5em;
+  vertical-align: middle;
+  width: 100%
+}
+
+td, th {
+  border: 1px solid #ccc;
+  padding: 2px 12px;
+  font-size: 10pt;
+}
+
+code, samp, var {
+  background-color:#FAFAFA;
+  white-space: nowrap
+}
+
+pre {
+  padding:6px 10px;
+  background-color:#FAFAFA;
+  border:1px solid #bbb;
+  overflow:auto;
+}
+
+pre.prettyprint {
+  padding:6px 10px !important;
+  border:1px solid #bbb !important;
+}
+
+code.bad, code.badcode {
+  color: magenta;
+}
+
+pre.bad, pre.badcode {
+  background-color:#ffe6d8;
+  border-top:1px inset #a03;
+  border-left:1px inset #a03;
+}
+
+hr {
+  margin-top: 3.5em;
+  border-width: 1px;
+  color: #fff;
+}
+
+/* TOC CSS */
+
+table.columns {
+  border: none;
+}
+
+td.two_columns {
+  -webkit-column-count: 2;
+  column-count: 2;
+}
+
+.toc_category {
+  font-size: 10pt;
+  padding-top: 1em;
+  padding-bottom: 1em;
+  border-left-width: 2px;
+  border-right-width: 2px;
+  border-color: grey;
+}
+
+.toc_stylepoint {
+  font-size: 10pt;
+  padding-top: 1em;
+  padding-bottom: 1em;
+}
+
+li.toc_entry {
+  padding-right: 1em;
+  display: inline;
+  list-style-type: none;
+}
+
+/*
+ * This space is required to trigger the linewrap on the links
+ * at href boundaries
+ */
+li.toc_entry::after {
+    content: " ";
+  }
+
+li.toc_entry a {
+  white-space: nowrap;
+}
+
+/* Horizontal TOC */
+.toc td, .toc th {
+  border-width: 1px 5px;
+  overflow: hidden;
+}
+
+/* Vertical TOC */
+
+.toc td.two_columns {
+  border-width: 0px;
+}
+
+/* Special Sections */
+
+address {
+  text-align: right;
+}
+
+.revision {
+  text-align: right;
+}
+
+.headerbox {
+  margin-left: 50%;
+  font-size: 75%;
+}
+
+.legend {
+  padding-top: 1em;
+  margin-left: 50%;
+  font-size: 10pt;
+}
+
+.link_button {
+  float: left;
+  display: none;
+  background-color: #f8f8ff;
+  border-color: #f0f0ff;
+  border-style: solid;
+  border-width: 1px;
+  font-size: 75%;
+  margin-top: 0;
+  margin-left: -50px;
+  padding: 24px;
+  border-radius: 3px;
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+}
+
+.ignoreLink {
+  padding: 0px;
+}
+
+.divider{
+    width:5px;
+    height:auto;
+    display:inline-block;
+}
+
+/* Style Guide semantic CSS */
+
+.summary {
+  margin-top: 1em;
+  margin-bottom: 1em;
+}
+
+.stylebody {
+  margin-top: 1em;
+  margin-bottom: 1em;
+}
+
+.stylepoint_section {
+  display: block;
+  margin-bottom: 1em;
+  font-family: sans-serif;
+  font-weight: bold;
+}
+
+.stylepoint_subsection {
+  display: block;
+  margin-bottom: 1em;
+}
+
+.stylepoint_subsubsection {
+  display: block;
+  margin-bottom: 1em;
+}
+
+.definition:before {
+  content: "Definition: ";
+  font-weight: bold;
+  display: block;
+  margin-bottom: 1em;
+}
+
+.pros:before {
+  content: "Pros: ";
+  font-weight: bold;
+  display: block;
+  margin-bottom: 1em;
+}
+
+.cons:before {
+  content: "Cons: ";
+  font-weight: bold;
+  display: block;
+  margin-bottom: 1em;
+}
+
+.decision:before {
+  content: "Decision: ";
+  font-weight: bold;
+  display: block;
+  margin-bottom: 1em;
+}
+
+.exception:before {
+  content: "Exception: ";
+  font-weight: bold;
+  display: block;
+  margin-bottom: 1em;
+}
+
+.note:before {
+  content: "Note: ";
+  font-weight: bold;
+  display: block;
+  margin-bottom: 1em;
+}

styleguide/include/styleguide.js

@@ -0,0 +1,289 @@
+TocTypeEnum = {
+  VERTICAL: 1,
+  HORIZONTAL: 2
+};
+
+function CreateTOC(tocElement) {
+
+  // Find the toc element DIV. We'll place our TOC there.
+  var toc = document.getElementById(tocElement);
+
+  var tocTypeClass = toc.className;
+  var tocType;
+
+  switch (tocTypeClass) {
+      case 'horizontal_toc':
+        tocType = TocTypeEnum.HORIZONTAL;
+        break;
+      case 'vertical_toc':
+        tocType = TocTypeEnum.VERTICAL;
+        break;
+      default:
+        tocType = TocTypeEnum.VERTICAL;
+        break;
+  }
+
+  // If toc_levels is defined, set headingLevels to it.
+  // Otherwise, use default value of "h2,h3"
+  var headingLevels;
+  if (typeof toc_levels === 'undefined') {
+    headingLevels = 'h2,h3';
+  } else {
+
+  }
+
+  // Collect all section heading elements in an array
+  var headings = document.querySelectorAll(headingLevels);
+
+  // Add TOC title elements
+  var tocHeadingDiv = document.createElement('div');
+  toc.appendChild(tocHeadingDiv);
+  tocHeadingDiv.className = 'toc_title';
+  var tocHeading = document.createElement('h3');
+  toc.appendChild(tocHeading);
+  tocHeading.className = 'ignoreLink';
+  tocHeading.id = 'toc';
+  var tocText = document.createTextNode('Table of Contents');
+  tocHeading.appendChild(tocText);
+
+  // Add table and tbody
+  var tocTable = document.createElement('table');
+  if (tocType == TocTypeEnum.VERTICAL) {
+    tocTable.className = 'columns';
+  }
+  toc.appendChild(tocTable);
+
+  var tbody_element = document.createElement('tbody');
+  tbody_element.setAttribute('valign', 'top');
+  tbody_element.className = 'toc';
+  tocTable.appendChild(tbody_element);
+
+  // Get the highest level heading
+  var firstHeading = headings[0];
+  var masterLevel = parseInt(headingLevels.charAt(1));
+
+  // Get the lowest heading level
+  var lowestLevel = parseInt(headingLevels.charAt(headingLevels - 1));
+
+  switch (tocType) {
+    case TocTypeEnum.HORIZONTAL:
+        CreateHorizontalTOC(headings, masterLevel, lowestLevel, tbody_element);
+        break;
+    case TocTypeEnum.VERTICAL:
+        CreateVerticalTOC(headings, masterLevel, lowestLevel, tbody_element);
+        break;
+    default:
+   }
+}
+
+function CreateHorizontalTOC(
+             headings, masterLevel, lowestLevel, tbody_element) {
+
+  // Initialize the header counter
+  var h = 0;
+  var ignoreChildren = false;
+
+  while (h < headings.length) {
+    // Get current heading
+    var heading = headings[h];
+
+    // Get the current heading level
+    var level = parseInt(heading.tagName.charAt(1));
+
+    if (isNaN(level) || level < 1 || level > lowestLevel) continue;
+
+    // If level is a masterLevel, make it a TOC parent category
+    if ((level == masterLevel) && (!hasClass(heading, 'ignoreLink'))) {
+      toc_current_row = AddTOCMaster(tbody_element, heading);
+      ignoreChildren = false;
+    }
+
+    if ((level == masterLevel) && (hasClass(heading, 'ignoreLink'))) {
+      ignoreChildren = true;
+    }
+
+    if ((level != masterLevel) && (!ignoreChildren)) {
+      AddTOCElements(toc_current_row, heading);
+    }
+
+    // Advance the header counter
+    h++;
+  }
+}
+
+// Adds a master Table of Content heading
+function AddTOCMaster(tocTable, heading) {
+
+  // Add the table row scaffolding
+  var toc_tr = document.createElement('tr');
+  tocTable.appendChild(toc_tr);
+  toc_tr.setAttribute('valign', 'top');
+  var toc_tr_td = document.createElement('td');
+  toc_tr.appendChild(toc_tr_td);
+  var toc_category = document.createElement('div');
+  toc_tr_td.appendChild(toc_category);
+  toc_category.className = 'toc_category';
+
+  // Create the link to this header
+  var link = document.createElement('a');
+  link.href = '#' + heading.id;       // Create the anchor link
+  link.textContent = heading.textContent; // Link text is same as heading
+  toc_category.appendChild(link);
+
+  // Add the container table cell for its children
+  var toc_td = document.createElement('td');
+  toc_tr.appendChild(toc_td);
+  var toc_td_div = document.createElement('div');
+  toc_td_div.className = 'toc_stylepoint';
+  toc_td.appendChild(toc_td_div);
+
+  return (toc_td_div);
+}
+
+// Adds Table of Contents element to a master heading as children
+function AddTOCElements(toc_div, heading) {
+
+  if (heading.offsetParent === null) {
+    // The element is currently hidden, so don't create a TOC entry
+  } else {
+    // Create the list item element
+    var toc_list_element = document.createElement('li');
+    toc_list_element.className = 'toc_entry';
+    toc_div.appendChild(toc_list_element);
+
+    // Create the link to this header
+    var link = document.createElement('a');
+    link.href = '#' + heading.id;       // Create the anchor link
+    link.textContent = heading.textContent; // Link text is same as heading
+    toc_list_element.appendChild(link);
+  }
+}
+
+function CreateVerticalTOC(headings, masterLevel, lowestLevel, tbody_element) {
+
+  // Create the Column scaffolding
+  var toc_tr = document.createElement('tr');
+  tbody_element.appendChild(toc_tr);
+  var toc_tr_td = document.createElement('td');
+  toc_tr_td.className = 'two_columns';
+  toc_tr.appendChild(toc_tr_td);
+
+
+  // Initialize the header counter and the current row
+  var h = 0;
+  var toc_current_col = null;
+  var ignoreChildren = false;
+
+  while (h < headings.length) {
+    // Get current heading
+    var heading = headings[h];
+
+    // Get the current heading level
+    var level = parseInt(heading.tagName.charAt(1));
+
+    if (isNaN(level) || level < 1 || level > lowestLevel) continue;
+
+    // If level is a masterLevel, make it a TOC parent category
+    if ((level == masterLevel) && (!hasClass(heading, 'ignoreLink'))) {
+      if (heading.offsetParent === null) {
+        // The element is currently hidden, so don't create a TOC entry
+      } else {
+        var td_dl = document.createElement('dl');
+        toc_tr_td.appendChild(td_dl);
+        var td_dt = document.createElement('dt');
+        td_dl.appendChild(td_dt);
+        toc_current_col = td_dl;
+
+        // Create the link to this header
+        var link = document.createElement('a');
+        link.href = '#' + heading.id;       // Create the anchor link
+        link.textContent = heading.textContent; // Link text is same as heading
+        td_dt.appendChild(link);
+        ignoreChildren = false;
+      }
+    }
+
+    // If level is a masterLevel but it's specified to ignore links, skip it
+    // and its children.
+    if ((level == masterLevel) && (hasClass(heading, 'ignoreLink'))) {
+      ignoreChildren = true;
+    }
+
+    if ((level != masterLevel) && (!ignoreChildren)) {
+      if (heading.offsetParent === null) {
+        // The element is currently hidden, so don't create a TOC entry
+      } else {
+        var td_dd = document.createElement('dd');
+        toc_current_col.appendChild(td_dd);
+        // Create the link to this header
+        var link = document.createElement('a');
+        link.href = '#' + heading.id;       // Create the anchor link
+        link.textContent = heading.textContent; // Link text is same as heading
+        td_dd.appendChild(link);
+      }
+    }
+
+    // Advance the header counter
+    h++;
+  }
+}
+
+/*
+ * Utility function for finding elements with a given
+ * class.
+ */
+function hasClass(element, cls) {
+    return (' ' + element.className + ' ').indexOf(' ' + cls + ' ') > -1;
+}
+
+/*
+ * Linkify all h2 through h4 headers, except for those marked
+ * "ignoreLink"
+ */
+
+// Add the link image to the element.
+function LinkifyHeader(header, fileName, sizePixels) {
+  var link = document.createElement('a');
+  link.href = '#' + header.id;
+  link.alt = 'link to ' + header.id;
+  link.innerHTML =
+      '<img src="include/' + fileName + '"' +
+      ' width=' + sizePixels +
+      ' height=' + sizePixels +
+      ' style="float:left;position:relative;bottom:5px;">';
+  header.appendChild(link);
+}
+
+// Find all elements of the given tag and linkify if
+// they don't have 'ignoreLink' in their class.
+function LinkifyHeadersForTag(tagName) {
+  var headers = document.getElementsByTagName(tagName);
+  var header;
+  for (var j = 0; j != headers.length; j++) {
+    header = headers[j];
+    if (!hasClass(header, 'ignoreLink') && ('id' in header)) {
+      if (header.id != '') {
+        LinkifyHeader(header, 'link.png', 21);
+        header.style.left = '-46px';
+        header.style.position = 'relative';
+      }
+    }
+  }
+}
+
+// Linkify all h2, h3, and h4s. h1s are titles.
+function LinkifyHeaders() {
+  LinkifyHeadersForTag('h2');
+  LinkifyHeadersForTag('h3');
+  LinkifyHeadersForTag('h4');
+}
+
+/*
+ * Initialize the style guide by showing all internal
+ * elements and then linkifying the headers.
+ */
+
+function initStyleGuide() {
+  LinkifyHeaders();
+  CreateTOC('tocDiv');
+}

styleguide/javaguide.css

@@ -0,0 +1,515 @@
+table {
+  border-collapse: collapse;
+}
+
+td, th {
+  border: 1px solid #ccc;
+  padding: 2px 12px;
+  font-size: 10pt;
+}
+
+code, samp, var {
+  color: #060;
+}
+
+pre {
+  font-size: 10pt;
+  display: block;
+  color: #060;
+  background-color: #e8fff6;
+  border-color: #f0fff0;
+  border-style: solid;
+  border-top-width: 1px;
+  border-bottom-width: 1px;
+  border-right-width: 1px;
+  border-left-width: 5px;
+  padding-left: 12px;
+  padding-right: 12px;
+  padding-top: 4px;
+  padding-bottom: 4px;
+}
+
+pre.badcode {
+  color: #c00;
+  background-color: #ffe6d8;
+  border-color: #fff0f0;
+}
+
+hr {
+  margin-top: 3.5em;
+  border-width: 1px;
+  color: #fff;
+}
+
+html {
+  margin-top:2em;
+  margin-left:10%;
+  margin-right:10%;
+  padding:0;
+}
+
+.bp-reset-element,
+body,
+h1,
+h2,
+h3,
+h4,
+h5,
+h6,
+article,
+aside,
+details,
+figcaption,
+figure,
+footer,
+header,
+hgroup,
+menu,
+nav,
+section,
+summary,
+blockquote,
+q,
+th,
+td,
+caption,
+table,
+div,
+span,
+object,
+iframe,
+p,
+pre,
+a,
+abbr,
+acronym,
+address,
+code,
+del,
+dfn,
+em,
+img,
+dl,
+dt,
+dd,
+ol,
+ul,
+li,
+fieldset,
+form,
+label,
+legend,
+caption,
+tbody,
+tfoot,
+thead,
+tr {
+  margin:0;
+  padding:0;
+  border:0;
+  font-weight:inherit;
+  font-style:inherit;
+  font-size:100%;
+  font-family:inherit;
+  vertical-align:baseline;
+}
+
+body {
+  font-family:'Arial', sans-serif;
+  font-size:81.25%;
+  color:#222;
+  background-color:#fff;
+  line-height:1.67;
+  overflow: auto;
+}
+
+.change {
+  text-align: right;
+  margin-bottom:1em;
+}
+
+em {
+  font-style: italic
+}
+
+h1,
+h2,
+h3,
+h4,
+h5,
+h6 {
+  font-weight:bold;
+}
+
+h1 {
+  margin-bottom:.50em;
+  text-align: center
+}
+
+h2,
+h3,
+h4,
+h5,
+h6 {
+  margin-top:1.5em;
+  margin-bottom:.75em;
+}
+
+h1 {font-size:200%;}
+h2 {font-size:167%;}
+h3 {font-size:133%;}
+h4 {font-size:120%;}
+h5 {font-size:110%;}
+
+p {
+  margin:0 0 1.5em;
+}
+
+a[href=''] {
+  cursor:default;
+}
+
+h1 img,
+h2 img,
+h3 img,
+h4 img,
+h5 img,
+h6 img {
+  margin:0;
+}
+
+a img {
+  border:none;
+}
+
+pre {
+  margin:1.5em 0;
+  white-space:pre;
+}
+
+pre,
+code,
+kbd,
+tt {
+  font:1em 'Droid Sans Mono', monospace;
+  line-height:1.5;
+}
+
+dl {
+  margin:0 0 1.5em 0;
+}
+
+dl dt {
+  font-weight:bold;
+}
+
+dd {
+  margin-left:1.5em;
+}
+
+dd.toc3 {
+  margin-left:3em;
+}
+
+hr {
+  height:0;
+  border:0;
+  border-top:1px solid #ccc;
+  background-color:#ccc;
+}
+
+table {
+  border:1px solid #bbb;
+  border-spacing:0;
+  border-collapse:collapse;
+  margin:0 0 1.5em;
+  vertical-align:middle;
+  width:100%;
+}
+
+table.unlined,
+table.unlined th,
+table.unlined tr,
+table.unlined td {
+  border:0;
+}
+
+th,
+td,
+caption {
+  float:none !important;
+  text-align:left;
+  font-weight:normal;
+  vertical-align:middle;
+  padding:4px;
+}
+
+caption {
+  padding:0;
+}
+
+td {
+  border:1px solid #bbb;
+  vertical-align:top;
+}
+
+th {
+  border:0;
+  border-bottom:1px solid black;
+  font-weight:bold;
+  background:rgb(229, 236, 249);
+}
+
+table th code {
+  background-color:inherit;
+  color:inherit;
+}
+
+table tfoot th {
+  border:1px solid #bbb;
+}
+
+tfoot {
+  font-style:italic;
+}
+
+caption {
+  background:#eee;
+}
+
+table[border='0'] {
+  border:none;
+}
+
+table[border='0']>tbody>tr>td,
+table[border='0']>tr>td {
+  border:none;
+}
+
+tr.alt td,
+td.alt {
+  background-color:#efefef;
+}
+
+table.striped tr:nth-child(even) td,
+table tr.even td {
+  background:#efefef;
+}
+
+table.columns {
+  border:none;
+}
+
+table.columns>tbody>tr>td,
+table.columns>tr>td {
+  border:none;
+  padding:0 3em 0 0;
+}
+
+table.columns>tbody>tr>td:last-child,
+table.columns>tr>td:last-child {
+  border:none;
+  padding:0;
+}
+
+ul,
+ol {
+  margin:0 1.5em 1.5em 0;
+  padding-left:2em;
+}
+
+li ul,
+li ol {
+  margin:0;
+}
+
+ul {
+  list-style-type:disc;
+}
+
+ol {
+  list-style-type:decimal;
+}
+
+ul {
+  list-style-type:disc;
+}
+
+ul ul {
+  list-style-type:circle;
+}
+
+ul ul ul {
+  list-style-type:square;
+}
+
+ul.disc {
+  list-style-type:disc;
+}
+
+ul.circle {
+  list-style-type:circle;
+}
+
+ul.square {
+  list-style-type:square;
+}
+
+ol {
+  list-style-type:decimal;
+}
+
+ol ol {
+  list-style-type:lower-alpha;
+}
+
+ol ol ol {
+  list-style-type:lower-roman;
+}
+
+ol ul {
+  list-style-type:circle;
+}
+
+ol.decimal {
+  list-style-type:decimal;
+}
+
+ol.upper-alpha {
+  list-style-type:upper-alpha;
+}
+
+ol.lower-alpha {
+  list-style-type:lower-alpha;
+}
+
+ol.upper-roman {
+  list-style-type:upper-roman;
+}
+
+ol.lower-roman {
+  list-style-type:lower-roman;
+}
+
+ol.nolist,
+ul.nolist {
+  padding-left:0;
+  list-style-image:none;
+  list-style-type:none;
+  margin-left:0;
+}
+
+.center {
+  text-align:center;
+}
+
+code,
+kbd,
+pre {
+  color:#009900;
+}
+
+kbd {
+  font-weight: bold;
+}
+
+table.striped code {
+  background-color:inherit;
+}
+
+pre {
+  padding:6px 10px;
+  background-color:#FAFAFA;
+  border:1px solid #bbb;
+  overflow:auto;
+}
+
+pre.prettyprint {
+  padding:6px 10px !important;
+  border:1px solid #bbb !important;
+}
+
+code.bad, code.badcode {
+  color: magenta;
+}
+pre.bad, pre.badcode {
+  background-color:#ffe6d8;
+  border-top:1px inset #a03;
+  border-left:1px inset #a03;
+}
+
+.tip {
+  background-color:#fffbd9;
+  padding:6px 8px 6px 10px;
+  border-left:6px solid #ffef70;
+}
+
+.note {
+  background-color:#e5ecf9;
+  padding:6px 8px 6px 10px;
+  border-left:6px solid #36c;
+}
+
+@media print {
+
+  .str {
+    color:#060;
+  }
+
+  .kwd {
+    color:#006;
+    font-weight:bold;
+  }
+
+  .com {
+    color:#600;
+    font-style:italic;
+  }
+
+  .typ {
+    color:#404;
+    font-weight:bold;
+  }
+
+  .lit {
+    color:#044;
+  }
+
+  .pun,
+  .opn,
+  .clo {
+    color:#440;
+  }
+
+  .pln {
+    color:#000;
+  }
+
+  .tag {
+    color:#006;
+    font-weight:bold;
+  }
+
+  .atn {
+    color:#404;
+  }
+
+  .atv {
+    color:#060;
+  }
+
+  h1 {
+    font-style:italic;
+  }
+}
+
+ol.linenums {
+  margin-top:0;
+  margin-bottom:0;
+}
+
+code {
+  background-color:#FAFAFA;
+  padding: 0.25em 0.5em;
+  white-space: nowrap
+}