Merge "Added C++ versions of the joystick query functions"

Change-Id: I4acdb0a54493e633b2a7a9b265c3958a9ba163d1

.gitignore

@@ -17,8 +17,9 @@ test-reports
 # Added by the users of vagrant
 jdk-7u45-linux-arm-vfp-sflt.gz
 
-
-
+# IntelliJ
+*.iml
+.idea/
 
 # Created by http://www.gitignore.io
 

CMakeLists.txt

@@ -2,7 +2,6 @@ cmake_minimum_required(VERSION 2.8)
 project(All-WPILib)
 set(CMAKE_BUILD_TYPE Debug)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-unused-parameter -fPIC")
-SET(CMAKE_SKIP_BUILD_RPATH TRUE)
 
 file(GLOB_RECURSE NI_LIBS ni-libraries/*.so*)
 list(REMOVE_ITEM NI_LIBS ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi.so ${CMAKE_CURRENT_SOURCE_DIR}/ni-libraries/libwpi_2015.so)

eclipse-plugins/edu.wpi.first.wpilib.plugins.core.feature/feature.xml

@@ -52,4 +52,11 @@
          version="0.0.0"
          unpack="false"/>
 
+   <plugin
+         id="edu.wpi.first.wpilib.plugins.riolog"
+         download-size="0"
+         install-size="0"
+         version="0.0.0"
+         unpack="false"/>
+
 </feature>

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

@@ -33,6 +33,14 @@
                toolbarPath="WPILib"
                tooltip="Launch the SmartDashboard to get feedback from the robot.">
          </action>
+         <action
+               class="edu.wpi.first.wpilib.plugins.core.actions.RunSimulationSmartDashboardAction"
+               icon="icons/smartdashboard16x16.png"
+               id="edu.wpi.first.wpilib.plugins.core.actions.RunSimulationSmartDashboardAction"
+               label="Run S&amp;imulation SmartDashboard"
+               menubarPath="edu.wpi.first.wpilib.plugins.core.menu/edu.wpi.first.wpilib.plugins.core.actions"
+               tooltip="Launch the SmartDashboard to get feedback from a simulated robot.">
+         </action>
          <action
                class="edu.wpi.first.wpilib.plugins.core.actions.RunRobotBuilderAction"
                icon="icons/robotbuilder16x16.png"

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

@@ -85,6 +85,20 @@
 				  <outputDirectory>${tools-zip}</outputDirectory>
 				  <destFileName>SmartDashboard.jar</destFileName>
 	            </artifactItem>
+	            <artifactItem>
+	              <groupId>edu.wpi.first.wpilib.networktables</groupId>
+	              <artifactId>OutlineViewer</artifactId>
+	              <version>1.0.0-SNAPSHOT</version>
+				  <outputDirectory>${tools-zip}</outputDirectory>
+				  <destFileName>OutlineViewer.jar</destFileName>
+	            </artifactItem>
+		    <artifactItem>
+		      <groupId>edu.wpi.first.wpilib</groupId>
+		      <artifactId>java-installer</artifactId>
+		      <version>1.0-SNAPSHOT</version>
+		      <outputDirectory>${tools-zip}</outputDirectory>
+		      <destFileName>java-installer.jar</destFileName>
+		    </artifactItem>
               </artifactItems>
                 
               <overWriteReleases>false</overWriteReleases>
@@ -194,5 +208,10 @@
 	  <artifactId>SmartDashboard</artifactId>
 	  <version>1.0.0-SNAPSHOT</version>
     </dependency>
+    <dependency>
+	  <groupId>edu.wpi.first.wpilib.networktables</groupId>
+	  <artifactId>OutlineViewer</artifactId>
+	  <version>1.0.0-SNAPSHOT</version>
+    </dependency>
   </dependencies>
 </project>

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

@@ -0,0 +1,77 @@
+package edu.wpi.first.wpilib.plugins.core.actions;
+
+import java.io.File;
+import java.io.FilenameFilter;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.action.IAction;
+import org.eclipse.jface.viewers.ISelection;
+import org.eclipse.ui.IWorkbenchWindow;
+import org.eclipse.ui.IWorkbenchWindowActionDelegate;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+/**
+ * Our sample action implements workbench action delegate.
+ * The action proxy will be created by the workbench and
+ * shown in the UI. When the user tries to use the action,
+ * this delegate will be created and execution will be 
+ * delegated to it.
+ * @see IWorkbenchWindowActionDelegate
+ */
+public class RunSimulationSmartDashboardAction implements IWorkbenchWindowActionDelegate {
+	/**
+	 * The constructor.
+	 */
+	public RunSimulationSmartDashboardAction() {
+	}
+
+	/**
+	 * The action has been activated. The argument of the
+	 * method represents the 'real' action sitting
+	 * in the workbench UI.
+	 * @see IWorkbenchWindowActionDelegate#run
+	 */
+	public void run(IAction action) {
+		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools");
+		File[] files = dir.listFiles(new FilenameFilter() {
+			@Override public boolean accept(File dir, String name) {
+				return name.startsWith("SmartDashboard") && name.endsWith(".jar");
+			}
+		});
+		if (files == null || files.length < 1) return;
+		String[] cmd = {"java", "-jar", files[0].getAbsolutePath(), "-ip", "localhost"};
+		try {
+			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
+		} catch (CoreException e) {
+            WPILibCore.logError("Error running SmartDashboard.", e);
+		}
+	}
+
+	/**
+	 * Selection in the workbench has been changed. We 
+	 * can change the state of the 'real' action here
+	 * if we want, but this can only happen after 
+	 * the delegate has been created.
+	 * @see IWorkbenchWindowActionDelegate#selectionChanged
+	 */
+	public void selectionChanged(IAction action, ISelection selection) {
+	}
+
+	/**
+	 * We can use this method to dispose of any system
+	 * resources we previously allocated.
+	 * @see IWorkbenchWindowActionDelegate#dispose
+	 */
+	public void dispose() {
+	}
+
+	/**
+	 * We will cache window object in order to
+	 * be able to provide parent shell for the message dialog.
+	 * @see IWorkbenchWindowActionDelegate#init
+	 */
+	public void init(IWorkbenchWindow window) {
+	}
+}

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

@@ -8,8 +8,6 @@ import java.io.OutputStream;
 import java.util.zip.ZipEntry;
 import java.util.zip.ZipInputStream;
 
-import javax.swing.JOptionPane;
-
 import org.eclipse.core.resources.ResourcesPlugin;
 import org.eclipse.core.runtime.CoreException;
 import org.eclipse.core.runtime.IProgressMonitor;
@@ -17,6 +15,7 @@ import org.eclipse.core.runtime.IStatus;
 import org.eclipse.core.runtime.Status;
 import org.eclipse.core.runtime.jobs.Job;
 import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.dialogs.MessageDialog;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 
@@ -117,7 +116,7 @@ public abstract class AbstractInstaller {
 	protected void install() throws InstallException {
 		if(installLocation.exists()) {
 			if(!removeFileHandler(installLocation, true)) {
-				JOptionPane.showMessageDialog(null,
+				MessageDialog.openError(null, "Error",
 					String.format("Could not update the old wpilib folder.%n"
 							+ "Please close any WPILib tools and restart Eclipse."));
 			}

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

@@ -0,0 +1,43 @@
+package edu.wpi.first.wpilib.plugins.core.launching;
+
+import java.awt.Desktop;
+import java.io.File;
+import java.io.IOException;
+import java.net.URI;
+import java.net.URISyntaxException;
+
+import org.eclipse.core.runtime.CoreException;
+import org.eclipse.debug.core.DebugPlugin;
+import org.eclipse.jface.dialogs.MessageDialog;
+
+import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+
+public class SimulationNotification {
+	private static final String URL = "https://wpilib.screenstepslive.com/s/4485/m/23353";
+	private static final String SIMULATION_UNSUPPORTED_MSG =
+			"Simulation is unsupported on your current setup.\n" +
+			"For more information see: " + URL;
+	
+	public static void showUnsupported() {
+		String title = "Simulation Unsupported";
+		String message = SIMULATION_UNSUPPORTED_MSG;
+		MessageDialog.openError(null, title, message);
+		try {
+			Desktop.getDesktop().browse(new URI(URL));
+		} catch (IOException e) {
+			WPILibCore.logError("Can't open "+URL, e);
+		} catch (URISyntaxException e) {
+			WPILibCore.logError("Can't open "+URL, e);
+		}
+	}
+	
+	public static boolean supportsSimulation() {
+		String[] cmd = {"frcsim", "--version"};
+		try {
+			DebugPlugin.exec(cmd, new File(System.getProperty("user.home")));
+			return true;
+		} catch (CoreException e) {
+			return false;
+		}
+	}
+}

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

@@ -36,10 +36,10 @@ public abstract class ExampleWizard extends Wizard implements INewWizard {
 	 */
 	protected abstract void doFinish(IExampleProject ex, String teamNumber) throws CoreException;
 
-	protected abstract IWizardPage getDetailsPage();
+	protected abstract IWizardPage getDetailsPage(INewProjectInfo info);
 	
 	public abstract IExampleProject makeExampleProject(String name, String description,
-			List<String> tags, List<String> folders, List<IExampleProject.ExportFile> files);
+			List<String> tags, String world, List<String> folders, List<IExampleProject.ExportFile> files);
 	
 	public abstract URL getResourceURL();
 	
@@ -60,7 +60,7 @@ public abstract class ExampleWizard extends Wizard implements INewWizard {
 		}
 		page1 = new ExampleWizardChoicePage(this, selection);
 		addPage(page1);
-		page2 = getDetailsPage();
+		page2 = getDetailsPage(page1);
 		addPage(page2);
 	}
 

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

@@ -6,6 +6,7 @@ import java.net.URL;
 import java.util.ArrayList;
 import java.util.List;
 
+import javax.swing.event.ChangeListener;
 import javax.xml.parsers.DocumentBuilder;
 import javax.xml.parsers.DocumentBuilderFactory;
 import javax.xml.parsers.ParserConfigurationException;
@@ -36,11 +37,12 @@ import edu.wpi.first.wpilib.plugins.core.WPILibCore;
  * OR with the extension that matches the expected one (mpe).
  */
 
-public class ExampleWizardChoicePage extends WizardPage {
+public class ExampleWizardChoicePage extends WizardPage implements INewProjectInfo {
 	private Tree exampleTree;
 	private Browser descriptionText;
 	private IExampleProject selectedExample;
 	private ExampleWizard parent;
+	private ChangeListener listener;
 
 	/**
 	 * Constructor for SampleNewWizardPage.
@@ -89,6 +91,20 @@ public class ExampleWizardChoicePage extends WizardPage {
 		dialogChanged();
 		setControl(container);
 	}
+	
+	public String getName() {
+		if (selectedExample != null) {
+			return selectedExample.getName();
+		}
+		return "";
+	}
+	
+	public String getWorld() {
+		if (selectedExample != null) {
+			return selectedExample.getWorld();
+		}
+		return "";
+	}
 
 	/**
 	 * Tests if the current workbench selection is a suitable container to use.
@@ -137,7 +153,6 @@ public class ExampleWizardChoicePage extends WizardPage {
 	/**
 	 * Ensures that both text fields are set.
 	 */
-
 	private void dialogChanged() {
 		if (exampleTree.getSelection().length > 0) {
 			Object selectedData = exampleTree.getSelection()[0].getData();
@@ -157,6 +172,7 @@ public class ExampleWizardChoicePage extends WizardPage {
 			return;
 		}
 		
+		listener.stateChanged(null);
 		updateStatus(null);
 	}
 
@@ -211,6 +227,11 @@ public class ExampleWizardChoicePage extends WizardPage {
 				tags.add(tagElementList.item(i).getTextContent());
 			}
 		}
+		String world = "";
+		if (element.getElementsByTagName("world") != null &&
+			element.getElementsByTagName("world").item(0) != null) {
+			world = element.getElementsByTagName("world").item(0).getTextContent();
+		}
 		List<String> packages = new ArrayList<String>();
 		tagsElement = element.getElementsByTagName("packages").item(0);
 		if (tagsElement.getNodeType() == Node.ELEMENT_NODE) {
@@ -231,10 +252,15 @@ public class ExampleWizardChoicePage extends WizardPage {
 				}
 			}
 		}
-		return parent.makeExampleProject(name, description, tags, packages, files);
+		return parent.makeExampleProject(name, description, tags, world, packages, files);
 	}
 
 	public IExampleProject getExampleProject() {
 		return selectedExample;
 	}
+
+	@Override
+	public void registerChangeListener(ChangeListener listener) {
+		this.listener = listener;
+	}
 }

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

@@ -14,4 +14,10 @@ public interface IExampleProject extends ProjectType {
 			this.destination = destination;
 		}
 	}
+
+	/**
+	 * @return The world file to use for simulation, if empty
+	 *         the default is used.
+	 */
+	String getWorld();
 }

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

@@ -0,0 +1,24 @@
+package edu.wpi.first.wpilib.plugins.core.wizards;
+
+import javax.swing.event.ChangeListener;
+
+public interface INewProjectInfo {
+	String getName();
+	String getWorld();
+	void registerChangeListener(ChangeListener changeListener);
+	
+	public static INewProjectInfo Null = new INewProjectInfo() {
+		@Override
+		public String getWorld() {
+			return "";
+		}
+		
+		@Override
+		public String getName() {
+			return "";
+		}
+
+		@Override
+		public void registerChangeListener(ChangeListener changeListener) {}
+	};
+}

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

@@ -39,6 +39,7 @@ public class NewProjectMainPage extends WizardPage {
 	private boolean showPackage;
 	private boolean showProjectTypes;
 	private TeamNumberPage teamNumberPage;
+	private INewProjectInfo info;
 
 	/**
 	 * Constructor for SampleNewWizardPage.
@@ -46,17 +47,20 @@ public class NewProjectMainPage extends WizardPage {
 	 *
 	 * @param pageName
 	 */
-	public NewProjectMainPage(ISelection selection, TeamNumberPage teamNumberPage) {
+	public NewProjectMainPage(ISelection selection, TeamNumberPage teamNumberPage, INewProjectInfo info) {
 		super("wizardPage");
 		this.teamNumberPage = teamNumberPage;
 		showPackage = true;
 		showProjectTypes = false;
+		this.info = info;
 	}
 
 	/**
 	 * @see IDialogPage#createControl(Composite)
 	 */
 	public void createControl(Composite parent) {
+		System.out.println(info.getName() +" -- "+ info.getWorld());
+		
 		Composite container = new Composite(parent, SWT.NULL);
 		GridLayout layout = new GridLayout();
 		container.setLayout(layout);
@@ -130,7 +134,7 @@ public class NewProjectMainPage extends WizardPage {
 		comp.setLayout(groupLayout);
 		worldText = new Text(comp, SWT.BORDER | SWT.SINGLE);
 		worldText.setLayoutData(gd);
- 		worldText.setText("/usr/share/frcsim/worlds/GearsBotDemo.world");
+		worldText.setText("/usr/share/frcsim/worlds/GearsBotDemo.world");
 		worldText.addModifyListener(new ModifyListener() {
 			public void modifyText(ModifyEvent e) {
 				dialogChanged();
@@ -161,11 +165,18 @@ public class NewProjectMainPage extends WizardPage {
 					@Override public void stateChanged(ChangeEvent e) {
 						String teamNumber = TeamNumberPage.getTeamNumberFromPage(teamNumberPage);
 						packageText.setText("org.usfirst.frc.team"+teamNumber+".robot");
-
 					}
 				});
 			}
 		}
+		info.registerChangeListener(new ChangeListener() {
+			@Override public void stateChanged(ChangeEvent e) {
+				projectNameText.setText(info.getName());
+				if (!"".equals(info.getWorld())) {
+					worldText.setText(info.getWorld());
+				}
+			}
+		});
 	}
 
 	/**

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

@@ -5,6 +5,7 @@ import java.util.Arrays;
 import org.eclipse.core.resources.IProject;
 import org.eclipse.core.resources.ResourcesPlugin;
 import org.eclipse.swt.events.ModifyListener;
+import org.eclipse.swt.events.SelectionListener;
 import org.eclipse.swt.layout.GridData;
 import org.eclipse.swt.widgets.Combo;
 import org.eclipse.swt.widgets.Composite;
@@ -48,4 +49,8 @@ public class ProjectComboField {
 		combo.addModifyListener(modifyListener);
 	}
 	
+	public void addSelectionListener(SelectionListener selectionListener) {
+		combo.addSelectionListener(selectionListener);
+	}
+
 }

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

@@ -80,6 +80,12 @@ public class ProjectCreationUtils {
 				}
 			} catch (CoreException e) {
                 WPILibCore.logError("Can't create new project.", e);
+				Display.getDefault().syncExec(new Runnable() {
+				@Override
+				public void run() {
+					MessageDialog.openError(Display.getDefault().getActiveShell(), "Error", "Error creating project! This may occur if a project of the same name with different case exists in the Workspace");
+				}
+			});
 			}
 		}else {
 			Display.getDefault().syncExec(new Runnable() {

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

@@ -28,6 +28,7 @@
 								<option id="gnu.cpp.compiler.option.debugging.level.969129918" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.include.paths.394786621" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/include&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.dialect.std.1060340803" name="Language standard" superClass="gnu.cpp.compiler.option.dialect.std" useByScannerDiscovery="true" value="gnu.cpp.compiler.dialect.c++1y" valueType="enumerated"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
@@ -40,6 +41,7 @@
 								<option id="gnu.cpp.link.option.paths.1566479969" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
 									<listOptionValue builtIn="false" value="&quot;${WPILIB}/cpp/current/lib&quot;"/>
 								</option>
+								<option id="gnu.cpp.link.option.flags.675338432" name="Linker flags" superClass="gnu.cpp.link.option.flags" value="-Wl,-rpath,/opt/GenICam_v2_3/bin/Linux_armv7-a" valueType="string"/>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.132949138" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
 									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
 									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
@@ -55,55 +57,6 @@
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
-		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.300115601">
-			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.300115601" moduleId="org.eclipse.cdt.core.settings" name="Release">
-				<externalSettings/>
-				<extensions>
-					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
-					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
-					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
-				</extensions>
-			</storageModule>
-			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactName="FRCUserProgram" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.300115601" name="Release" parent="cdt.managedbuild.config.gnu.cross.exe.release">
-					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.300115601." name="/" resourcePath="">
-						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.2008160346" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
-							<option id="cdt.managedbuild.option.gnu.cross.prefix.511797597" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" value="arm-frc-linux-gnueabi-" valueType="string"/>
-<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.2130959809" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
-							<builder buildPath="${workspace_loc:/$project}/Release" id="cdt.managedbuild.builder.gnu.cross.1554116591" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" superClass="cdt.managedbuild.builder.gnu.cross"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.c.compiler.985086840" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
-								<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.option.optimization.level.2030238370" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
-								<option id="gnu.c.compiler.option.debugging.level.188807954" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.c.debugging.level.none" valueType="enumerated"/>
-								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.884664323" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.1342658383" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
-								<option id="gnu.cpp.compiler.option.optimization.level.1371546365" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.most" valueType="enumerated"/>
-								<option id="gnu.cpp.compiler.option.debugging.level.1242574722" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1782227077" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1397048702" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.cpp.linker.716979188" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
-								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.126686576" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
-									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
-									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
-								</inputType>
-							</tool>
-							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.886832650" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
-							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1915412749" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
-								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.671283127" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
-							</tool>
-						</toolChain>
-					</folderInfo>
-					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
-					</sourceEntries>
-				</configuration>
-			</storageModule>
-			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
-		</cconfiguration>
 		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325">
 			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.2017904325" moduleId="org.eclipse.cdt.core.settings" name="Simulate">
 				<externalSettings/>
@@ -129,7 +82,7 @@
 									<listOptionValue builtIn="false" value="${WPILIB}/cpp/current/sim/include"/>
 									<listOptionValue builtIn="false" value="/usr/include"/>
 									<listOptionValue builtIn="false" value="/usr/include/gazebo-3.1"/>
-									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.0"/>
+									<listOptionValue builtIn="false" value="/usr/include/sdformat-2.2"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.optimization.level.1648211502" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" value="gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
 								<option id="gnu.cpp.compiler.option.debugging.level.937474733" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
@@ -143,9 +96,7 @@
 							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.66697269" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.2094820582" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
 								<option id="gnu.cpp.link.option.libs.1563598353" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
-									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="WPILibSim"/>
-									<listOptionValue builtIn="false" value="WPILib"/>
 									<listOptionValue builtIn="false" value="gazebo"/>
 									<listOptionValue builtIn="false" value="gazebo_transport"/>
 									<listOptionValue builtIn="false" value="gazebo_msgs"/>
@@ -182,12 +133,6 @@
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.c.compiler.1261239456;cdt.managedbuild.tool.gnu.c.compiler.input.1793678673">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.300115601;cdt.managedbuild.config.gnu.cross.exe.release.300115601.;cdt.managedbuild.tool.gnu.cross.c.compiler.985086840;cdt.managedbuild.tool.gnu.c.compiler.input.884664323">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
-		<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.release.300115601;cdt.managedbuild.config.gnu.cross.exe.release.300115601.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1342658383;cdt.managedbuild.tool.gnu.cpp.compiler.input.1782227077">
-			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
-		</scannerConfigBuildInfo>
 		<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1505235107;cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		</scannerConfigBuildInfo>
@@ -197,9 +142,6 @@
 		<configuration configurationName="Debug">
 			<resource resourceType="PROJECT" workspacePath="/$project"/>
 		</configuration>
-		<configuration configurationName="Release">
-			<resource resourceType="PROJECT" workspacePath="/$project"/>
-		</configuration>
 		<configuration configurationName="Simulate">
 			<resource resourceType="PROJECT" workspacePath="/$project"/>
 		</configuration>

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

@@ -1,20 +1,3 @@
-# Deployment information
-username=admin
-password=
-deploy.dir=/home/admin
-deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
-deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
-command.dir=/home/lvuser/
-
-# Libraries to use
-wpilib=${user.home}/wpilib/cpp/${cpp-version}
-wpilib.lib=${wpilib}/lib
-
-# Ant support
-wpilib.ant.dir=${wpilib}/ant
-jsch.jar=${wpilib.ant.dir}/jsch-0.1.50.jar
-classloadertask.jar=${wpilib.ant.dir}/ant-classloadertask.jar
-
 # Build information
 out=FRCUserProgram
 src.dir=src

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

@@ -21,6 +21,7 @@
   
   <property file="${user.home}/wpilib/wpilib.properties"/>
   <property file="build.properties"/>
+  <property file="${user.home}/wpilib/cpp/${version}/ant/build.properties"/>
   
   <import file="${wpilib.ant.dir}/build.xml"/>
 

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

@@ -23,7 +23,8 @@ private:
 
 	void AutonomousInit()
 	{
-		autonomousCommand->Start();
+		if (autonomousCommand != NULL)
+			autonomousCommand->Start();
 	}
 
 	void AutonomousPeriodic()
@@ -37,7 +38,8 @@ private:
 		// teleop starts running. If you want the autonomous to 
 		// continue until interrupted by another command, remove
 		// this line or comment it out.
-		autonomousCommand->Cancel();
+		if (autonomousCommand != NULL)
+			autonomousCommand->Cancel();
 	}
 
 	void TeleopPeriodic()

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

@@ -28,7 +28,7 @@ public:
 	 */
 	void OperatorControl()
 	{
-		while (IsOperatorControl())
+		while (IsOperatorControl() && IsEnabled())
 		{
 			myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
 			Wait(0.005);				// wait for a motor update time

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

@@ -27,7 +27,7 @@ public:
 	 */
 	void OperatorControl()
 	{
-		while (IsOperatorControl())
+		while (IsOperatorControl() && IsEnabled())
 		{
 			// Get the current going through channel 7, in Amperes.
 			// The PDP returns the current in increments of 0.125A.

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

@@ -0,0 +1,38 @@
+#include "WPILib.h"
+
+/**
+ * This sample shows how to use the new CANTalon to just run a motor in a basic
+ *   throttle mode, in the same manner as you might control a traditional PWM
+ *   controlled motor.
+ *
+ */
+class Robot : public SampleRobot {
+	CANTalon m_motor;
+
+  Joystick m_stick;
+
+	// update every 0.01 seconds/10 milliseconds.
+  // The talon only receives control packets every 10ms.
+	double kUpdatePeriod = 0.010;
+
+public:
+ Robot()
+     : m_motor(1),   // Initialize the Talon as device 1. Use the roboRIO web
+                    // interface to change the device number on the talons.
+       m_stick(0)
+ {}
+
+	/**
+	 * Runs the motor from the output of a Joystick.
+	 */
+	void OperatorControl() {
+		while (IsOperatorControl() && IsEnabled()) {
+      // Takes a number from -1.0 (full reverse) to +1.0 (full forwards).
+			m_motor.Set(m_stick.GetY());
+
+			Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

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

@@ -0,0 +1,63 @@
+#include "WPILib.h"
+
+/**
+ * This is a quick sample program to show how to use the new Talon SRX over CAN.
+ * This particular sample demonstrates running a basic PID control loop with an
+ *   analog potentiometer.
+ *
+ */
+class Robot : public SampleRobot {
+	CANTalon m_motor;
+
+public:
+ Robot()
+     : m_motor(1)   // Initialize the Talon as device 1. Use the roboRIO web
+                    // interface to change the device number on the m_motors.
+ {
+   // This sets the mode of the m_motor. The options are:
+   // kPercentVbus: basic throttle; no closed-loop.
+   // kCurrent: Runs the motor with the specified current if possible.
+   // kSpeed: Runs a PID control loop to keep the motor going at a constant
+   //   speed using the specified sensor.
+   // kPosition: Runs a PID control loop to move the motor to a specified move
+   //   the motor to a specified sensor position.
+   // kVoltage: Runs the m_motor at a constant voltage, if possible.
+   // kFollower: The m_motor will run at the same throttle as the specified other talon.
+   m_motor.SetControlMode(CANSpeedController::kPosition);
+   // This command allows you to specify which feedback device to use when doing
+   // closed-loop control. The options are:
+   // AnalogPot: Basic analog potentiometer
+   // QuadEncoder: Quadrature Encoder
+   // AnalogEncoder: Analog Encoder
+   // EncRising: Counts the rising edges of the QuadA pin (allows use of a
+   //   non-quadrature encoder)
+   // EncFalling: Same as EncRising, but counts on falling edges.
+   m_motor.SetFeedbackDevice(CANTalon::AnalogPot);
+   // This sets the basic P, I , and D values (F, Izone, and rampRate can also
+   //   be set, but are ignored here).
+   // These must all be positive floating point numbers (SetSensorDirection will
+   //   multiply the sensor values by negative one in case your sensor is flipped
+   //   relative to your motor).
+   // These values are in units of throttle / sensor_units where throttle ranges
+   //   from -1023 to +1023 and sensor units are from 0 - 1023 for analog
+   //   potentiometers, encoder ticks for encoders, and position / 10ms for
+   //   speeds.
+   m_motor.SetPID(1.0, 0.0, 0.0);
+ }
+
+	/**
+	 * Runs the motor from the output of a Joystick.
+	 */
+	void OperatorControl() {
+		while (IsOperatorControl() && IsEnabled()) {
+      // In closed loop mode, this sets the goal in the units mentioned above.
+      // Since we are using an analog potentiometer, this will try to go to
+      //   the middle of the potentiometer range.
+			m_motor.Set(512);
+
+			Wait(5.0);
+		}
+	}
+};
+
+START_ROBOT_CLASS(Robot);

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

@@ -66,7 +66,7 @@ public:
 	 */
 	void OperatorControl()
 	{
-		while (IsOperatorControl())
+		while (IsOperatorControl() && IsEnabled())
 		{
 			// Retrieve the net displacement of the Encoder since the lsat Reset.
 			SmartDashboard::PutNumber("Encoder Distance", m_encoder.GetDistance());

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

@@ -13,7 +13,7 @@ private:
     SpeedController* motor;
     Potentiometer* pot;
 
-    static const double kP_real = 4, kI_real = 0.07,
+    static constexpr double kP_real = 4, kI_real = 0.07,
             			kP_simulation = 18, kI_simulation = 0.2;
 
 public:

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

@@ -13,7 +13,7 @@ private:
 	SpeedController* motor;
     Potentiometer* pot; // TODO: Make Potentiometer
 
-    static const double kP_real = 1, kP_simulation = 0.05;
+    static constexpr double kP_real = 1, kP_simulation = 0.05;
 
 public:
     Wrist();

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

@@ -0,0 +1,40 @@
+#include "WPILib.h"
+
+/**
+ * Uses IMAQdx to manually acquire a new image each frame, and annotate the image by drawing
+ * a circle on it, and show it on the FRC Dashboard.
+ */
+class IntermediateVisionRobot : public SampleRobot
+{
+	IMAQdxSession session;
+	Image *frame;
+
+public:
+	void RobotInit() override {
+	    // create an image
+		frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
+		// open the camera
+		IMAQdxOpenCamera("cam1", IMAQdxCameraControlModeController, &session);
+		IMAQdxConfigureGrab(session);
+	}
+
+	void OperatorControl() override {
+	    // acquire images
+		IMAQdxStartAcquisition(session);
+
+        // grab an image, draw the circle, and provide it for the camera server which will
+        // in turn send it to the dashboard.
+		while(IsOperatorControl() && IsEnabled()) {
+			IMAQdxGrab(session, frame, true, NULL);
+
+			imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
+
+			CameraServer::GetInstance()->SetImage(frame);
+		}
+        // stop image acquisition
+		IMAQdxStopAcquisition(session);
+	}
+};
+
+START_ROBOT_CLASS(IntermediateVisionRobot);
+

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

@@ -34,7 +34,7 @@ public:
 	void OperatorControl()
 	{
 		robotDrive.SetSafetyEnabled(false);
-		while (IsOperatorControl())
+		while (IsOperatorControl() && IsEnabled())
 		{
         	// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
         	// This sample does not use field-oriented drive, so the gyro input is set to zero.

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

@@ -31,7 +31,7 @@ public:
 	 * Runs the motor from the output of a Joystick.
 	 */
 	void OperatorControl() {
-		while (IsOperatorControl()) {
+		while (IsOperatorControl() && IsEnabled()) {
 			// Set the motor controller's output.
 			// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
 			m_motor.Set(m_stick.GetY());

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

@@ -39,7 +39,7 @@ public:
 	 * Simultaneously displays encoder values on the SmartDashboard.
 	 */
 	void OperatorControl() {
-		while (IsOperatorControl()) {
+		while (IsOperatorControl() && IsEnabled()) {
 			// Set the motor controller's output.
 			// This takes a number from -1 (100% speed in reverse) to +1 (100% speed forwards).
 			m_motor.Set(m_stick.GetY());

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

@@ -12,8 +12,8 @@ private:
 	double driveForwardSpeed;
 	double distance;
 	double error;
-	static const double TOLERANCE = .1;
-	static const double KP = -1.0 / 5.0;
+	static constexpr double TOLERANCE = .1;
+	static constexpr double KP = -1.0 / 5.0;
 	void init(double dist, double maxSpeed);
 public:
 	DriveForward();

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

@@ -13,9 +13,9 @@ class Collector: public Subsystem
 {
 public:
 	// Constants for some useful speeds
-	static const double FORWARD = 1;
-	static const double STOP = 0;
-	static const double REVERSE = -1;
+	static constexpr double FORWARD = 1;
+	static constexpr double STOP = 0;
+	static constexpr double REVERSE = -1;
 
 private:
 	// Subsystem devices

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

@@ -12,10 +12,10 @@ class Pivot: public PIDSubsystem
 {
 public:
 	// Constants for some useful angles
-	static const double COLLECT = 105;
-	static const double LOW_GOAL = 90;
-	static const double SHOOT = 45;
-	static const double SHOOT_NEAR = 30;
+	static constexpr double COLLECT = 105;
+	static constexpr double LOW_GOAL = 90;
+	static constexpr double SHOOT = 45;
+	static constexpr double SHOOT_NEAR = 30;
 
 private:
 	// Subsystem devices

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

@@ -17,7 +17,7 @@ private:
 		Compressor* compressor;
 	#endif
 
-	static const double MAX_PRESSURE = 2.55;
+	static constexpr double MAX_PRESSURE = 2.55;
 
 public:
 	Pneumatics();

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

@@ -0,0 +1,22 @@
+#include "WPILib.h"
+
+/**
+ * Uses the CameraServer class to automatically capture video from a USB webcam
+ * and send it to the FRC dashboard without doing any vision processing. This
+ * is the easiest way to get camera images to the dashboard. Just add this to the
+ * RobotInit() method in your program.
+ */
+class QuickVisionRobot : public SampleRobot
+{
+public:
+	void RobotInit() override {
+		CameraServer::GetInstance()->SetQuality(75);
+		CameraServer::GetInstance()->StartAutomaticCapture();
+	}
+
+	void OperatorControl() override {
+	}
+};
+
+START_ROBOT_CLASS(QuickVisionRobot);
+

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

@@ -39,7 +39,7 @@ public:
 	 */
 	void OperatorControl()
 	{
-		while (IsOperatorControl())
+		while (IsOperatorControl() && IsEnabled())
 		{
 			// Retrieve the button values. GetRawButton will return
 			//   true if the button is pressed and false if not.

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

@@ -51,7 +51,7 @@ public:
 	 */
 	void OperatorControl()
 	{
-		while (IsOperatorControl())
+		while (IsOperatorControl() && IsEnabled())
 		{
 			// The output of GetRawButton is true/false depending on whether
 			//   the button is pressed; Set takes a boolean for for whether to

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

@@ -87,7 +87,12 @@
     <description>Example programs that demonstrate the use of the various commonly used sensors on FRC robots</description>
   </tagDescription>
 
-<example>
+    <tagDescription>
+        <name>Vision</name>
+        <description>Example programs that demonstrate the use of a camera for image acquisition and processing</description>
+    </tagDescription>
+
+    <example>
   <name>Motor Controller</name>
   <description>Demonstrate controlling a single motor with a Joystick.</description>
   <tags>
@@ -123,6 +128,40 @@
   </files>
 </example>
 
+<example>
+  <name>CAN Talon SRX</name>
+  <description>Quick demo of running the SRX at a given throttle value.</description>
+  <tags>
+    <tag>Robot and Motor</tag>
+    <tag>Digital</tag>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalon/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
+<example>
+  <name>CAN Talon SRX PID</name>
+  <description>Quick demo of running the SRX with a PID loop.</description>
+  <tags>
+    <tag>Robot and Motor</tag>
+    <tag>Digital</tag>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+  </tags>
+  <packages>
+    <package>src</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalonPID/src/Robot.cpp" destination="src/Robot.cpp"></file>
+  </files>
+</example>
+
 <example>
   <name>Relay</name>
   <description>Demonstrate controlling a Relay from Joystick buttons.</description>
@@ -240,8 +279,45 @@
       destination="src/Robot.cpp"></file>
   </files>
   </example>
-  
-  <example>
+
+    <example>
+        <name>Simple vision program</name>
+        <description>The minimal program to acquire images from an attached USB camera on the robot
+        and send them to the dashboard.</description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src</package>
+        </packages>
+        <files>
+            <file source="examples/QuickVision/src/Robot.cpp"
+                  destination="src/Robot.cpp"></file>
+        </files>
+    </example>
+
+    <example>
+        <name>Intermediate vision</name>
+        <description>An example program that acquires images from an attached USB camera and adds some
+            annotation to the image as you might do for showing operators the result of some image
+            recognition, and sends it to the dashboard for display.
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src</package>
+        </packages>
+        <files>
+            <file source="examples/IntermediateVision/src/Robot.cpp"
+                  destination="src/Robot.cpp"></file>
+        </files>
+    </example>
+
+
+    <example>
     <name>GearsBot</name>
     <description>A fully functional example CommandBased program for
     WPIs GearsBot robot. This code can run on your computer if it
@@ -250,6 +326,7 @@
       <tag>CommandBased Robot</tag>
       <tag>Complete List</tag>
     </tags>
+    <world>/usr/share/frcsim/worlds/GearsBotDemo.world</world>
     <packages>
       <package>src</package>
       <package>src/Commands</package>
@@ -333,7 +410,8 @@
     <tags>
       <tag>CommandBased Robot</tag>
       <tag>Complete List</tag>
-   </tags>
+    </tags>
+    <world>/usr/share/frcsim/worlds/PacGoat2014.world</world>
     <packages>
       <package>src</package>
       <package>src/Commands</package>

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

@@ -40,7 +40,7 @@ public:
 	void OperatorControl()
 	{
 		myRobot.SetSafetyEnabled(true);
-		while (IsOperatorControl())
+		while (IsOperatorControl() && IsEnabled())
 		{
 			myRobot.ArcadeDrive(stick); // drive with arcade style (use right stick)
 			Wait(0.005);				// wait for a motor update time

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

@@ -154,7 +154,7 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 			 "Debug/FRCUserProgram");
 		
 		config.setAttribute("org.eclipse.cdt.dsf.gdb.DEBUG_NAME", "arm-frc-linux-gnueabi-gdb");
-		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/admin/FRCUserProgram");
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/lvuser/FRCUserProgram");
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_CONNECTION, remote_connection);
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_SKIP_DOWNLOAD_TO_TARGET, false);
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_PORT, "2345");

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

@@ -43,8 +43,8 @@ public class RSEUtils {
             			RSECorePlugin.getTheCoreRegistry().getSystemTypeById("org.eclipse.rse.systemtype.ssh");
             	host = registry.createHost(profile.getName(), systemType, connectionName, hostName,
             			"The remote target for debugging the robot for team "+teamNumber+".");
-            	host.setDefaultUserId("admin");
-            	SystemSignonInformation info = new SystemSignonInformation(hostName, "admin",
+            	host.setDefaultUserId("lvuser");
+            	SystemSignonInformation info = new SystemSignonInformation(hostName, "lvuser",
             			"", systemType);
     			PasswordPersistenceManager.getInstance().add(info, true, false);
             } catch (Exception e) {

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

@@ -18,6 +18,7 @@ import org.eclipse.ui.IFileEditorInput;
 import org.eclipse.ui.PlatformUI;
 
 import edu.wpi.first.wpilib.plugins.core.launching.AntLauncher;
+import edu.wpi.first.wpilib.plugins.core.launching.SimulationNotification;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
 
 /**
@@ -79,7 +80,12 @@ public class SimulateLaunchShortcut implements ILaunchShortcut {
 	 * @param activeProj The project that the script will be run on/from
 	 * @param mode The mode it will be run in (ILaunchManager.RUN_MODE or ILaunchManager.DEBUG_MODE)
 	 */
-	public void runConfig(IProject activeProj, String mode){
+	public void runConfig(IProject activeProj, String mode) {
+		if (!SimulationNotification.supportsSimulation()) {
+			SimulationNotification.showUnsupported();
+			return;
+		}
+		
 		String targets = "simulate";
 		    
 		if(mode.equals(ILaunchManager.RUN_MODE)){

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/examples/ExampleCPPProject.java

@@ -7,16 +7,17 @@ import edu.wpi.first.wpilib.plugins.core.wizards.IExampleProject;
 import edu.wpi.first.wpilib.plugins.cpp.wizards.newproject.CPPProjectType;
 
 public class ExampleCPPProject extends CPPProjectType implements IExampleProject {
-	private String name, description;
+	private String name, description, world;
 	private List<String> tags;
 	private List<String> directories;
 	private List<ExportFile> files;
 	
 	public ExampleCPPProject(String name, String description, List<String> tags, 
-			List<String> directories, List<ExportFile> files) {
+			String world, List<String> directories, List<ExportFile> files) {
 		this.name = name;
 		this.description = description;
 		this.tags = tags;
+		this.world = world;
 		this.directories = directories;
 		this.files = files;
 	}
@@ -32,6 +33,10 @@ public class ExampleCPPProject extends CPPProjectType implements IExampleProject
 	public List<String> getTags() {
 		return tags;
 	}
+	
+	public String getWorld() {
+		return world;
+	}
 
 	@Override
 	public String[] getFolders(String packageName) {

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/src/main/java/edu/wpi/first/wpilib/plugins/cpp/wizards/examples/ExampleCPPWizard.java

@@ -11,6 +11,7 @@ import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.core.wizards.ExampleWizard;
 import edu.wpi.first.wpilib.plugins.core.wizards.IExampleProject;
 import edu.wpi.first.wpilib.plugins.core.wizards.IExampleProject.ExportFile;
+import edu.wpi.first.wpilib.plugins.core.wizards.INewProjectInfo;
 import edu.wpi.first.wpilib.plugins.core.wizards.NewProjectMainPage;
 import edu.wpi.first.wpilib.plugins.core.wizards.ProjectCreationUtils;
 import edu.wpi.first.wpilib.plugins.cpp.WPILibCPPPlugin;
@@ -38,9 +39,9 @@ public class ExampleCPPWizard extends ExampleWizard {
 	}
 
 	@Override
-	protected IWizardPage getDetailsPage() {
+	protected IWizardPage getDetailsPage(INewProjectInfo info) {
 		if (detailsPage != null) return detailsPage;
-		detailsPage = new NewProjectMainPage(selection, getTeamNumberPage());
+		detailsPage = new NewProjectMainPage(selection, getTeamNumberPage(), info);
 		detailsPage.setTitle("Create Example Robot C++ Project");
 		detailsPage.setDescription("This wizard creates a new example project based on your selection.");
 		detailsPage.setShowPackage(false);
@@ -49,8 +50,8 @@ public class ExampleCPPWizard extends ExampleWizard {
 
 	@Override
 	public IExampleProject makeExampleProject(String name, String description,
-			List<String> tags, List<String> folders, List<ExportFile> files) {
-		return new ExampleCPPProject(name, description, tags, folders, files);
+			List<String> tags, String world, List<String> folders, List<ExportFile> files) {
+		return new ExampleCPPProject(name, description, tags, world, folders, files);
 	}
 
 	@Override

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

@@ -15,6 +15,7 @@ import org.eclipse.ui.IWorkbench;
 import org.eclipse.ui.IWorkbenchWizard;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+import edu.wpi.first.wpilib.plugins.core.wizards.INewProjectInfo;
 import edu.wpi.first.wpilib.plugins.core.wizards.NewProjectMainPage;
 import edu.wpi.first.wpilib.plugins.core.wizards.ProjectCreationUtils;
 import edu.wpi.first.wpilib.plugins.core.wizards.ProjectType;
@@ -56,7 +57,7 @@ public class NewCPPWizard extends Wizard implements INewWizard {
 			teamNumberPage = new TeamNumberPage(selection);
 			addPage(teamNumberPage);
 		}
-		page = new NewProjectMainPage(selection, teamNumberPage);
+		page = new NewProjectMainPage(selection, teamNumberPage, INewProjectInfo.Null);
 		page.setTitle("Create New Robot C++ Project");
 		page.setDescription("This wizard creates a new Robot C++ Project configured to use WPILib for programming FRC robots.");
 		page.setShowPackage(false);

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

@@ -0,0 +1,16 @@
+# Deployment information
+username=lvuser
+password=
+deploy.dir=/home/lvuser
+deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
+command.dir=/home/lvuser/
+
+# Libraries to use
+wpilib=${user.home}/wpilib/cpp/${cpp-version}
+wpilib.lib=${wpilib}/lib
+roboRIOAllowedImages=20
+
+# Ant support
+wpilib.ant.dir=${wpilib}/ant
+jsch.jar=${wpilib.ant.dir}/jsch-0.1.50.jar
+classloadertask.jar=${wpilib.ant.dir}/ant-classloadertask.jar

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

@@ -19,11 +19,42 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
     <property name="target" value="roboRIO-${team-number}.local" />
-    <echo>Target: ${target}</echo>
+	<echo>Trying Target: ${target}</echo>
+	 <if>
+		<isreachable host="${target}" timeout="5"/>
+	  <then>
+		<echo>roboRIO found via mDNS</echo>
+	  </then>
+	  <else>
+		<var name="target" unset="true"/>
+		<echo> roboRIO not found via mDNS, falling back to static USB</echo>
+		<property name="target" value="172.22.11.2"/>
+		<if>
+			<isreachable host="${target}" timeout="5"/>
+		  <then>
+			<echo>roboRIO found via static USB</echo>
+		  </then>
+		  <else>
+			<var name="target" unset="true"/>
+			<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
+			<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
+			<property name="target" value="10.${ip.upper}.${ip.lower}.2"/>
+			<echo>roboRIO not found via USB, falling back to static address of ${target}</echo>
+			<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
+				<bool>
+					<isreachable host="${target}" timeout="5"/>
+				</bool>
+			</assert>
+			<echo>roboRIO found via Ethernet static</echo>
+		  </else>
+		</if>
+	  </else>
+	 </if>
   </target>
 
-  <target name="deploy" depends="get-target-ip" description="Deploy the progam and start it running.">
+  <target name="deploy" depends="get-target-ip, dependencies" description="Deploy the progam and start it running.">
     <sshexec host="${target}"
          username="${username}"
          password="${password}"
@@ -42,11 +73,6 @@
        trust="true"
        command=". /etc/profile.d/natinst-path.sh; chmod a+x ${deploy.dir}/${out}; ${deploy.kill.command};"/>
 
-    <sshexec host="${target}"
-       username="${username}"
-       password="${password}"
-       trust="true"
-       command="tail -F -n 0 ${deploy.log.file}"/>
   </target>
   
   <target name="kill-program" depends="get-target-ip" description="Kill the currently running FRC program">
@@ -57,28 +83,6 @@
 		   command="/usr/local/frc/bin/frcKillRobot.sh"/>
   </target>
 
-  <target name="debug-deploy" depends="get-target-ip" description="Deploy the jar and start the program running in debug mode.">
-    <echo>[athena-deploy] Killing running program</echo>
-    <sshexec host="${target}"
-             username="${username}"
-             password="${password}"
-             trust="true"
-             command="killall FRCUserProgram; sleep 1"/>
-    <echo>[athena-debug-deploy] Copying code over.</echo>
-    <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}"
-	 password="${password}" trust="true"/>
-    <scp file="${wpilib.ant.dir}/debugcppprogram" todir="${username}@${target}:${deploy.dir}"
-	 password="${password}" trust="true"/>
-    <scp file="${wpilib.ant.dir}/debugjavaprogram" todir="${username}@${target}:${deploy.dir}"
-	 password="${password}" trust="true"/>
-    <echo>[athena-debug-deploy] Starting program.</echo>
-    <sshexec host="${target}"
-	     username="${username}"
-	     password="${password}"
-	     trust="true"
-	     command="chmod a+x debug*program; ${deploy.debug.command}"/>
-  </target>
-
   <!-- Simulation support -->
   <target name="simulate">
     <parallel>
@@ -102,4 +106,21 @@
       </sequential>
     </parallel>
   </target>
+  
+  <target name="dependencies" depends="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
+	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE" append="false">
+		<prop name="Function" value="GetPropertiesOfItem"/>
+		<prop name="Plugins" value="nisyscfg"/>
+		<prop name="Items" value="system"/>
+	</post>
+	<loadfile srcFile="sysProps.xml" encoding="UTF-16LE" property="roboRIOSysValues"/>
+	<propertyregex property="roboRIOImage" input="${roboRIOSysValues}" regexp="FRC_roboRIO_2015_v([0-9]+)" select="\1" defaultValue="ImageRegExFail"/>
+	<assert message="roboRIO Image does not match plugin, allowed image version: ${roboRIOAllowedImages}">
+		<bool>
+			<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
+		</bool>
+	</assert>
+	<echo>roboRIO image version validated</echo>
+  </target>
 </project>

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

@@ -1 +1 @@
-/home/admin/FRCUserProgram
+/usr/local/frc/bin/netconsole-host /home/lvuser/FRCUserProgram

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

@@ -38,7 +38,7 @@ public class Robot extends IterativeRobot {
 
     public void autonomousInit() {
         // schedule the autonomous command (example)
-        autonomousCommand.start();
+        if (autonomousCommand != null) autonomousCommand.start();
     }
 
     /**
@@ -53,7 +53,15 @@ public class Robot extends IterativeRobot {
         // teleop starts running. If you want the autonomous to 
         // continue until interrupted by another command, remove
         // this line or comment it out.
-        autonomousCommand.cancel();
+        if (autonomousCommand != null) autonomousCommand.cancel();
+    }
+
+    /**
+     * This function is called when the disabled button is hit.
+     * You can use it to reset subsystems before shutting down.
+     */
+    public void disabledInit(){
+
     }
 
     /**

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

@@ -0,0 +1,37 @@
+package $package;
+
+
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a short sample program demonstrating how to use the basic throttle
+ * mode of the new CAN Talon.
+ */
+public class Robot extends SampleRobot {
+
+  CANTalon motor;
+
+  public Robot() {
+      motor = new CANTalon(1); // Initialize the CanTalonSRX on device 1.
+  }
+
+  /**
+    * Runs the motor.
+    */
+  public void operatorControl() {
+    while (isOperatorControl() && isEnabled()) {
+      // Set the motor's output to half power.
+      // This takes a number from -1 (100% speed in reverse) to +1 (100% speed
+      // going forward)
+      motor.set(0.5);
+
+      Timer.delay(0.01);  // Note that the CANTalon only receives updates every
+                          // 10ms, so updating more quickly would not gain you
+                          // anything.
+    }
+    motor.disable();
+  }
+}

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

@@ -0,0 +1,62 @@
+package $package;
+
+
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a short sample program demonstrating how to use the Talon SRX over
+ * CAN to run a closed-loop PID controller with an analog potentiometer.
+ */
+public class Robot extends SampleRobot {
+
+  CANTalon motor;
+
+  public Robot() {
+      motor = new CANTalon(1); // Initialize the CanTalonSRX on device 1.
+
+      // This sets the mode of the m_motor. The options are:
+      // PercentVbus: basic throttle; no closed-loop.
+      // Current: Runs the motor with the specified current if possible.
+      // Speed: Runs a PID control loop to keep the motor going at a constant
+      //   speed using the specified sensor.
+      // Position: Runs a PID control loop to move the motor to a specified move
+      //   the motor to a specified sensor position.
+      // Voltage: Runs the m_motor at a constant voltage, if possible.
+      // Follower: The m_motor will run at the same throttle as the specified
+      //   other talon.
+      motor.changeControlMode(CANTalon.ControlMode.Position);
+      // This command allows you to specify which feedback device to use when doing
+      // closed-loop control. The options are:
+      // AnalogPot: Basic analog potentiometer
+      // QuadEncoder: Quadrature Encoder
+      // AnalogEncoder: Analog Encoder
+      // EncRising: Counts the rising edges of the QuadA pin (allows use of a
+      //   non-quadrature encoder)
+      // EncFalling: Same as EncRising, but counts on falling edges.
+      motor.setFeedbackDevice(CANTalon.FeedbackDevice.AnalogPot);
+      // This sets the basic P, I , and D values (F, Izone, and rampRate can also
+      //   be set, but are ignored here).
+      // These must all be positive floating point numbers (reverseSensor will
+      //   multiply the sensor values by negative one in case your sensor is flipped
+      //   relative to your motor).
+      // These values are in units of throttle / sensor_units where throttle ranges
+      //   from -1023 to +1023 and sensor units are from 0 - 1023 for analog
+      //   potentiometers, encoder ticks for encoders, and position / 10ms for
+      //   speeds.
+      motor.setPID(1.0, 0.0, 0.0);
+  }
+
+  public void operatorControl() {
+    while (isOperatorControl() && isEnabled()) {
+      // In closed loop mode, this sets the goal in the units mentioned above.
+      // Since we are using an analog potentiometer, this will try to go to
+      //   the middle of the potentiometer range.
+			motor.set(512);
+
+      Timer.delay(5.0);
+    }
+  }
+}

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

@@ -39,7 +39,7 @@ public class Robot extends SampleRobot {
      */
     public void operatorControl() {
         robotDrive.setSafetyEnabled(true);
-        while (isOperatorControl()) {
+        while (isOperatorControl() && isEnabled()) {
         	
         	// Use the joystick X axis for lateral movement, Y axis for forward movement, and Z axis for rotation.
         	// This sample does not use field-oriented drive, so the gyro input is set to zero.

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

@@ -32,7 +32,7 @@ public class Robot extends SampleRobot {
      * Runs the motor from a joystick.
      */
     public void operatorControl() {
-        while (isOperatorControl()) {
+        while (isOperatorControl() && isEnabled()) {
         	// Set the motor's output.
         	// This takes a number from -1 (100% speed in reverse) to +1 (100% speed going forward)
         	motor.set(stick.getY());

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

@@ -37,7 +37,7 @@ public class Robot extends SampleRobot {
      */
     public void operatorControl() {
         myRobot.setSafetyEnabled(true);
-        while (isOperatorControl()) {
+        while (isOperatorControl() && isEnabled()) {
         	myRobot.tankDrive(leftStick, rightStick);
             Timer.delay(0.005);		// wait for a motor update time
         }

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

@@ -154,6 +154,40 @@
   </files>
   </example>
 
+ <example>
+  <name>CAN Talon SRX</name>
+  <description>Demonstrate running a Talon SRX with the basic throttle mode.</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Robot and Motor</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalon/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
+ <example>
+  <name>CAN Talon SRX PID</name>
+  <description>Demonstrate running a Talon SRX with PID Closed Loop control.</description>
+  <tags>
+    <tag>Actuators</tag>
+    <tag>Complete List</tag>
+    <tag>Robot and Motor</tag>
+  </tags>
+  <packages>
+    <package>src/$package-dir</package>
+  </packages>
+  <files>
+    <file source="examples/CANTalonPID/src/org/usfirst/frc/team190/robot/Robot.java"
+      destination="src/$package-dir/Robot.java"></file>
+  </files>
+  </example>
+
 
   <tagDescription>
     <name>CommandBased Robot</name>
@@ -166,6 +200,7 @@
     <tags>
       <tag>CommandBased Robot</tag>
     </tags>
+    <world>/usr/share/frcsim/worlds/GearsBotDemo.world</world>
     <packages>
       <package>src/$package-dir</package>
       <package>src/$package-dir/commands</package>
@@ -198,6 +233,7 @@
     <tags>
       <tag>CommandBased Robot</tag>
     </tags>
+    <world>/usr/share/frcsim/worlds/PacGoat2014.world</world>
     <packages>
       <package>src/$package-dir</package>
       <package>src/$package-dir/commands</package>

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

@@ -48,7 +48,7 @@ public class Robot extends SampleRobot {
      */
     public void operatorControl() {
         myRobot.setSafetyEnabled(true);
-        while (isOperatorControl()) {
+        while (isOperatorControl() && isEnabled()) {
             myRobot.arcadeDrive(stick); // drive with arcade style (use right stick)
             Timer.delay(0.005);		// wait for a motor update time
         }

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

@@ -2,6 +2,7 @@ package edu.wpi.first.wpilib.plugins.java.launching;
 
 import java.io.File;
 import java.lang.reflect.Method;
+import java.text.MessageFormat;
 import java.util.HashMap;
 import java.util.Map;
 import java.util.Vector;
@@ -15,8 +16,6 @@ import org.eclipse.debug.core.ILaunch;
 import org.eclipse.debug.core.ILaunchConfigurationType;
 import org.eclipse.debug.core.ILaunchConfigurationWorkingCopy;
 import org.eclipse.debug.core.ILaunchManager;
-import org.eclipse.debug.core.IStreamListener;
-import org.eclipse.debug.core.model.IStreamMonitor;
 import org.eclipse.debug.ui.IDebugUIConstants;
 import org.eclipse.debug.ui.ILaunchShortcut;
 import org.eclipse.jdt.core.IJavaElement;
@@ -37,13 +36,13 @@ import edu.wpi.first.wpilib.plugins.java.WPILibJavaPlugin;
 
 @SuppressWarnings("restriction")
 public abstract class JavaLaunchShortcut implements ILaunchShortcut {
+	private static final int DEBUG_ATTACH_ATTEMPTS = 20;
+	private static final int DEBUG_ATTACH_RETRY_DELAY_SEC = 2;
+	
 	//Class constants - used to delineate types for launch shortcuts
 	public static final String DEPLOY_TYPE = "edu.wpi.first.wpilib.plugins.core.deploy";
 	private static final String ANT_SERVER_THREAD_NAME = "Ant Build Server Connection";
 	
-	// NOTE: This string must be changed if the port is changed. 
-	private static final String DEBUG_START_TEXT = "Listening for transport dt_socket at address: 8348";
-	
 	private static ILaunch lastDeploy = null;
 	
 	/**
@@ -155,11 +154,9 @@ public abstract class JavaLaunchShortcut implements ILaunchShortcut {
 		lastDeploy = AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), targets, null, mode);
 		
 		if((mode.equals(ILaunchManager.DEBUG_MODE))&&(getLaunchType().equals(DEPLOY_TYPE))) {
-			ILaunchConfigurationWorkingCopy config;
 			try {
-				config = getRemoteDebugConfig(activeProj);
-				startDebugConfig(config, lastDeploy);
-			} catch (CoreException e) {
+				startDebugConfig(getRemoteDebugConfig(activeProj));
+			} catch (CoreException | InterruptedException e) {
                 WPILibJavaPlugin.logError("Debug attach failed", e);
 			}
 		}
@@ -190,20 +187,28 @@ public abstract class JavaLaunchShortcut implements ILaunchShortcut {
 		return WPILibCore.getDefault().getTargetIP(proj);
 	}
 
-	private void startDebugConfig(final ILaunchConfigurationWorkingCopy config, ILaunch deploy) throws CoreException {
-		IStreamListener listener = new IStreamListener() {
-			@Override
-			public void streamAppended(String text, IStreamMonitor monitor) {
-				if (text.contains(DEBUG_START_TEXT)) {
-					try {
-						config.launch(ILaunchManager.DEBUG_MODE, null);
-					} catch (CoreException e) {
-                        WPILibJavaPlugin.logError("Error starting debug config..", e);
-					}
-					monitor.removeListener(this);
+	private void startDebugConfig(final ILaunchConfigurationWorkingCopy config) 
+			throws CoreException, InterruptedException {
+		int remainingAttempts = DEBUG_ATTACH_ATTEMPTS;
+		
+		// Retry until success or rethrow of exception on failure
+		while (true) {
+			try {
+				WPILibJavaPlugin.logInfo("Attemping to attach debugger...");
+				config.launch(ILaunchManager.DEBUG_MODE, null);
+				WPILibJavaPlugin.logInfo("Debugger attached.");
+				break;
+			} catch (CoreException e) {
+				if (--remainingAttempts > 0) {
+					String errorMsg = MessageFormat.format("Unable to attach debugger. "
+							+ "{0} attempts remain - waiting {1} second(s) before retrying...", 
+							remainingAttempts, DEBUG_ATTACH_RETRY_DELAY_SEC);
+					WPILibJavaPlugin.logError(errorMsg, null);
+					Thread.sleep(DEBUG_ATTACH_RETRY_DELAY_SEC * 1000);
+				} else {
+					throw e;
 				}
 			}
-		};
-		deploy.getProcesses()[0].getStreamsProxy().getOutputStreamMonitor().addListener(listener);
+		}
 	}
 }

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

@@ -2,6 +2,8 @@ package edu.wpi.first.wpilib.plugins.java.launching;
 
 import org.eclipse.core.resources.IProject;
 
+import edu.wpi.first.wpilib.plugins.core.launching.SimulationNotification;
+
 public class SimulateLaunchShortcut extends JavaLaunchShortcut {
 
 
@@ -11,7 +13,11 @@ public class SimulateLaunchShortcut extends JavaLaunchShortcut {
 	 * @param mode The mode it will be run in (ILaunchManager.RUN_MODE or ILaunchManager.DEBUG_MODE)
 	 */
 	public void runConfig(IProject activeProj, String mode){
-		runConfigHelper(activeProj, mode, "simulate", "debug-simulate");
+		if (SimulationNotification.supportsSimulation()) {
+			runConfigHelper(activeProj, mode, "simulate", "debug-simulate");
+		} else {
+			SimulationNotification.showUnsupported();
+		}
 	}
 	
 	protected String getHostname(IProject proj) {

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/wizards/examples/ExampleJavaProject.java

@@ -7,16 +7,17 @@ import edu.wpi.first.wpilib.plugins.core.wizards.IExampleProject;
 import edu.wpi.first.wpilib.plugins.java.wizards.newproject.JavaProjectType;
 
 public class ExampleJavaProject extends JavaProjectType implements IExampleProject {
-	private String name, description;
+	private String name, description, world;
 	private List<String> tags;
 	private List<String> packages;
 	private List<ExportFile> files;
 	
 	public ExampleJavaProject(String name, String description, List<String> tags, 
-			List<String> packages, List<ExportFile> files) {
+			String world, List<String> packages, List<ExportFile> files) {
 		this.name = name;
 		this.description = description;
 		this.tags = tags;
+		this.world = world;
 		this.packages = packages;
 		this.files = files;
 	}
@@ -32,6 +33,10 @@ public class ExampleJavaProject extends JavaProjectType implements IExampleProje
 	public List<String> getTags() {
 		return tags;
 	}
+	
+	public String getWorld() {
+		return world;
+	}
 
 	@Override
 	public String[] getFolders(String packageName) {

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/wizards/examples/ExampleJavaWizard.java

@@ -10,6 +10,7 @@ import org.eclipse.jface.wizard.IWizardPage;
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
 import edu.wpi.first.wpilib.plugins.core.wizards.ExampleWizard;
 import edu.wpi.first.wpilib.plugins.core.wizards.IExampleProject;
+import edu.wpi.first.wpilib.plugins.core.wizards.INewProjectInfo;
 import edu.wpi.first.wpilib.plugins.core.wizards.IExampleProject.ExportFile;
 import edu.wpi.first.wpilib.plugins.core.wizards.NewProjectMainPage;
 import edu.wpi.first.wpilib.plugins.core.wizards.ProjectCreationUtils;
@@ -40,9 +41,9 @@ public class ExampleJavaWizard extends ExampleWizard {
 	}
 
 	@Override
-	protected IWizardPage getDetailsPage() {
+	protected IWizardPage getDetailsPage(INewProjectInfo info) {
 		if (detailsPage != null) return detailsPage;
-		detailsPage = new NewProjectMainPage(selection, getTeamNumberPage());
+		detailsPage = new NewProjectMainPage(selection, getTeamNumberPage(), info);
 		detailsPage.setTitle("Create Example Robot Java Project");
 		detailsPage.setDescription("This wizard creates a new example project based on your selection.");
 		return detailsPage;
@@ -50,8 +51,8 @@ public class ExampleJavaWizard extends ExampleWizard {
 
 	@Override
 	public IExampleProject makeExampleProject(String name, String description,
-			List<String> tags, List<String> folders, List<ExportFile> files) {
-		return new ExampleJavaProject(name, description, tags, folders, files);
+			List<String> tags, String world, List<String> folders, List<ExportFile> files) {
+		return new ExampleJavaProject(name, description, tags, world, folders, files);
 	}
 
 	@Override

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/src/main/java/edu/wpi/first/wpilib/plugins/java/wizards/file_template/FileTemplateWizardMainPage.java

@@ -11,7 +11,9 @@ import org.eclipse.jface.viewers.ISelection;
 import org.eclipse.jface.wizard.WizardPage;
 import org.eclipse.swt.SWT;
 import org.eclipse.swt.events.ModifyEvent;
+import org.eclipse.swt.events.SelectionEvent;
 import org.eclipse.swt.events.ModifyListener;
+import org.eclipse.swt.events.SelectionListener;
 import org.eclipse.swt.layout.GridData;
 import org.eclipse.swt.layout.GridLayout;
 import org.eclipse.swt.widgets.Composite;
@@ -76,6 +78,15 @@ public class FileTemplateWizardMainPage extends WizardPage {
 				});
 		GridData gd = new GridData(GridData.FILL_HORIZONTAL);
 		projectsCombo.setLayoutData(gd);
+		projectsCombo.addSelectionListener(new SelectionListener() {
+			public void widgetSelected(SelectionEvent e){
+				if (project == null){
+					project = projectsCombo.getProject();
+				}
+				packageText.setText(getDefaultPackage());
+			}
+			public void widgetDefaultSelected(SelectionEvent e){}
+		});
 		projectsCombo.addModifyListener(new ModifyListener() {
 			public void modifyText(ModifyEvent e) {
 				dialogChanged();
@@ -116,6 +127,7 @@ public class FileTemplateWizardMainPage extends WizardPage {
 	 */
 
 	private void initialize() {
+		WPILibJavaPlugin.logInfo("initialize");
 		projectsCombo.setProject(project);
 		packageText.setText(getDefaultPackage());
 	}
@@ -130,7 +142,7 @@ public class FileTemplateWizardMainPage extends WizardPage {
 
 		// Update the default package if necessary
 		if (project == null || !project.equals(projectsCombo.getProject())) {
-			String oldDefault = getDefaultPackage();
+			String oldDefault = getDefaultPackage();	
 			project = projectsCombo.getProject();
 			if (packageString.equals(oldDefault)) {
 				packageText.setText(getDefaultPackage());
@@ -200,4 +212,4 @@ public class FileTemplateWizardMainPage extends WizardPage {
 		if (defaultPackage != null) return defaultPackage;
 		else return "";
 	}
-}
+}

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

@@ -15,6 +15,7 @@ import org.eclipse.ui.IWorkbench;
 import org.eclipse.ui.IWorkbenchWizard;
 
 import edu.wpi.first.wpilib.plugins.core.WPILibCore;
+import edu.wpi.first.wpilib.plugins.core.wizards.INewProjectInfo;
 import edu.wpi.first.wpilib.plugins.core.wizards.NewProjectMainPage;
 import edu.wpi.first.wpilib.plugins.core.wizards.ProjectCreationUtils;
 import edu.wpi.first.wpilib.plugins.core.wizards.ProjectType;
@@ -56,7 +57,7 @@ public class NewJavaWizard extends Wizard implements INewWizard {
 			teamNumberPage = new TeamNumberPage(selection);
 			addPage(teamNumberPage);
 		}
-		page = new NewProjectMainPage(selection, teamNumberPage);
+		page = new NewProjectMainPage(selection, teamNumberPage, INewProjectInfo.Null);
 		page.setProjectTypes(JavaProjectType.TYPES);
 		page.setTitle("Create New Robot Java Project");
 		page.setDescription("This wizard creates a new Robot Java Project configured to use WPILib for programming FRC robots.");

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

@@ -1,14 +1,13 @@
 # Deployment information
-username=admin
+username=lvuser
 password=
-deploy.dir=/home/admin
+deploy.dir=/home/lvuser
 deploy.kill.command=. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r
-deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
-deploy.log.command=tail -F -n 0 ${deploy.log.file}
 debug.flag.dir=/tmp/
 debug.flag.command=chown lvuser:ni ${debug.flag.dir}frcdebug
 command.dir=/home/lvuser/
 version=current
+roboRIOJRE.dir=/usr/local/frc/JRE
 
 # Libraries to use
 wpilib=${user.home}/wpilib/java/${version}
@@ -21,6 +20,7 @@ networktables.sources=${wpilib.lib}/NetworkTables-sources.jar
 #jnaerator.jar=${wpilib.lib}/jnaerator-runtime.jar
 #classpath=${wpilib.jar}:${networktables.jar}:${jna.jar}:${jnaerator.jar}
 classpath=${wpilib.jar}:${networktables.jar}
+roboRIOAllowedImages=20
 
 # Ant support
 wpilib.ant.dir=${wpilib}/ant

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

@@ -19,8 +19,39 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
     <property name="target" value="roboRIO-${team-number}.local" />
-     <echo>Target: ${target}</echo>
+	<echo>Trying Target: ${target}</echo>
+	 <if>
+		<isreachable host="${target}" timeout="5"/>
+	  <then>
+		<echo>roboRIO found via mDNS</echo>
+	  </then>
+	  <else>
+		<var name="target" unset="true"/>
+		<echo> roboRIO not found via mDNS, falling back to static USB</echo>
+		<property name="target" value="172.22.11.2"/>
+		<if>
+			<isreachable host="${target}" timeout="5"/>
+		  <then>
+			<echo>roboRIO found via static USB</echo>
+		  </then>
+		  <else>
+			<var name="target" unset="true"/>
+			<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
+			<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
+			<property name="target" value="10.${ip.upper}.${ip.lower}.2"/>
+			<echo>roboRIO not found via USB, falling back to static address of ${target}</echo>
+			<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
+				<bool>
+					<isreachable host="${target}" timeout="5"/>
+				</bool>
+			</assert>
+			<echo>roboRIO found via Ethernet static</echo>
+		  </else>
+		</if>
+	  </else>
+	 </if>
   </target>
 
   <target name="compile" description="Compile the source code.">
@@ -66,7 +97,11 @@
     </jar>
   </target>
 
-  <target name="deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
+    <!-- We're running a clean here to get around a known ant issue where it does not detected changed constant variables.
+     To get around this, we're recompiling the entire project, which is not an issue for most teams. If this is an issue
+     for you, you can remove the clean here, just be sure to do a full rebuild after you've changed any constants.
+     Reference: http://stackoverflow.com/questions/6430001/ant-doesnt-recompile-constants -->	
+  <target name="deploy" depends="clean,jar,get-target-ip,dependencies" description="Deploy the jar and start the program running.">
     <echo>[athena-deploy] Copying code over.</echo>
     <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
     <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
@@ -78,14 +113,9 @@
        trust="true"
        command="${deploy.kill.command};"/>
 
-    <sshexec host="${target}"
-       username="${username}"
-       password="${password}"
-       trust="true"
-       command="${deploy.log.command}"/>
   </target>
 
-  <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
+  <target name="debug-deploy" depends="jar,get-target-ip,dependencies" description="Deploy the jar and start the program running.">
     <echo>[athena-deploy] Copying code over.</echo>
     <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
   	<!-- The remoteDebugCommand file is used by /usr/local/frc/bin/frcRunRobot.sh on the roboRIO  -->
@@ -105,11 +135,6 @@
         trust="true"
         command="${deploy.kill.command}"/>
 
-    <sshexec host="${target}"
-        username="${username}"
-        password="${password}"
-        trust="true"
-        command="${deploy.log.command}"/>
   </target>
 
   <!-- Simulate -->
@@ -180,4 +205,28 @@
       </sequential>
     </parallel>
   </target>
+  
+  <target name="dependencies" depends="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
+	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE" append="false">
+		<prop name="Function" value="GetPropertiesOfItem"/>
+		<prop name="Plugins" value="nisyscfg"/>
+		<prop name="Items" value="system"/>
+	</post>
+	<loadfile srcFile="sysProps.xml" encoding="UTF-16LE" property="roboRIOSysValues"/>
+	<propertyregex property="roboRIOImage" input="${roboRIOSysValues}" regexp="FRC_roboRIO_2015_v([0-9]+)" select="\1" defaultValue="ImageRegExFail"/>
+	<assert message="roboRIO Image does not match plugin, allowed image version: ${roboRIOAllowedImages}">
+		<bool>
+			<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
+		</bool>
+	</assert>
+	<echo>roboRIO image version validated</echo>
+	<echo>Checking for JRE. If this fails install the JRE using these instructions: http://wpilib.screenstepslive.com/s/4485/m/13809/l/243933-installing-java-8-on-the-roborio-java-only</echo>
+	<sshexec host="${target}"
+        username="${username}"
+        password="${password}"
+        trust="true"
+		failonerror="true"
+        command="test -d ${roboRIOJRE.dir}"/>
+  </target>
 </project>

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

@@ -1,3 +1,2 @@
-/usr/local/frc/JRE/bin/java
--jar /home/admin/FRCUserProgram.jar
+/usr/local/frc/bin/netconsole-host /usr/local/frc/JRE/bin/java -jar /home/lvuser/FRCUserProgram.jar
 

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

@@ -1,3 +1,2 @@
-/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y
--jar /home/admin/FRCUserProgram.jar
+/usr/local/frc/bin/netconsole-host /usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar /home/lvuser/FRCUserProgram.jar
 

eclipse-plugins/edu.wpi.first.wpilib.plugins.riolog/META-INF/MANIFEST.MF

@@ -0,0 +1,11 @@
+Manifest-Version: 1.0
+Bundle-ManifestVersion: 2
+Bundle-Name: WPILib_Riolog
+Bundle-SymbolicName: edu.wpi.first.wpilib.plugins.riolog;singleton:=true
+Bundle-Version: 0.1.0.qualifier
+Bundle-Activator: netconsole2.Activator
+Require-Bundle: org.eclipse.ui,
+ org.eclipse.core.runtime
+Bundle-RequiredExecutionEnvironment: JavaSE-1.8
+Bundle-ActivationPolicy: lazy
+Bundle-Vendor: WPI & FIRST

eclipse-plugins/edu.wpi.first.wpilib.plugins.riolog/README

@@ -0,0 +1,13 @@
+
+                       Riolog
+
+This is an Eclipse plugin that receives and displays text from UDP port 6666. It
+defines a new view that displays the received text.
+
+To compile, open project in an Eclipse  instance with the appropriate plugin
+development tools, and Export as a deployable plugin/fragment.
+
+To install, copy the resulting jar file into $eclipse/dropins/, and start
+Eclipse (-clean may be necessary).
+
+To enable, go to Window>Show View>Other... and choose General>Riolog.

eclipse-plugins/edu.wpi.first.wpilib.plugins.riolog/build.properties

@@ -0,0 +1,7 @@
+source.. = src/
+output.. = bin/
+bin.includes = plugin.xml,\
+               META-INF/,\
+               .,\
+               icons/,\
+               contexts.xml

eclipse-plugins/edu.wpi.first.wpilib.plugins.riolog/contexts.xml

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<contexts>
+	<context id="text" title="Riolog">
+		<description>This is the context help for the Riolog It was generated by a PDE template.</description>
+		<topic href="/PLUGINS_ROOT/org.eclipse.platform.doc.isv/guide/ua_help_context.htm" label="Context-sensitive help">
+			<enablement>
+				<with variable="platform">
+	            	<test property="org.eclipse.core.runtime.isBundleInstalled" args="org.eclipse.platform.doc.isv"/>
+	     		</with>
+			</enablement>
+		</topic>
+	</context>
+</contexts>

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

@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<?eclipse version="3.4"?>
+<plugin>
+
+   <extension
+         point="org.eclipse.ui.views">
+      <view
+            name="Riolog"
+            icon="icons/riolog.png"
+            category="org.eclipse.ui"
+            class="netconsole2.views.RiologView"
+            id="netconsole2.views.RiologView">
+      </view>
+   </extension>
+   <extension
+         point="org.eclipse.ui.perspectiveExtensions">
+      <perspectiveExtension
+            targetID="org.eclipse.jdt.ui.JavaPerspective">
+         <view
+               ratio="0.5"
+               relative="org.eclipse.ui.views.ProblemView"
+               relationship="right"
+               id="netconsole2.views.RiologView">
+         </view>
+      </perspectiveExtension>
+   </extension>
+   <extension
+         point="org.eclipse.help.contexts">
+      <contexts
+            file="contexts.xml">
+      </contexts>
+   </extension>
+
+</plugin>

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

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd" xmlns="http://maven.apache.org/POM/4.0.0"
+    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <modelVersion>4.0.0</modelVersion>
+  <artifactId>edu.wpi.first.wpilib.plugins.riolog</artifactId>
+  <packaging>eclipse-plugin</packaging>
+
+  <parent>
+    <groupId>edu.wpi.first.wpilib.plugins</groupId>
+    <artifactId>edu.wpi.first.wpilib.plugins</artifactId>
+    <version>0.1.0.qualifier</version>
+    <relativePath>..</relativePath>
+  </parent>
+
+</project>

eclipse-plugins/edu.wpi.first.wpilib.plugins.riolog/src/netconsole2/Activator.java

@@ -0,0 +1,61 @@
+package netconsole2;
+
+import org.eclipse.jface.resource.ImageDescriptor;
+import org.eclipse.ui.plugin.AbstractUIPlugin;
+import org.osgi.framework.BundleContext;
+
+/**
+ * The activator class controls the plug-in life cycle
+ */
+public class Activator extends AbstractUIPlugin {
+
+	// The plug-in ID
+	public static final String PLUGIN_ID = "riolog"; //$NON-NLS-1$
+
+	// The shared instance
+	private static Activator plugin;
+	
+	/**
+	 * The constructor
+	 */
+	public Activator() {
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#start(org.osgi.framework.BundleContext)
+	 */
+	public void start(BundleContext context) throws Exception {
+		super.start(context);
+		plugin = this;
+	}
+
+	/*
+	 * (non-Javadoc)
+	 * @see org.eclipse.ui.plugin.AbstractUIPlugin#stop(org.osgi.framework.BundleContext)
+	 */
+	public void stop(BundleContext context) throws Exception {
+		plugin = null;
+		super.stop(context);
+	}
+
+	/**
+	 * Returns the shared instance
+	 *
+	 * @return the shared instance
+	 */
+	public static Activator getDefault() {
+		return plugin;
+	}
+
+	/**
+	 * Returns an image descriptor for the image file at the given
+	 * plug-in relative path
+	 *
+	 * @param path the path
+	 * @return the image descriptor
+	 */
+	public static ImageDescriptor getImageDescriptor(String path) {
+		return imageDescriptorFromPlugin(PLUGIN_ID, path);
+	}
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.riolog/src/netconsole2/views/RiologView.java

@@ -0,0 +1,414 @@
+package netconsole2.views;
+
+import java.io.IOException;
+import java.net.DatagramPacket;
+import java.net.DatagramSocket;
+import java.net.InetSocketAddress;
+import java.net.SocketException;
+import java.util.ArrayList;
+import java.util.concurrent.BlockingQueue;
+import java.util.concurrent.LinkedBlockingQueue;
+
+import org.eclipse.jface.action.Action;
+import org.eclipse.jface.action.IMenuListener;
+import org.eclipse.jface.action.IMenuManager;
+import org.eclipse.jface.action.IToolBarManager;
+import org.eclipse.jface.action.MenuManager;
+import org.eclipse.jface.action.Separator;
+import org.eclipse.swt.SWT;
+import org.eclipse.swt.events.SelectionAdapter;
+import org.eclipse.swt.events.SelectionEvent;
+import org.eclipse.swt.layout.FillLayout;
+import org.eclipse.swt.layout.GridData;
+import org.eclipse.swt.layout.GridLayout;
+import org.eclipse.swt.widgets.Button;
+import org.eclipse.swt.widgets.Composite;
+import org.eclipse.swt.widgets.Display;
+import org.eclipse.swt.widgets.Menu;
+import org.eclipse.swt.widgets.Text;
+import org.eclipse.ui.IActionBars;
+import org.eclipse.ui.ISharedImages;
+import org.eclipse.ui.PlatformUI;
+import org.eclipse.ui.part.ViewPart;
+
+
+public class RiologView extends ViewPart {
+	public static Action confAction(String name, String tooltip, String img,
+			Action e) {
+		e.setText(name);
+		e.setToolTipText(tooltip);
+		e.setImageDescriptor(PlatformUI.getWorkbench().getSharedImages()
+				.getImageDescriptor(img));
+		return e;
+	}
+
+	public static byte[] getPacket(DatagramSocket socket, DatagramPacket buf) {
+		try {
+			socket.receive(buf);
+		} catch (IOException e) {
+			return null;
+		}
+		byte[] ret = new byte[buf.getLength()];
+		System.arraycopy(buf.getData(), 0, ret, 0, ret.length);
+		return ret;
+	}
+
+	public static DatagramSocket makeRecvSocket() {
+		DatagramSocket socket = null;
+		try {
+			socket = new DatagramSocket(null);
+			socket.setReuseAddress(true);
+			socket.bind(new InetSocketAddress(6666));
+		} catch (SocketException e) {
+			e.printStackTrace();
+			socket.close();
+			return null;
+		}
+		return socket;
+	}
+
+	public static Thread startDaemonThread(Runnable r, String name) {
+		Thread t = new Thread(r, name);
+		t.setDaemon(true);
+		t.start();
+		return t;
+	}
+
+	/**
+	 * The ID of the view as specified by the extension.
+	 */
+	public static final String ID = "netconsole2.views.RiologView";
+
+	Text text;
+	Thread listener;
+	Thread transferer;
+	
+	volatile DatagramSocket socket_hook = null;
+	volatile boolean discard = false;
+	volatile boolean paused = false;
+	volatile boolean cleanup = false;
+	
+	private Action clearAction;
+	private Action pauseAction;
+	private Action discardAction;
+	private Action unpauseAction;
+	private Action undiscardAction;
+	private Button discardButton;
+	private Button pauseButton;
+
+	/**
+	 * The constructor.
+	 */
+	public RiologView() {
+	}
+
+	private void contributeToActionBars() {
+		IActionBars bars = getViewSite().getActionBars();
+		fillLocalPullDown(bars.getMenuManager());
+		fillLocalToolBar(bars.getToolBarManager());
+	}
+
+	/**
+	 * This is a callback that will allow us to create the viewer and initialize
+	 * it.
+	 */
+	public void createPartControl(Composite parent) {
+		GridLayout glayout = new GridLayout();
+		glayout.numColumns = 1;
+		parent.setLayout(glayout);
+
+		text = new Text(parent, SWT.MULTI | SWT.H_SCROLL | SWT.V_SCROLL
+				| SWT.READ_ONLY);
+		{
+			GridData gdata = new GridData();
+			gdata.grabExcessVerticalSpace = true;
+			gdata.grabExcessHorizontalSpace = true;
+			gdata.horizontalAlignment = SWT.FILL;
+			gdata.verticalAlignment = SWT.FILL;
+			text.setLayoutData(gdata);
+		}
+
+		Composite row = new Composite(parent, SWT.NONE);
+
+		row.setLayout(new FillLayout(SWT.HORIZONTAL));
+
+		{
+			GridData gdata = new GridData();
+			gdata.grabExcessVerticalSpace = false;
+			gdata.grabExcessHorizontalSpace = true;
+			gdata.horizontalAlignment = SWT.FILL;
+			gdata.verticalAlignment = SWT.CENTER;
+			row.setLayoutData(gdata);
+		}
+
+
+
+		// Create the help context id for the viewer's control
+		PlatformUI.getWorkbench().getHelpSystem()
+				.setHelp(parent, "netconsole2.text");
+		makeActions();
+		makeButtons(row);
+		hookContextMenu();
+		contributeToActionBars();
+		startListening();
+	}
+
+	public void makeButtons(Composite parent) {
+		pauseButton = new Button(parent, SWT.TOGGLE);
+		pauseButton.setText(pauseAction.getText());
+		pauseButton.addSelectionListener(new SelectionAdapter() {
+			@Override
+			public void widgetSelected(SelectionEvent e) {
+				if (pauseButton.getSelection()) {
+					pauseAction.run();
+				} else {
+					unpauseAction.run();
+				}
+			}
+		});
+		discardButton = new Button(parent, SWT.TOGGLE);
+		discardButton.setText(discardAction.getText());
+		discardButton.addSelectionListener(new SelectionAdapter() {
+			@Override
+			public void widgetSelected(SelectionEvent e) {
+				if (discardButton.getSelection()) {
+					discardAction.run();
+				} else {
+					undiscardAction.run();
+				}
+			}
+		});
+		Button clearButton = new Button(parent, SWT.PUSH);
+		clearButton.setText(clearAction.getText());
+		clearButton.addSelectionListener(new SelectionAdapter() {
+			@Override
+			public void widgetSelected(SelectionEvent e) {
+				clearAction.run();
+			}
+		});
+	}
+	
+	@Override
+	public void dispose() {
+		stopListening();
+		super.dispose();
+	}
+
+	private void fillContextMenu(IMenuManager manager) {
+		manager.add(pauseAction);
+		manager.add(unpauseAction);
+		manager.add(new Separator());
+		manager.add(clearAction);
+		manager.add(new Separator());
+		manager.add(discardAction);
+		manager.add(undiscardAction);
+		manager.add(new Separator());
+		manager.add(confAction("Copy", "Copy selected text",
+				ISharedImages.IMG_TOOL_COPY, new Action() {
+					@Override
+					public void run() {
+						text.copy();
+					}
+				}));
+		manager.add(confAction("Select All", "Select all text", "",
+				new Action() {
+					@Override
+					public void run() {
+						text.selectAll();
+					}
+				}));
+	}
+
+	private void fillLocalPullDown(IMenuManager manager) {
+		manager.add(pauseAction);
+		manager.add(unpauseAction);
+		manager.add(new Separator());
+		manager.add(clearAction);
+		manager.add(new Separator());
+		manager.add(discardAction);
+		manager.add(undiscardAction);
+	}
+
+	private void fillLocalToolBar(IToolBarManager manager) {
+		manager.add(pauseAction);
+		manager.add(unpauseAction);
+		manager.add(new Separator());
+		manager.add(clearAction);
+		manager.add(new Separator());
+		manager.add(discardAction);
+		manager.add(undiscardAction);
+	}
+
+	private void hookContextMenu() {
+		MenuManager menuMgr = new MenuManager("#PopupMenu");
+		menuMgr.setRemoveAllWhenShown(true);
+		menuMgr.addMenuListener(new IMenuListener() {
+			public void menuAboutToShow(IMenuManager manager) {
+				RiologView.this.fillContextMenu(manager);
+			}
+		});
+		Menu menu = menuMgr.createContextMenu(text);
+		text.setMenu(menu);
+	}
+
+	private void makeActions() {
+		clearAction = confAction("Clear Log", "Empty the textbox",
+				ISharedImages.IMG_ETOOL_CLEAR, new Action() {
+					public void run() {
+						text.setText("");
+					}
+				});
+
+		pauseAction = confAction("Pause Display",
+				"Stop adding packets to the textbox",
+				ISharedImages.IMG_ELCL_STOP, new Action() {
+					public void run() {
+						pauseAction.setEnabled(false);
+						unpauseAction.setEnabled(true);
+						pauseButton.setSelection(true);
+						pauseButton.setText("Show 0 Packets");
+						paused = true;
+					}
+				});
+		pauseAction.setEnabled(true);
+		unpauseAction = confAction("Continue Display",
+				"Continue adding packets to the textbox",
+				ISharedImages.IMG_TOOL_FORWARD, new Action() {
+					public void run() {
+						paused = false;
+						transferer.interrupt();
+						pauseAction.setEnabled(true);
+						unpauseAction.setEnabled(false);
+						pauseButton.setSelection(false);
+						pauseButton.setText(pauseAction.getText());
+					}
+				});
+		unpauseAction.setEnabled(false);
+
+		discardAction = confAction("Discard Incoming",
+				"Drop all incoming packets", ISharedImages.IMG_ETOOL_DELETE,
+				new Action() {
+					public void run() {
+						discard = true;
+						discardAction.setEnabled(false);
+						undiscardAction.setEnabled(true);
+						discardButton.setSelection(true);
+						discardButton.setText(undiscardAction.getText());
+					}
+				});
+		discardAction.setEnabled(true);
+		undiscardAction = confAction("Accept Incoming",
+				"Accept all incoming packets", ISharedImages.IMG_OBJ_ADD,
+				new Action() {
+					public void run() {
+						discard = false;
+						discardAction.setEnabled(true);
+						undiscardAction.setEnabled(false);
+						discardButton.setSelection(false);
+						discardButton.setText(discardAction.getText());
+					}
+				});
+		undiscardAction.setEnabled(false);
+	}
+
+	/**
+	 * Passing the focus request to the viewer's control.
+	 */
+	public void setFocus() {
+		text.setFocus();
+	}
+	
+	public static String drainToString(ArrayList<byte[]> arr) {
+		int netlength = 0;
+		for (byte[] b : arr) {
+			netlength += b.length;
+		}
+
+		byte[] sum = new byte[netlength];
+		int mark = 0;
+		for (int i=0;i<arr.size();i++) {
+			byte[] b = arr.get(i);
+			System.arraycopy(b, 0, sum, mark, b.length);
+			arr.set(i, null);
+			mark += b.length;
+		}
+		arr.clear();
+		return new String(sum);
+		
+	}
+
+	void startListening() {
+		final BlockingQueue<byte[]> queue = new LinkedBlockingQueue<>();
+		listener = startDaemonThread(new Runnable() {
+			@Override
+			public void run() {
+				DatagramSocket socket = makeRecvSocket();
+				if (socket == null)
+					return;
+				socket_hook = socket;
+				byte[] buf = new byte[4096];
+				DatagramPacket datagram = new DatagramPacket(buf, buf.length);
+				while (!Thread.interrupted()) {
+					byte[] s = getPacket(socket, datagram);
+					if (s != null && !discard) {
+						try {
+							queue.put(s);
+						} catch (InterruptedException e) {
+							socket.close();
+							return;
+						}
+					}
+				}
+				socket.close();
+			}
+		}, "Riolog-Listener");
+		transferer = startDaemonThread(new Runnable() {
+			@Override
+			public void run() {
+				final ArrayList<byte[]> temp = new ArrayList<>();
+				while (!cleanup) {
+					try {
+						temp.add(queue.take());
+					} catch (InterruptedException e) {
+						if (cleanup) {
+							return;
+						}
+					}
+					queue.drainTo(temp);
+					if (!paused) {
+						Display.getDefault().syncExec(new Runnable() {
+							@Override
+							public void run() {
+								if (text.isDisposed())
+									return;
+								text.append(drainToString(temp));
+							}
+						});
+					} else {
+						Display.getDefault().syncExec(new Runnable() {
+							@Override
+							public void run() {
+								if (paused) {
+									if (temp.size() == 1) {
+										pauseButton.setText("Show 1 Packet\u2002");
+									} else {
+										pauseButton.setText("Show " + String.valueOf(temp.size()) + " Packets");
+									}
+								}
+							}
+						});
+					}
+				}
+			}
+		}, "Riolog-Transfer");
+	}
+
+	void stopListening() {
+		cleanup = true;
+		if (socket_hook != null) {
+			socket_hook.close();
+		}
+		listener.interrupt();
+		transferer.interrupt();
+	}
+}

eclipse-plugins/pom.xml

@@ -14,12 +14,13 @@
     <module>edu.wpi.first.wpilib.plugins.cpp.feature</module>
     <module>edu.wpi.first.wpilib.plugins.java</module>
     <module>edu.wpi.first.wpilib.plugins.java.feature</module>
+    <module>edu.wpi.first.wpilib.plugins.riolog</module>
     <module>edu.wpi.first.wpilib.plugins.updatesite</module>
   </modules>
   
   <properties>
     <!-- local-repository>C:/Users/wpilibj-buildmaster/maven-repository</local-repository-->
-    <tycho-version>0.18.1</tycho-version>
+    <tycho-version>0.21.0</tycho-version>
   </properties>
 
   <repositories>

hal/include/HAL/Errors.hpp

@@ -45,3 +45,16 @@
 #define ANALOG_TRIGGER_PULSE_OUTPUT_ERROR_MESSAGE "HAL: Attempted to read AnalogTrigger pulse output."
 #define PARAMETER_OUT_OF_RANGE -1028
 #define PARAMETER_OUT_OF_RANGE_MESSAGE "HAL: A parameter is out of range."
+
+#define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
+#define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"
+#define VI_ERROR_RSRC_LOCKED_MESSAGE "HAL - VISA: Resource Locked"
+#define VI_ERROR_RSRC_NFOUND_MESSAGE "HAL - VISA: Resource Not Found"
+#define VI_ERROR_INV_RSRC_NAME_MESSAGE "HAL - VISA: Invalid Resource Name"  
+#define VI_ERROR_QUEUE_OVERFLOW_MESSAGE "HAL - VISA: Queue Overflow" 
+#define VI_ERROR_IO_MESSAGE "HAL - VISA: General IO Error"
+#define VI_ERROR_ASRL_PARITY_MESSAGE "HAL - VISA: Parity Error"
+#define VI_ERROR_ASRL_FRAMING_MESSAGE "HAL - VISA: Framing Error"
+#define VI_ERROR_ASRL_OVERRUN_MESSAGE "HAL - VISA: Buffer Overrun Error" 
+#define VI_ERROR_RSRC_BUSY_MESSAGE "HAL - VISA: Resource Busy"
+#define VI_ERROR_INV_PARAMETER_MESSAGE "HAL - VISA: Invalid Parameter" 

hal/include/HAL/HAL.hpp

@@ -14,7 +14,6 @@
 
 #include "Accelerometer.hpp"
 #include "Analog.hpp"
-#include "CAN.hpp"
 #include "Compressor.hpp"
 #include "Digital.hpp"
 #include "Solenoid.hpp"
@@ -23,6 +22,7 @@
 #include "Errors.hpp"
 #include "PDP.hpp"
 #include "Power.hpp"
+#include "SerialPort.hpp"
 
 #include "Utilities.hpp"
 #include "Semaphore.hpp"
@@ -177,7 +177,20 @@ struct HALJoystickPOVs {
 	int16_t povs[kMaxJoystickPOVs];
 };
 
-typedef uint32_t HALJoystickButtons;
+struct HALJoystickButtons {
+	uint32_t buttons;
+	uint8_t count;
+};
+
+struct HALJoystickDescriptor {
+	uint8_t isXbox;
+	uint8_t type;
+	char name[256];
+	uint8_t axisCount;
+	uint8_t axisTypes;
+	uint8_t buttonCount;
+	uint8_t povCount;
+};
 
 inline float intToFloat(int value)
 {
@@ -212,9 +225,15 @@ extern "C"
 	int HALGetAllianceStation(enum HALAllianceStationID *allianceStation);
 	int HALGetJoystickAxes(uint8_t joystickNum, HALJoystickAxes *axes);
 	int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs);
-	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count);
+	int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons);
+	int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc);
+	int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble);
+	int HALGetMatchTime(float *matchTime);
 
-	void HALSetNewDataSem(pthread_mutex_t *);
+	void HALSetNewDataSem(pthread_cond_t *);
+	
+	bool HALGetSystemActive(int32_t *status);
+	bool HALGetBrownedOut(int32_t *status);
 
 	int HALInitialize(int mode = 0);
 	void HALNetworkCommunicationObserveUserProgramStarting();

hal/include/HAL/PDP.hpp

@@ -11,4 +11,9 @@ extern "C"
 	double getPDPTemperature(int32_t *status);
 	double getPDPVoltage(int32_t *status);
 	double getPDPChannelCurrent(uint8_t channel, int32_t *status);
+	double getPDPTotalCurrent(int32_t *status);
+	double getPDPTotalPower(int32_t *status);
+	double getPDPTotalEnergy(int32_t *status);
+	void resetPDPTotalEnergy(int32_t *status);
+	void clearPDPStickyFaults(int32_t *status);
 }

hal/include/HAL/Power.hpp

@@ -8,8 +8,14 @@ extern "C"
 	float getVinCurrent(int32_t *status);
 	float getUserVoltage6V(int32_t *status);
 	float getUserCurrent6V(int32_t *status);
+	bool getUserActive6V(int32_t *status);
+	int getUserCurrentFaults6V(int32_t *status);
 	float getUserVoltage5V(int32_t *status);
 	float getUserCurrent5V(int32_t *status);
+	bool getUserActive5V(int32_t *status);
+	int getUserCurrentFaults5V(int32_t *status);
 	float getUserVoltage3V3(int32_t *status);
 	float getUserCurrent3V3(int32_t *status);
+	bool getUserActive3V3(int32_t *status);
+	int getUserCurrentFaults3V3(int32_t *status);
 }

hal/include/HAL/Semaphore.hpp

@@ -46,7 +46,7 @@ extern "C"
 
 	MULTIWAIT_ID initializeMultiWait();
 	void deleteMultiWait(MULTIWAIT_ID sem);
-	int8_t takeMultiWait(MULTIWAIT_ID sem, int32_t timeout);
+	int8_t takeMultiWait(MULTIWAIT_ID sem, MUTEX_ID m, int32_t timeout);
 	int8_t giveMultiWait(MULTIWAIT_ID sem);
 }
 

hal/include/HAL/SerialPort.hpp

@@ -0,0 +1,29 @@
+#pragma once
+
+#ifdef __vxworks
+#include <vxWorks.h>
+#else
+#include <stdint.h>
+#endif
+
+extern "C"
+{
+	void serialInitializePort(uint8_t port, int32_t *status);
+	void serialSetBaudRate(uint8_t port, uint32_t baud, int32_t *status);
+	void serialSetDataBits(uint8_t port, uint8_t bits, int32_t *status);
+	void serialSetParity(uint8_t port, uint8_t parity, int32_t *status);
+	void serialSetStopBits(uint8_t port, uint8_t stopBits, int32_t *status);
+	void serialSetWriteMode(uint8_t port, uint8_t mode, int32_t *status);
+	void serialSetFlowControl(uint8_t port, uint8_t flow, int32_t *status);
+	void serialSetTimeout(uint8_t port, float timeout, int32_t *status);
+	void serialEnableTermination(uint8_t port, char terminator, int32_t *status);
+	void serialDisableTermination(uint8_t port, int32_t *status);
+	void serialSetReadBufferSize(uint8_t port, uint32_t size, int32_t *status);
+	void serialSetWriteBufferSize(uint8_t port, uint32_t size, int32_t *status);
+	int32_t serialGetBytesReceived(uint8_t port, int32_t *status);
+	uint32_t serialRead(uint8_t port, char* buffer, int32_t count, int32_t *status);
+	uint32_t serialWrite(uint8_t port, const char *buffer, int32_t count, int32_t *status);
+	void serialFlush(uint8_t port, int32_t *status);
+	void serialClear(uint8_t port, int32_t *status);
+	void serialClose(uint8_t port, int32_t *status);
+}

hal/lib/Athena/CAN.cpp

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

hal/lib/Athena/Digital.cpp

@@ -242,7 +242,7 @@ void setPWMPeriodScale(void* digital_port_pointer, uint32_t squelchMask, int32_t
 
 /**
  * Allocate a DO PWM Generator.
- * Allocate PWM generators so that they are not accidently reused.
+ * Allocate PWM generators so that they are not accidentally reused.
  *
  * @return PWM Generator refnum
  */
@@ -299,12 +299,12 @@ void setPWMDutyCycle(void* pwmGenerator, double dutyCycle, int32_t *status) {
 	if(id < 4)
 		digitalSystem->writePWMDutyCycleA(id, (uint8_t)rawDutyCycle, status);
 	else 
-		digitalSystem->writePWMDutyCycleB(id - 3, (uint8_t)rawDutyCycle, status);
+		digitalSystem->writePWMDutyCycleB(id - 4, (uint8_t)rawDutyCycle, status);
   }
 }
 
 /**
- * Configure which DO channel the PWM siganl is output on
+ * Configure which DO channel the PWM signal is output on
  *
  * @param pwmGenerator The generator index reserved by AllocateDO_PWM()
  * @param channel The Digital Output channel to output on

hal/lib/Athena/FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h

@@ -4,6 +4,6 @@
 #ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
 #define __RoboRIO_FRC_ChipObject_Aliases_h__
 
-#define nRoboRIO_FPGANamespace nFRC_2015_1_0_9
+#define nRoboRIO_FPGANamespace nFRC_2015_1_0_A
 
 #endif // __RoboRIO_FRC_ChipObject_Aliases_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nInvariantFPGANamespace/nInterfaceGlobals.h

@@ -0,0 +1,15 @@
+// Copyright (c) National Instruments 2008.  All Rights Reserved.
+// Do Not Edit... this file is generated!
+
+#ifndef __nFRC_C0EF_1_1_0_nInterfaceGlobals_h__
+#define __nFRC_C0EF_1_1_0_nInterfaceGlobals_h__
+
+namespace nFPGA
+{
+namespace nFRC_C0EF_1_1_0
+{
+   extern unsigned int g_currentTargetClass;
+}
+}
+
+#endif // __nFRC_C0EF_1_1_0_nInterfaceGlobals_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h

@@ -1,15 +1,15 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_nInterfaceGlobals_h__
-#define __nFRC_2015_1_0_9_nInterfaceGlobals_h__
+#ifndef __nFRC_2015_1_0_A_nInterfaceGlobals_h__
+#define __nFRC_2015_1_0_A_nInterfaceGlobals_h__
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
    extern unsigned int g_currentTargetClass;
 }
 }
 
-#endif // __nFRC_2015_1_0_9_nInterfaceGlobals_h__
+#endif // __nFRC_2015_1_0_A_nInterfaceGlobals_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_AI_h__
-#define __nFRC_2015_1_0_9_AI_h__
+#ifndef __nFRC_2015_1_0_A_AI_h__
+#define __nFRC_2015_1_0_A_AI_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tAI
@@ -140,4 +140,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_AI_h__
+#endif // __nFRC_2015_1_0_A_AI_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_AO_h__
-#define __nFRC_2015_1_0_9_AO_h__
+#ifndef __nFRC_2015_1_0_A_AO_h__
+#define __nFRC_2015_1_0_A_AO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tAO
@@ -47,4 +47,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_AO_h__
+#endif // __nFRC_2015_1_0_A_AO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_Accel_h__
-#define __nFRC_2015_1_0_9_Accel_h__
+#ifndef __nFRC_2015_1_0_A_Accel_h__
+#define __nFRC_2015_1_0_A_Accel_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tAccel
@@ -99,4 +99,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_Accel_h__
+#endif // __nFRC_2015_1_0_A_Accel_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_Accumulator_h__
-#define __nFRC_2015_1_0_9_Accumulator_h__
+#ifndef __nFRC_2015_1_0_A_Accumulator_h__
+#define __nFRC_2015_1_0_A_Accumulator_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tAccumulator
@@ -84,4 +84,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_Accumulator_h__
+#endif // __nFRC_2015_1_0_A_Accumulator_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_Alarm_h__
-#define __nFRC_2015_1_0_9_Alarm_h__
+#ifndef __nFRC_2015_1_0_A_Alarm_h__
+#define __nFRC_2015_1_0_A_Alarm_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tAlarm
@@ -54,4 +54,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_Alarm_h__
+#endif // __nFRC_2015_1_0_A_Alarm_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_AnalogTrigger_h__
-#define __nFRC_2015_1_0_9_AnalogTrigger_h__
+#ifndef __nFRC_2015_1_0_A_AnalogTrigger_h__
+#define __nFRC_2015_1_0_A_AnalogTrigger_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tAnalogTrigger
@@ -126,4 +126,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_AnalogTrigger_h__
+#endif // __nFRC_2015_1_0_A_AnalogTrigger_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_BIST_h__
-#define __nFRC_2015_1_0_9_BIST_h__
+#ifndef __nFRC_2015_1_0_A_BIST_h__
+#define __nFRC_2015_1_0_A_BIST_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tBIST
@@ -87,4 +87,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_BIST_h__
+#endif // __nFRC_2015_1_0_A_BIST_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_Counter_h__
-#define __nFRC_2015_1_0_9_Counter_h__
+#ifndef __nFRC_2015_1_0_A_Counter_h__
+#define __nFRC_2015_1_0_A_Counter_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tCounter
@@ -216,4 +216,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_Counter_h__
+#endif // __nFRC_2015_1_0_A_Counter_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_DIO_h__
-#define __nFRC_2015_1_0_9_DIO_h__
+#ifndef __nFRC_2015_1_0_A_DIO_h__
+#define __nFRC_2015_1_0_A_DIO_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tDIO
@@ -245,4 +245,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_DIO_h__
+#endif // __nFRC_2015_1_0_A_DIO_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_DMA_h__
-#define __nFRC_2015_1_0_9_DMA_h__
+#ifndef __nFRC_2015_1_0_A_DMA_h__
+#define __nFRC_2015_1_0_A_DMA_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tDMA
@@ -185,4 +185,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_DMA_h__
+#endif // __nFRC_2015_1_0_A_DMA_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_Encoder_h__
-#define __nFRC_2015_1_0_9_Encoder_h__
+#ifndef __nFRC_2015_1_0_A_Encoder_h__
+#define __nFRC_2015_1_0_A_Encoder_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tEncoder
@@ -24,7 +24,7 @@ public:
 
    typedef enum
    {
-      kNumSystems = 4,
+      kNumSystems = 8,
    } tIfaceConstants;
 
    typedef
@@ -196,4 +196,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_Encoder_h__
+#endif // __nFRC_2015_1_0_A_Encoder_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_Global_h__
-#define __nFRC_2015_1_0_9_Global_h__
+#ifndef __nFRC_2015_1_0_A_Global_h__
+#define __nFRC_2015_1_0_A_Global_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tGlobal
@@ -101,4 +101,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_Global_h__
+#endif // __nFRC_2015_1_0_A_Global_h__

hal/lib/Athena/FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h

@@ -1,14 +1,14 @@
 // Copyright (c) National Instruments 2008.  All Rights Reserved.
 // Do Not Edit... this file is generated!
 
-#ifndef __nFRC_2015_1_0_9_Interrupt_h__
-#define __nFRC_2015_1_0_9_Interrupt_h__
+#ifndef __nFRC_2015_1_0_A_Interrupt_h__
+#define __nFRC_2015_1_0_A_Interrupt_h__
 
 #include "tSystemInterface.h"
 
 namespace nFPGA
 {
-namespace nFRC_2015_1_0_9
+namespace nFRC_2015_1_0_A
 {
 
 class tInterrupt
@@ -97,4 +97,4 @@ private:
 }
 }
 
-#endif // __nFRC_2015_1_0_9_Interrupt_h__
+#endif // __nFRC_2015_1_0_A_Interrupt_h__