Don't send DS errors if no DS.

Change-Id: I765d8c21371e772ec09bf696f6dd2fff43f8ed24

.gitignore

@@ -10,6 +10,13 @@ bin/
 .project
 .classpath
 **/dependency-reduced-pom.xml
+wpilibj/wpilibJavaJNI/nivision/*.c
+wpilibj/wpilibJavaJNI/nivision/*.cpp
+wpilibj/wpilibJavaJNI/nivision/*.s
+wpilibj/wpilibJavaJNI/nivision/*_arm.ini
+wpilibj/wpilibJavaJNI/nivision/*.java
+wpilibj/wpilibJavaJNI/nivision/nivision_funcs.txt
+wpilibj/wpilibJavaJNI/nivision/imaqdx_funcs.txt
 
 # Created by the jenkins test script
 test-reports
@@ -155,6 +162,10 @@ local.properties
 .settings/
 .loadpath
 
+### Python ###
+*.pyc
+__pycache__
+
 # External tool builders
 .externalToolBuilders/
 

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

@@ -85,6 +85,14 @@
 				  <outputDirectory>${tools-zip}</outputDirectory>
 				  <destFileName>SmartDashboard.jar</destFileName>
 	            </artifactItem>
+	            <artifactItem>
+	              <groupId>edu.wpi.first.wpilib</groupId>
+	              <artifactId>sfx</artifactId>
+	              <type>zip</type>
+	              <classifier>zip</classifier>
+				  <outputDirectory>${tools-zip}/../</outputDirectory>
+				  <destFileName>sfx.zip</destFileName>
+	            </artifactItem>
 	            <artifactItem>
 	              <groupId>edu.wpi.first.wpilib.networktables</groupId>
 	              <artifactId>OutlineViewer</artifactId>
@@ -92,6 +100,13 @@
 				  <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>
@@ -136,6 +151,7 @@
             </goals>
 		    <configuration>
 			  <target>
+				<unzip src="${tools-zip}/../sfx.zip" dest="${tools-zip}"/>
 			    <zip destfile="${project.build.directory}/classes/resources/tools.zip"
 				     basedir="${tools-zip}"
 				     update="true" />
@@ -201,6 +217,12 @@
 	  <artifactId>SmartDashboard</artifactId>
 	  <version>1.0.0-SNAPSHOT</version>
     </dependency>
+    <dependency>
+	  <groupId>edu.wpi.first.wpilib</groupId>
+	  <artifactId>sfx</artifactId>
+	              <type>zip</type>
+	  <version>LATEST</version>
+    </dependency>
     <dependency>
 	  <groupId>edu.wpi.first.wpilib.networktables</groupId>
 	  <artifactId>OutlineViewer</artifactId>

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

@@ -34,7 +34,7 @@ public class RunSFXDashboardAction implements IWorkbenchWindowActionDelegate {
 	 * @see IWorkbenchWindowActionDelegate#run
 	 */
 	public void run(IAction action) {
-		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools");
+		File dir = new File(WPILibCore.getDefault().getWPILibBaseDir()+File.separator+"tools"+File.separator+"sfx-2014.11.01");
 		File[] files = dir.listFiles(new FilenameFilter() {
 			@Override public boolean accept(File dir, String name) {
 				return name.startsWith("sfx") && name.endsWith(".jar");

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

@@ -6,10 +6,9 @@ import java.io.IOException;
 import java.net.URI;
 import java.net.URISyntaxException;
 
-import javax.swing.JOptionPane;
-
 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;
 
@@ -21,8 +20,8 @@ public class SimulationNotification {
 	
 	public static void showUnsupported() {
 		String title = "Simulation Unsupported";
-		String message = SIMULATION_UNSUPPORTED_MSG; 
-		JOptionPane.showMessageDialog(null, message, title, JOptionPane.OK_OPTION);
+		String message = SIMULATION_UNSUPPORTED_MSG;
+		MessageDialog.openError(null, title, message);
 		try {
 			Desktop.getDesktop().browse(new URI(URL));
 		} catch (IOException e) {

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.cpp/resources/templates/.cproject

@@ -81,8 +81,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
 									<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/gazebo-3.2"/>
+									<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"/>

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/2015Vision/Color_src/Robot.cpp

@@ -0,0 +1,237 @@
+#include "WPILib.h"
+#include <vector>
+#include <cmath>
+
+/**
+ * Example of finding yellow totes based on color.
+ * This example utilizes an image file, which you need to copy to the roboRIO
+ * To use a camera you will have to integrate the appropriate camera details with this example.
+ * To use a USB camera instead, see the IntermediateVision example for details
+ * on using the USB camera. To use an Axis Camera, see the AxisCamera example for details on
+ * using an Axis Camera.
+ *
+ * Sample images can be found here: http://wp.wpi.edu/wpilib/2015/01/16/sample-images-for-vision-projects/ 
+ */
+class VisionColor2015Sample : public SampleRobot
+{
+	//A structure to hold measurements of a particle
+	struct ParticleReport {
+		double PercentAreaToImageArea;
+		double Area;
+		double ConvexHullArea;
+		double BoundingRectLeft;
+		double BoundingRectTop;
+		double BoundingRectRight;
+		double BoundingRectBottom;
+	};
+
+	//Structure to represent the scores for the various tests used for target identification
+	struct Scores {
+		double Trapezoid;
+		double LongAspect;
+		double ShortAspect;
+		double AreaToConvexHullArea;
+	};
+
+	//Images
+	Image *frame;
+	Image *binaryFrame;
+	int imaqError;
+
+	//Constants
+	Range TOTE_HUE_RANGE = {24, 49};	//Default hue range for yellow tote
+	Range TOTE_SAT_RANGE = {67, 255};	//Default saturation range for yellow tote
+	Range TOTE_VAL_RANGE = {49, 255};	//Default value range for yellow tote
+	double AREA_MINIMUM = 2; //Default Area minimum for particle as a percentage of total image area
+	double LONG_RATIO = 2.22; //Tote long side = 26.9 / Tote height = 12.1 = 2.22
+	double SHORT_RATIO = 1.4; //Tote short side = 16.9 / Tote height = 12.1 = 1.4
+	double SCORE_MIN = 75.0;  //Minimum score to be considered a tote
+	double VIEW_ANGLE = 49.4; //View angle fo camera, set to Axis m1011 by default, 64 for m1013, 51.7 for 206, 52 for HD3000 square, 60 for HD3000 640x480
+	ParticleFilterCriteria2 criteria[1];
+	ParticleFilterOptions2 filterOptions = {0,0,1,1};
+	Scores scores;
+
+
+public:
+	void RobotInit() override {
+	    // create images
+		frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
+		binaryFrame = imaqCreateImage(IMAQ_IMAGE_U8, 0);
+
+		//Put default values to SmartDashboard so fields will appear
+		SmartDashboard::PutNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+		SmartDashboard::PutNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+		SmartDashboard::PutNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+		SmartDashboard::PutNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+		SmartDashboard::PutNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+		SmartDashboard::PutNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+		SmartDashboard::PutNumber("Area min %", AREA_MINIMUM);
+	}
+
+	void Autonomous() override {
+		while (IsAutonomous() && IsEnabled())
+		{
+			//read file in from disk. For this example to run you need to copy image20.jpg from the SampleImages folder to the
+			//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
+			imaqError = imaqReadFile(frame, "//home//lvuser//SampleImages//image20.jpg", NULL, NULL);
+
+			//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
+			TOTE_HUE_RANGE.minValue = SmartDashboard::GetNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+			TOTE_HUE_RANGE.maxValue = SmartDashboard::GetNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+			TOTE_SAT_RANGE.minValue = SmartDashboard::GetNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+			TOTE_SAT_RANGE.maxValue = SmartDashboard::GetNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+			TOTE_VAL_RANGE.minValue = SmartDashboard::GetNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+			TOTE_VAL_RANGE.maxValue = SmartDashboard::GetNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+
+			//Threshold the image looking for yellow (tote color)
+			imaqError = imaqColorThreshold(binaryFrame, frame, 255, IMAQ_HSV, &TOTE_HUE_RANGE, &TOTE_SAT_RANGE, &TOTE_VAL_RANGE);
+
+			//Send particle count to dashboard
+			int numParticles = 0;
+			imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
+			SmartDashboard::PutNumber("Masked particles", numParticles);
+
+			//Send masked image to dashboard to assist in tweaking mask.
+			SendToDashboard(binaryFrame, imaqError);
+
+			//filter out small particles
+			float areaMin = SmartDashboard::GetNumber("Area min %", AREA_MINIMUM);
+			criteria[0] = {IMAQ_MT_AREA_BY_IMAGE_AREA, areaMin, 100, false, false};
+			imaqError = imaqParticleFilter4(binaryFrame, binaryFrame, criteria, 1, &filterOptions, NULL, NULL);
+
+			//Send particle count after filtering to dashboard
+			imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
+			SmartDashboard::PutNumber("Filtered particles", numParticles);
+
+			if(numParticles > 0)
+			{
+				//Measure particles and sort by particle size
+				std::vector<ParticleReport> particles;
+				for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
+				{
+					ParticleReport par;
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA_BY_IMAGE_AREA, &(par.PercentAreaToImageArea));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA, &(par.Area));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_CONVEX_HULL_AREA, &(par.ConvexHullArea));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_TOP, &(par.BoundingRectTop));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_LEFT, &(par.BoundingRectLeft));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_BOTTOM, &(par.BoundingRectBottom));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_RIGHT, &(par.BoundingRectRight));
+					particles.push_back(par);
+				}
+				sort(particles.begin(), particles.end(), CompareParticleSizes);
+
+				//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
+				//for the reader. Note that the long and short side scores expect a single tote and will not work for a stack of 2 or more totes.
+				//Modification of the code to accommodate 2 or more stacked totes is left as an exercise for the reader.
+				scores.Trapezoid = TrapezoidScore(particles.at(0));
+				SmartDashboard::PutNumber("Trapezoid", scores.Trapezoid);
+				scores.LongAspect = LongSideScore(particles.at(0));
+				SmartDashboard::PutNumber("Long Aspect", scores.LongAspect);
+				scores.ShortAspect = ShortSideScore(particles.at(0));
+				SmartDashboard::PutNumber("Short Aspect", scores.ShortAspect);
+				scores.AreaToConvexHullArea = ConvexHullAreaScore(particles.at(0));
+				SmartDashboard::PutNumber("Convex Hull Area", scores.AreaToConvexHullArea);
+				bool isTote = scores.Trapezoid > SCORE_MIN && (scores.LongAspect > SCORE_MIN || scores.ShortAspect > SCORE_MIN) && scores.AreaToConvexHullArea > SCORE_MIN;
+				bool isLong = scores.LongAspect > scores.ShortAspect;
+
+				//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
+				SmartDashboard::PutBoolean("IsTote", isTote);
+				SmartDashboard::PutNumber("Distance", computeDistance(binaryFrame, particles.at(0), isLong));
+			} else {
+				SmartDashboard::PutBoolean("IsTote", false);
+			}
+
+			Wait(0.005);				// wait for a motor update time
+		}
+	}
+
+	void OperatorControl() override {
+		while(IsOperatorControl() && IsEnabled()) {
+			Wait(0.005);				// wait for a motor update time
+		}
+	}
+
+
+	//Send image to dashboard if IMAQ has not thrown an error
+	void SendToDashboard(Image *image, int error)
+	{
+		if(error < ERR_SUCCESS) {
+			DriverStation::ReportError("Send To Dashboard error: " + std::to_string((long)imaqError) + "\n");
+		} else {
+			CameraServer::GetInstance()->SetImage(image);
+		}
+	}
+
+	//Comparator function for sorting particles. Returns true if particle 1 is larger
+	static bool CompareParticleSizes(ParticleReport particle1, ParticleReport particle2)
+	{
+		//we want descending sort order
+		return particle1.PercentAreaToImageArea > particle2.PercentAreaToImageArea;
+	}
+
+	/**
+	 * Converts a ratio with ideal value of 1 to a score. The resulting function is piecewise
+	 * linear going from (0,0) to (1,100) to (2,0) and is 0 for all inputs outside the range 0-2
+	 */
+	double ratioToScore(double ratio)
+	{
+		return (fmax(0, fmin(100*(1-fabs(1-ratio)), 100)));
+	}
+
+	/**
+	 * Method to score convex hull area. This scores how "complete" the particle is. Particles with large holes will score worse than a filled in shape
+	 */
+	double ConvexHullAreaScore(ParticleReport report)
+	{
+		return ratioToScore((report.Area/report.ConvexHullArea)*1.18);
+	}
+
+	/**
+	 * Method to score if the particle appears to be a trapezoid. Compares the convex hull (filled in) area to the area of the bounding box.
+	 * The expectation is that the convex hull area is about 95.4% of the bounding box area for an ideal tote.
+	 */
+	double TrapezoidScore(ParticleReport report)
+	{
+		return ratioToScore(report.ConvexHullArea/((report.BoundingRectRight-report.BoundingRectLeft)*(report.BoundingRectBottom-report.BoundingRectTop)*.954));
+	}
+
+	/**
+	 * Method to score if the aspect ratio of the particle appears to match the long side of a tote.
+	 */
+	double LongSideScore(ParticleReport report)
+	{
+		return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop))/LONG_RATIO);
+	}
+
+	/**
+	 * Method to score if the aspect ratio of the particle appears to match the short side of a tote.
+	 */
+	double ShortSideScore(ParticleReport report){
+		return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop))/SHORT_RATIO);
+	}
+
+	/**
+	 * Computes the estimated distance to a target using the width of the particle in the image. For more information and graphics
+	 * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation.
+	 *
+	 * @param image The image to use for measuring the particle estimated rectangle
+	 * @param report The Particle Analysis Report for the particle
+	 * @param isLong Boolean indicating if the target is believed to be the long side of a tote
+	 * @return The estimated distance to the target in feet.
+	 */
+	double computeDistance (Image *image, ParticleReport report, bool isLong) {
+		double normalizedWidth, targetWidth;
+		int xRes, yRes;
+
+		imaqGetImageSize(image, &xRes, &yRes);
+		normalizedWidth = 2*(report.BoundingRectRight - report.BoundingRectLeft)/xRes;
+		SmartDashboard::PutNumber("Width", normalizedWidth);
+		targetWidth = isLong ? 26.9 : 16.9;
+
+		return  targetWidth/(normalizedWidth*12*tan(VIEW_ANGLE*M_PI/(180*2)));
+	}
+};
+
+START_ROBOT_CLASS(VisionColor2015Sample);
+

eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/2015Vision/Retro_src/Robot.cpp

@@ -0,0 +1,210 @@
+#include "WPILib.h"
+#include <vector>
+#include <cmath>
+
+/**
+ * Example of finding yellow totes based on retroreflective target.
+ * This example utilizes an image file, which you need to copy to the roboRIO
+ * To use a camera you will have to integrate the appropriate camera details with this example.
+ * To use a USB camera instead, see the IntermediateVision example for details
+ * on using the USB camera. To use an Axis Camera, see the AxisCamera example for details on
+ * using an Axis Camera.
+ *
+ * Sample images can be found here: http://wp.wpi.edu/wpilib/2015/01/16/sample-images-for-vision-projects/ 
+ */
+class VisionRetro2015Sample : public SampleRobot
+{
+	//A structure to hold measurements of a particle
+	struct ParticleReport {
+		double PercentAreaToImageArea;
+		double Area;
+		double BoundingRectLeft;
+		double BoundingRectTop;
+		double BoundingRectRight;
+		double BoundingRectBottom;
+	};
+
+	//Structure to represent the scores for the various tests used for target identification
+	struct Scores {
+		double Area;
+		double Aspect;
+	};
+
+	//Images
+	Image *frame;
+	Image *binaryFrame;
+	int imaqError;
+
+	//Constants
+	Range RING_HUE_RANGE = {101, 64};	//Default hue range for ring light
+	Range RING_SAT_RANGE = {88, 255};	//Default saturation range for ring light
+	Range RING_VAL_RANGE = {134, 255};	//Default value range for ring light
+	double AREA_MINIMUM = 0.5; //Default Area minimum for particle as a percentage of total image area
+	double LONG_RATIO = 2.22; //Tote long side = 26.9 / Tote height = 12.1 = 2.22
+	double SHORT_RATIO = 1.4; //Tote short side = 16.9 / Tote height = 12.1 = 1.4
+	double SCORE_MIN = 75.0;  //Minimum score to be considered a tote
+	double VIEW_ANGLE = 49.4; //View angle fo camera, set to Axis m1011 by default, 64 for m1013, 51.7 for 206, 52 for HD3000 square, 60 for HD3000 640x480
+	ParticleFilterCriteria2 criteria[1];
+	ParticleFilterOptions2 filterOptions = {0,0,1,1};
+	Scores scores;
+
+
+public:
+	void RobotInit() override {
+	    // create images
+		frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
+		binaryFrame = imaqCreateImage(IMAQ_IMAGE_U8, 0);
+
+		//Put default values to SmartDashboard so fields will appear
+		SmartDashboard::PutNumber("Tote hue min", RING_HUE_RANGE.minValue);
+		SmartDashboard::PutNumber("Tote hue max", RING_HUE_RANGE.maxValue);
+		SmartDashboard::PutNumber("Tote sat min", RING_SAT_RANGE.minValue);
+		SmartDashboard::PutNumber("Tote sat max", RING_SAT_RANGE.maxValue);
+		SmartDashboard::PutNumber("Tote val min", RING_VAL_RANGE.minValue);
+		SmartDashboard::PutNumber("Tote val max", RING_VAL_RANGE.maxValue);
+		SmartDashboard::PutNumber("Area min %", AREA_MINIMUM);
+	}
+
+	void Autonomous() override {
+		while (IsAutonomous() && IsEnabled())
+		{
+			//read file in from disk. For this example to run you need to copy image.jpg from the SampleImages folder to the
+			//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
+			imaqError = imaqReadFile(frame, "//home//lvuser//SampleImages//image.jpg", NULL, NULL);
+
+			//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
+			RING_HUE_RANGE.minValue = SmartDashboard::GetNumber("Tote hue min", RING_HUE_RANGE.minValue);
+			RING_HUE_RANGE.maxValue = SmartDashboard::GetNumber("Tote hue max", RING_HUE_RANGE.maxValue);
+			RING_SAT_RANGE.minValue = SmartDashboard::GetNumber("Tote sat min", RING_SAT_RANGE.minValue);
+			RING_SAT_RANGE.maxValue = SmartDashboard::GetNumber("Tote sat max", RING_SAT_RANGE.maxValue);
+			RING_VAL_RANGE.minValue = SmartDashboard::GetNumber("Tote val min", RING_VAL_RANGE.minValue);
+			RING_VAL_RANGE.maxValue = SmartDashboard::GetNumber("Tote val max", RING_VAL_RANGE.maxValue);
+
+			//Threshold the image looking for ring light color
+			imaqError = imaqColorThreshold(binaryFrame, frame, 255, IMAQ_HSV, &RING_HUE_RANGE, &RING_SAT_RANGE, &RING_VAL_RANGE);
+
+			//Send particle count to dashboard
+			int numParticles = 0;
+			imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
+			SmartDashboard::PutNumber("Masked particles", numParticles);
+
+			//Send masked image to dashboard to assist in tweaking mask.
+			SendToDashboard(binaryFrame, imaqError);
+
+			//filter out small particles
+			float areaMin = SmartDashboard::GetNumber("Area min %", AREA_MINIMUM);
+			criteria[0] = {IMAQ_MT_AREA_BY_IMAGE_AREA, areaMin, 100, false, false};
+			imaqError = imaqParticleFilter4(binaryFrame, binaryFrame, criteria, 1, &filterOptions, NULL, NULL);
+
+			//Send particle count after filtering to dashboard
+			imaqError = imaqCountParticles(binaryFrame, 1, &numParticles);
+			SmartDashboard::PutNumber("Filtered particles", numParticles);
+
+			if(numParticles > 0) {
+				//Measure particles and sort by particle size
+				std::vector<ParticleReport> particles;
+				for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
+				{
+					ParticleReport par;
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA_BY_IMAGE_AREA, &(par.PercentAreaToImageArea));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_AREA, &(par.Area));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_TOP, &(par.BoundingRectTop));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_LEFT, &(par.BoundingRectLeft));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_BOTTOM, &(par.BoundingRectBottom));
+					imaqMeasureParticle(binaryFrame, particleIndex, 0, IMAQ_MT_BOUNDING_RECT_RIGHT, &(par.BoundingRectRight));
+					particles.push_back(par);
+				}
+				sort(particles.begin(), particles.end(), CompareParticleSizes);
+
+				//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
+				//for the reader. Note that this scores and reports information about a single particle (single L shaped target). To get accurate information 
+				//about the location of the tote (not just the distance) you will need to correlate two adjacent targets in order to find the true center of the tote.
+				scores.Aspect = AspectScore(particles.at(0));
+				SmartDashboard::PutNumber("Aspect", scores.Aspect);
+				scores.Area = AreaScore(particles.at(0));
+				SmartDashboard::PutNumber("Area", scores.Area);
+				bool isTarget = scores.Area > SCORE_MIN && scores.Aspect > SCORE_MIN;
+
+				//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
+				SmartDashboard::PutBoolean("IsTarget", isTarget);
+				SmartDashboard::PutNumber("Distance", computeDistance(binaryFrame, particles.at(0)));
+			} else {
+				SmartDashboard::PutBoolean("IsTarget", false);
+			}
+
+			Wait(0.005);				// wait for a motor update time
+		}
+	}
+
+	void OperatorControl() override {
+		while(IsOperatorControl() && IsEnabled()) {
+			Wait(0.005);				// wait for a motor update time
+		}
+	}
+
+
+	//Send image to dashboard if IMAQ has not thrown an error
+	void SendToDashboard(Image *image, int error)
+	{
+		if(error < ERR_SUCCESS) {
+			DriverStation::ReportError("Send To Dashboard error: " + std::to_string((long)imaqError) + "\n");
+		} else {
+			CameraServer::GetInstance()->SetImage(binaryFrame);
+		}
+	}
+
+	//Comparator function for sorting particles. Returns true if particle 1 is larger
+	static bool CompareParticleSizes(ParticleReport particle1, ParticleReport particle2)
+	{
+		//we want descending sort order
+		return particle1.PercentAreaToImageArea > particle2.PercentAreaToImageArea;
+	}
+
+	/**
+	 * Converts a ratio with ideal value of 1 to a score. The resulting function is piecewise
+	 * linear going from (0,0) to (1,100) to (2,0) and is 0 for all inputs outside the range 0-2
+	 */
+	double ratioToScore(double ratio)
+	{
+		return (fmax(0, fmin(100*(1-fabs(1-ratio)), 100)));
+	}
+
+
+	double AreaScore(ParticleReport report)
+	{
+		double boundingArea = (report.BoundingRectBottom - report.BoundingRectTop) * (report.BoundingRectRight - report.BoundingRectLeft);
+		//Tape is 7" edge so 49" bounding rect. With 2" wide tape it covers 24" of the rect.
+		return ratioToScore((49/24)*report.Area/boundingArea);
+	}
+
+	/**
+	 * Method to score if the aspect ratio of the particle appears to match the retro-reflective target. Target is 7"x7" so aspect should be 1
+	 */
+	double AspectScore(ParticleReport report)
+	{
+		return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop)));
+	}
+
+
+	/**
+	 * Computes the estimated distance to a target using the width of the particle in the image. For more information and graphics
+	 * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation.
+	 *
+	 * @param image The image to use for measuring the particle estimated rectangle
+	 * @param report The Particle Analysis Report for the particle
+	 * @return The estimated distance to the target in feet.
+	 */
+	double computeDistance (Image *image, ParticleReport report) {
+		double normalizedWidth, targetWidth;
+		int xRes, yRes;
+
+		imaqGetImageSize(image, &xRes, &yRes);
+		normalizedWidth = 2*(report.BoundingRectRight - report.BoundingRectLeft)/xRes;
+		SmartDashboard::PutNumber("Width", normalizedWidth);
+		targetWidth = 7;
+
+		return  targetWidth/(normalizedWidth*12*tan(VIEW_ANGLE*M_PI/(180*2)));
+	}
+};
+
+START_ROBOT_CLASS(VisionRetro2015Sample);

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

@@ -1,40 +1,37 @@
 #include "WPILib.h"
 
 /**
- * Uses IMAQdx to manually acquire a new image each frame, and annotate the image by drawing
+ * Uses AxisCamera class 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
+class AxisCameraSample : public SampleRobot
 {
 	IMAQdxSession session;
 	Image *frame;
+	IMAQdxError imaqError;
+	AxisCamera *camera;
 
 public:
 	void RobotInit() override {
 	    // create an image
 		frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
-		// open the camera
-		IMAQdxOpenCamera("cam1", IMAQdxCameraControlModeController, &session);
-		IMAQdxConfigureGrab(session);
+
+		// open the camera at the IP address assigned. This is the IP address that the camera
+		// can be accessed through the web interface.
+		camera = new AxisCamera("10.1.91.103");
 	}
 
 	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);
-
+			camera->GetImage(frame);
 			imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
-
 			CameraServer::GetInstance()->SetImage(frame);
+			Wait(0.05);
 		}
-        // stop image acquisition
-		IMAQdxStopAcquisition(session);
 	}
 };
 
-START_ROBOT_CLASS(IntermediateVisionRobot);
+START_ROBOT_CLASS(AxisCameraSample);
 

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/IntermediateVision/src/Robot.cpp

@@ -0,0 +1,50 @@
+#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;
+	IMAQdxError imaqError;
+
+public:
+	void RobotInit() override {
+	    // create an image
+		frame = imaqCreateImage(IMAQ_IMAGE_RGB, 0);
+		//the camera name (ex "cam0") can be found through the roborio web interface
+		imaqError = IMAQdxOpenCamera("cam0", IMAQdxCameraControlModeController, &session);
+		if(imaqError != IMAQdxErrorSuccess) {
+			DriverStation::ReportError("IMAQdxOpenCamera error: " + std::to_string((long)imaqError) + "\n");
+		}
+		imaqError = IMAQdxConfigureGrab(session);
+		if(imaqError != IMAQdxErrorSuccess) {
+			DriverStation::ReportError("IMAQdxConfigureGrab error: " + std::to_string((long)imaqError) + "\n");
+		}
+	}
+
+	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);
+			if(imaqError != IMAQdxErrorSuccess) {
+				DriverStation::ReportError("IMAQdxGrab error: " + std::to_string((long)imaqError) + "\n");
+			} else {
+				imaqDrawShapeOnImage(frame, frame, { 10, 10, 100, 100 }, DrawMode::IMAQ_DRAW_VALUE, ShapeMode::IMAQ_SHAPE_OVAL, 0.0f);
+				CameraServer::GetInstance()->SetImage(frame);
+			}
+			Wait(0.005);				// wait for a motor update time
+		}
+        // stop image acquisition
+		IMAQdxStopAcquisition(session);
+	}
+};
+
+START_ROBOT_CLASS(IntermediateVisionRobot);
+

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

@@ -10,11 +10,18 @@ class QuickVisionRobot : public SampleRobot
 {
 public:
 	void RobotInit() override {
-		CameraServer::GetInstance()->SetQuality(75);
-		CameraServer::GetInstance()->StartAutomaticCapture();
+		CameraServer::GetInstance()->SetQuality(50);
+		//the camera name (ex "cam0") can be found through the roborio web interface
+		CameraServer::GetInstance()->StartAutomaticCapture("cam0");
 	}
 
-	void OperatorControl() override {
+	void OperatorControl()
+	{
+		while (IsOperatorControl() && IsEnabled())
+		{
+			/** robot code here! **/
+			Wait(0.005);				// wait for a motor update time
+		}
 	}
 };
 

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

@@ -128,6 +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>
@@ -247,7 +281,7 @@
   </example>
 
     <example>
-        <name>Simple vision program</name>
+        <name>Simple Vision</name>
         <description>The minimal program to acquire images from an attached USB camera on the robot
         and send them to the dashboard.</description>
         <tags>
@@ -264,7 +298,7 @@
     </example>
 
     <example>
-        <name>Getting Started</name>
+        <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.
@@ -282,6 +316,65 @@
         </files>
     </example>
 
+    <example>
+        <name>Axis Camera Sample</name>
+        <description>An example program that acquires images from an Axis network 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. This demonstrates the use of the
+            AxisCamera class.
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src</package>
+        </packages>
+        <files>
+            <file source="examples/AxisCameraSample/src/Robot.cpp"
+                  destination="src/Robot.cpp"></file>
+        </files>
+    </example>
+	
+	<example>
+		<name>2015 Vision Color Sample</name>
+        <description>An example program that demonstrates image processing to locate Yellow totes by color.
+			This example uses a file which must be copied over to the roboRIO via FTP to demonstrate processing.
+			To use this code with a camera, you must integrate the code for image acquisition from the appropriate
+			camera example;
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src</package>
+        </packages>
+        <files>
+            <file source="examples/2015Vision/Color_src/Robot.cpp"
+                  destination="src/Robot.cpp"></file>
+		</files>
+    </example>
+
+	<example>
+		<name>2015 Vision Retro Sample</name>
+        <description>An example program that demonstrates image processing to locate Yellow totes by the retroreflective target.
+			This example uses a file which must be copied over to the roboRIO via FTP to demonstrate processing.
+			To use this code with a camera, you must integrate the code for image acquisition from the appropriate
+			camera example;
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src</package>
+        </packages>
+        <files>
+            <file source="examples/2015Vision/Retro_src/Robot.cpp"
+                  destination="src/Robot.cpp"></file>
+		</files>
+    </example>
 
     <example>
     <name>GearsBot</name>

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/resources/cpp-zip/ant/build.properties

@@ -1,5 +1,5 @@
 # Deployment information
-username=admin
+username=lvuser
 password=
 deploy.dir=/home/lvuser
 deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
@@ -8,7 +8,7 @@ command.dir=/home/lvuser/
 # Libraries to use
 wpilib=${user.home}/wpilib/cpp/${cpp-version}
 wpilib.lib=${wpilib}/lib
-roboRIOAllowedImages=18
+roboRIOAllowedImages=23
 
 # Ant support
 wpilib.ant.dir=${wpilib}/ant

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

@@ -19,21 +19,37 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
     <property name="target" value="roboRIO-${team-number}.local" />
 	<echo>Trying Target: ${target}</echo>
 	 <if>
-		<isreachable host="${target}"/>
+		<isreachable host="${target}" timeout="5"/>
 	  <then>
 		<echo>roboRIO found via mDNS</echo>
 	  </then>
 	  <else>
-		<math result="ip.upper" operand1="${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 mDNS, falling back to static address of ${target}</echo>
-		<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
-			<isreachable host="${target}"/>
-		</assert>
+		<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>
@@ -48,6 +64,15 @@
 
     <echo>[athena-deploy] Copying code over.</echo>
     <scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+
+    <sshexec host="${target}"
+               username="admin"
+               password="${password}"
+               trust="true"
+               failonerror="false"
+               command="killall netconsole-host"/>
+    <scp file="${wpilib.ant.dir}/netconsole-host" todir="admin@${target}:/usr/local/frc/bin" password="${password}" trust="true"/>
+
     <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:/home/lvuser/" password="${password}" trust="true"/>
 
     <echo>[athena-deploy] Starting program.</echo>
@@ -93,7 +118,7 @@
   
   <target name="dependencies" depends="get-target-ip">
     <property name="ant.enable.asserts" value="true"/>
-	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE">
+	<post to="http://${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"/>
@@ -105,5 +130,6 @@
 			<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
 		</bool>
 	</assert>
+	<echo>roboRIO image version validated</echo>
   </target>
 </project>

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/2015Vision/Color_src/Robot.java

@@ -0,0 +1,240 @@
+package $package;
+
+import java.lang.Math;
+import java.util.Comparator;
+import java.util.Vector;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.ImageType;
+
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Example of finding yellow totes based on color.
+ * This example utilizes an image file, which you need to copy to the roboRIO
+ * To use a camera you will have to integrate the appropriate camera details with this example.
+ * To use a USB camera instead, see the SimpelVision and AdvancedVision examples for details
+ * on using the USB camera. To use an Axis Camera, see the AxisCamera example for details on
+ * using an Axis Camera.
+ *
+ * Sample omages can be found here: http://wp.wpi.edu/wpilib/2015/01/16/sample-images-for-vision-projects/ 
+ */
+public class Robot extends SampleRobot {
+		//A structure to hold measurements of a particle
+		public class ParticleReport implements Comparator<ParticleReport>, Comparable<ParticleReport>{
+			double PercentAreaToImageArea;
+			double Area;
+			double ConvexHullArea;
+			double BoundingRectLeft;
+			double BoundingRectTop;
+			double BoundingRectRight;
+			double BoundingRectBottom;
+			
+			public int compareTo(ParticleReport r)
+			{
+				return (int)(r.Area - this.Area);
+			}
+			
+			public int compare(ParticleReport r1, ParticleReport r2)
+			{
+				return (int)(r1.Area - r2.Area);
+			}
+		};
+
+		//Structure to represent the scores for the various tests used for target identification
+		public class Scores {
+			double Trapezoid;
+			double LongAspect;
+			double ShortAspect;
+			double AreaToConvexHullArea;
+		};
+
+		//Images
+		Image frame;
+		Image binaryFrame;
+		int imaqError;
+
+		//Constants
+		NIVision.Range TOTE_HUE_RANGE = new NIVision.Range(24, 49);	//Default hue range for yellow tote
+		NIVision.Range TOTE_SAT_RANGE = new NIVision.Range(67, 255);	//Default saturation range for yellow tote
+		NIVision.Range TOTE_VAL_RANGE = new NIVision.Range(49, 255);	//Default value range for yellow tote
+		double AREA_MINIMUM = 0.5; //Default Area minimum for particle as a percentage of total image area
+		double LONG_RATIO = 2.22; //Tote long side = 26.9 / Tote height = 12.1 = 2.22
+		double SHORT_RATIO = 1.4; //Tote short side = 16.9 / Tote height = 12.1 = 1.4
+		double SCORE_MIN = 75.0;  //Minimum score to be considered a tote
+		double VIEW_ANGLE = 49.4; //View angle fo camera, set to Axis m1011 by default, 64 for m1013, 51.7 for 206, 52 for HD3000 square, 60 for HD3000 640x480
+		NIVision.ParticleFilterCriteria2 criteria[] = new NIVision.ParticleFilterCriteria2[1];
+		NIVision.ParticleFilterOptions2 filterOptions = new NIVision.ParticleFilterOptions2(0,0,1,1);
+		Scores scores = new Scores();
+
+		public void robotInit() {
+		    // create images
+			frame = NIVision.imaqCreateImage(ImageType.IMAGE_RGB, 0);
+			binaryFrame = NIVision.imaqCreateImage(ImageType.IMAGE_U8, 0);
+			criteria[0] = new NIVision.ParticleFilterCriteria2(NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA, AREA_MINIMUM, 100.0, 0, 0);
+
+			//Put default values to SmartDashboard so fields will appear
+			SmartDashboard.putNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+			SmartDashboard.putNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+			SmartDashboard.putNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+			SmartDashboard.putNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+			SmartDashboard.putNumber("Area min %", AREA_MINIMUM);
+		}
+
+		public void autonomous() {
+			while (isAutonomous() && isEnabled())
+			{
+				//read file in from disk. For this example to run you need to copy image20.jpg from the SampleImages folder to the
+				//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
+				NIVision.imaqReadFile(frame, "/home/lvuser/SampleImages/image20.jpg");
+
+				//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
+				TOTE_HUE_RANGE.minValue = (int)SmartDashboard.getNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+				TOTE_HUE_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+				TOTE_SAT_RANGE.minValue = (int)SmartDashboard.getNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+				TOTE_SAT_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+				TOTE_VAL_RANGE.minValue = (int)SmartDashboard.getNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+				TOTE_VAL_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+
+				//Threshold the image looking for yellow (tote color)
+				NIVision.imaqColorThreshold(binaryFrame, frame, 255, NIVision.ColorMode.HSV, TOTE_HUE_RANGE, TOTE_SAT_RANGE, TOTE_VAL_RANGE);
+
+				//Send particle count to dashboard
+				int numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Masked particles", numParticles);
+
+				//Send masked image to dashboard to assist in tweaking mask.
+				CameraServer.getInstance().setImage(binaryFrame);
+
+				//filter out small particles
+				float areaMin = (float)SmartDashboard.getNumber("Area min %", AREA_MINIMUM);
+				criteria[0].lower = areaMin;
+				imaqError = NIVision.imaqParticleFilter4(binaryFrame, binaryFrame, criteria, filterOptions, null);
+
+				//Send particle count after filtering to dashboard
+				numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Filtered particles", numParticles);
+
+				if(numParticles > 0)
+				{
+					//Measure particles and sort by particle size
+					Vector<ParticleReport> particles = new Vector<ParticleReport>();
+					for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
+					{
+						ParticleReport par = new ParticleReport();
+						par.PercentAreaToImageArea = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA);
+						par.Area = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA);
+						par.ConvexHullArea = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_CONVEX_HULL_AREA);
+						par.BoundingRectTop = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_TOP);
+						par.BoundingRectLeft = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_LEFT);
+						par.BoundingRectBottom = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_BOTTOM);
+						par.BoundingRectRight = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_RIGHT);
+						particles.add(par);
+					}
+					particles.sort(null);
+
+					//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
+					//for the reader. Note that the long and short side scores expect a single tote and will not work for a stack of 2 or more totes.
+					//Modification of the code to accommodate 2 or more stacked totes is left as an exercise for the reader.
+					scores.Trapezoid = TrapezoidScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Trapezoid", scores.Trapezoid);
+					scores.LongAspect = LongSideScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Long Aspect", scores.LongAspect);
+					scores.ShortAspect = ShortSideScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Short Aspect", scores.ShortAspect);
+					scores.AreaToConvexHullArea = ConvexHullAreaScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Convex Hull Area", scores.AreaToConvexHullArea);
+					boolean isTote = scores.Trapezoid > SCORE_MIN && (scores.LongAspect > SCORE_MIN || scores.ShortAspect > SCORE_MIN) && scores.AreaToConvexHullArea > SCORE_MIN;
+					boolean isLong = scores.LongAspect > scores.ShortAspect;
+
+					//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
+					SmartDashboard.putBoolean("IsTote", isTote);
+					SmartDashboard.putNumber("Distance", computeDistance(binaryFrame, particles.elementAt(0), isLong));
+				} else {
+					SmartDashboard.putBoolean("IsTote", false);
+				}
+
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		public void operatorControl() {
+			while(isOperatorControl() && isEnabled()) {
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		//Comparator function for sorting particles. Returns true if particle 1 is larger
+		static boolean CompareParticleSizes(ParticleReport particle1, ParticleReport particle2)
+		{
+			//we want descending sort order
+			return particle1.PercentAreaToImageArea > particle2.PercentAreaToImageArea;
+		}
+
+		/**
+		 * Converts a ratio with ideal value of 1 to a score. The resulting function is piecewise
+		 * linear going from (0,0) to (1,100) to (2,0) and is 0 for all inputs outside the range 0-2
+		 */
+		double ratioToScore(double ratio)
+		{
+			return (Math.max(0, Math.min(100*(1-Math.abs(1-ratio)), 100)));
+		}
+
+		/**
+		 * Method to score convex hull area. This scores how "complete" the particle is. Particles with large holes will score worse than a filled in shape
+		 */
+		double ConvexHullAreaScore(ParticleReport report)
+		{
+			return ratioToScore((report.Area/report.ConvexHullArea)*1.18);
+		}
+
+		/**
+		 * Method to score if the particle appears to be a trapezoid. Compares the convex hull (filled in) area to the area of the bounding box.
+		 * The expectation is that the convex hull area is about 95.4% of the bounding box area for an ideal tote.
+		 */
+		double TrapezoidScore(ParticleReport report)
+		{
+			return ratioToScore(report.ConvexHullArea/((report.BoundingRectRight-report.BoundingRectLeft)*(report.BoundingRectBottom-report.BoundingRectTop)*.954));
+		}
+
+		/**
+		 * Method to score if the aspect ratio of the particle appears to match the long side of a tote.
+		 */
+		double LongSideScore(ParticleReport report)
+		{
+			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop))/LONG_RATIO);
+		}
+
+		/**
+		 * Method to score if the aspect ratio of the particle appears to match the short side of a tote.
+		 */
+		double ShortSideScore(ParticleReport report){
+			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop))/SHORT_RATIO);
+		}
+
+		/**
+		 * Computes the estimated distance to a target using the width of the particle in the image. For more information and graphics
+		 * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation.
+		 *
+		 * @param image The image to use for measuring the particle estimated rectangle
+		 * @param report The Particle Analysis Report for the particle
+		 * @param isLong Boolean indicating if the target is believed to be the long side of a tote
+		 * @return The estimated distance to the target in feet.
+		 */
+		double computeDistance (Image image, ParticleReport report, boolean isLong) {
+			double normalizedWidth, targetWidth;
+			NIVision.GetImageSizeResult size;
+
+			size = NIVision.imaqGetImageSize(image);
+			normalizedWidth = 2*(report.BoundingRectRight - report.BoundingRectLeft)/size.width;
+			targetWidth = isLong ? 26.0 : 16.9;
+
+			return  targetWidth/(normalizedWidth*12*Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
+		}
+}

eclipse-plugins/edu.wpi.first.wpilib.plugins.java/resources/templates/examples/2015Vision/Retro_src/Robot.java

@@ -0,0 +1,214 @@
+package $package;
+
+import java.lang.Math;
+import java.util.Comparator;
+import java.util.Vector;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.ImageType;
+
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+/**
+ * Example of finding yellow totes based on retroreflective target.
+ * This example utilizes an image file, which you need to copy to the roboRIO
+ * To use a camera you will have to integrate the appropriate camera details with this example.
+ * To use a USB camera instead, see the SimpelVision and AdvancedVision examples for details
+ * on using the USB camera. To use an Axis Camera, see the AxisCamera example for details on
+ * using an Axis Camera.
+ *
+ * Sample images can found here: http://wp.wpi.edu/wpilib/2015/01/16/sample-images-for-vision-projects/ 
+ */
+public class Robot extends SampleRobot {
+		//A structure to hold measurements of a particle
+		public class ParticleReport implements Comparator<ParticleReport>, Comparable<ParticleReport>{
+			double PercentAreaToImageArea;
+			double Area;
+			double BoundingRectLeft;
+			double BoundingRectTop;
+			double BoundingRectRight;
+			double BoundingRectBottom;
+			
+			public int compareTo(ParticleReport r)
+			{
+				return (int)(r.Area - this.Area);
+			}
+			
+			public int compare(ParticleReport r1, ParticleReport r2)
+			{
+				return (int)(r1.Area - r2.Area);
+			}
+		};
+
+		//Structure to represent the scores for the various tests used for target identification
+		public class Scores {
+			double Area;
+			double Aspect;
+		};
+
+		//Images
+		Image frame;
+		Image binaryFrame;
+		int imaqError;
+
+		//Constants
+		NIVision.Range TOTE_HUE_RANGE = new NIVision.Range(101, 64);	//Default hue range for yellow tote
+		NIVision.Range TOTE_SAT_RANGE = new NIVision.Range(88, 255);	//Default saturation range for yellow tote
+		NIVision.Range TOTE_VAL_RANGE = new NIVision.Range(134, 255);	//Default value range for yellow tote
+		double AREA_MINIMUM = 0.5; //Default Area minimum for particle as a percentage of total image area
+		double LONG_RATIO = 2.22; //Tote long side = 26.9 / Tote height = 12.1 = 2.22
+		double SHORT_RATIO = 1.4; //Tote short side = 16.9 / Tote height = 12.1 = 1.4
+		double SCORE_MIN = 75.0;  //Minimum score to be considered a tote
+		double VIEW_ANGLE = 49.4; //View angle fo camera, set to Axis m1011 by default, 64 for m1013, 51.7 for 206, 52 for HD3000 square, 60 for HD3000 640x480
+		NIVision.ParticleFilterCriteria2 criteria[] = new NIVision.ParticleFilterCriteria2[1];
+		NIVision.ParticleFilterOptions2 filterOptions = new NIVision.ParticleFilterOptions2(0,0,1,1);
+		Scores scores = new Scores();
+
+		public void robotInit() {
+		    // create images
+			frame = NIVision.imaqCreateImage(ImageType.IMAGE_RGB, 0);
+			binaryFrame = NIVision.imaqCreateImage(ImageType.IMAGE_U8, 0);
+			criteria[0] = new NIVision.ParticleFilterCriteria2(NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA, AREA_MINIMUM, 100.0, 0, 0);
+
+			//Put default values to SmartDashboard so fields will appear
+			SmartDashboard.putNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+			SmartDashboard.putNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+			SmartDashboard.putNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+			SmartDashboard.putNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+			SmartDashboard.putNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+			SmartDashboard.putNumber("Area min %", AREA_MINIMUM);
+		}
+
+		public void autonomous() {
+			while (isAutonomous() && isEnabled())
+			{
+				//read file in from disk. For this example to run you need to copy image.jpg from the SampleImages folder to the
+				//directory shown below using FTP or SFTP: http://wpilib.screenstepslive.com/s/4485/m/24166/l/282299-roborio-ftp
+				NIVision.imaqReadFile(frame, "/home/lvuser/SampleImages/image.jpg");
+
+				//Update threshold values from SmartDashboard. For performance reasons it is recommended to remove this after calibration is finished.
+				TOTE_HUE_RANGE.minValue = (int)SmartDashboard.getNumber("Tote hue min", TOTE_HUE_RANGE.minValue);
+				TOTE_HUE_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote hue max", TOTE_HUE_RANGE.maxValue);
+				TOTE_SAT_RANGE.minValue = (int)SmartDashboard.getNumber("Tote sat min", TOTE_SAT_RANGE.minValue);
+				TOTE_SAT_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote sat max", TOTE_SAT_RANGE.maxValue);
+				TOTE_VAL_RANGE.minValue = (int)SmartDashboard.getNumber("Tote val min", TOTE_VAL_RANGE.minValue);
+				TOTE_VAL_RANGE.maxValue = (int)SmartDashboard.getNumber("Tote val max", TOTE_VAL_RANGE.maxValue);
+
+				//Threshold the image looking for yellow (tote color)
+				NIVision.imaqColorThreshold(binaryFrame, frame, 255, NIVision.ColorMode.HSV, TOTE_HUE_RANGE, TOTE_SAT_RANGE, TOTE_VAL_RANGE);
+
+				//Send particle count to dashboard
+				int numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Masked particles", numParticles);
+
+				//Send masked image to dashboard to assist in tweaking mask.
+				CameraServer.getInstance().setImage(binaryFrame);
+
+				//filter out small particles
+				float areaMin = (float)SmartDashboard.getNumber("Area min %", AREA_MINIMUM);
+				criteria[0].lower = areaMin;
+				imaqError = NIVision.imaqParticleFilter4(binaryFrame, binaryFrame, criteria, filterOptions, null);
+
+				//Send particle count after filtering to dashboard
+				numParticles = NIVision.imaqCountParticles(binaryFrame, 1);
+				SmartDashboard.putNumber("Filtered particles", numParticles);
+
+				if(numParticles > 0)
+				{
+					//Measure particles and sort by particle size
+					Vector<ParticleReport> particles = new Vector<ParticleReport>();
+					for(int particleIndex = 0; particleIndex < numParticles; particleIndex++)
+					{
+						ParticleReport par = new ParticleReport();
+						par.PercentAreaToImageArea = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA_BY_IMAGE_AREA);
+						par.Area = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_AREA);
+						par.BoundingRectTop = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_TOP);
+						par.BoundingRectLeft = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_LEFT);
+						par.BoundingRectBottom = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_BOTTOM);
+						par.BoundingRectRight = NIVision.imaqMeasureParticle(binaryFrame, particleIndex, 0, NIVision.MeasurementType.MT_BOUNDING_RECT_RIGHT);
+						particles.add(par);
+					}
+					particles.sort(null);
+
+					//This example only scores the largest particle. Extending to score all particles and choosing the desired one is left as an exercise
+					//for the reader. Note that this scores and reports information about a single particle (single L shaped target). To get accurate information 
+					//about the location of the tote (not just the distance) you will need to correlate two adjacent targets in order to find the true center of the tote.
+					scores.Aspect = AspectScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Aspect", scores.Aspect);
+					scores.Area = AreaScore(particles.elementAt(0));
+					SmartDashboard.putNumber("Area", scores.Area);
+					boolean isTote = scores.Aspect > SCORE_MIN && scores.Area > SCORE_MIN;
+
+					//Send distance and tote status to dashboard. The bounding rect, particularly the horizontal center (left - right) may be useful for rotating/driving towards a tote
+					SmartDashboard.putBoolean("IsTote", isTote);
+					SmartDashboard.putNumber("Distance", computeDistance(binaryFrame, particles.elementAt(0)));
+				} else {
+					SmartDashboard.putBoolean("IsTote", false);
+				}
+
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		public void operatorControl() {
+			while(isOperatorControl() && isEnabled()) {
+				Timer.delay(0.005);				// wait for a motor update time
+			}
+		}
+
+		//Comparator function for sorting particles. Returns true if particle 1 is larger
+		static boolean CompareParticleSizes(ParticleReport particle1, ParticleReport particle2)
+		{
+			//we want descending sort order
+			return particle1.PercentAreaToImageArea > particle2.PercentAreaToImageArea;
+		}
+
+		/**
+		 * Converts a ratio with ideal value of 1 to a score. The resulting function is piecewise
+		 * linear going from (0,0) to (1,100) to (2,0) and is 0 for all inputs outside the range 0-2
+		 */
+		double ratioToScore(double ratio)
+		{
+			return (Math.max(0, Math.min(100*(1-Math.abs(1-ratio)), 100)));
+		}
+
+		double AreaScore(ParticleReport report)
+		{
+			double boundingArea = (report.BoundingRectBottom - report.BoundingRectTop) * (report.BoundingRectRight - report.BoundingRectLeft);
+			//Tape is 7" edge so 49" bounding rect. With 2" wide tape it covers 24" of the rect.
+			return ratioToScore((49/24)*report.Area/boundingArea);
+		}
+
+		/**
+		 * Method to score if the aspect ratio of the particle appears to match the retro-reflective target. Target is 7"x7" so aspect should be 1
+		 */
+		double AspectScore(ParticleReport report)
+		{
+			return ratioToScore(((report.BoundingRectRight-report.BoundingRectLeft)/(report.BoundingRectBottom-report.BoundingRectTop)));
+		}
+
+		/**
+		 * Computes the estimated distance to a target using the width of the particle in the image. For more information and graphics
+		 * showing the math behind this approach see the Vision Processing section of the ScreenStepsLive documentation.
+		 *
+		 * @param image The image to use for measuring the particle estimated rectangle
+		 * @param report The Particle Analysis Report for the particle
+		 * @param isLong Boolean indicating if the target is believed to be the long side of a tote
+		 * @return The estimated distance to the target in feet.
+		 */
+		double computeDistance (Image image, ParticleReport report) {
+			double normalizedWidth, targetWidth;
+			NIVision.GetImageSizeResult size;
+
+			size = NIVision.imaqGetImageSize(image);
+			normalizedWidth = 2*(report.BoundingRectRight - report.BoundingRectLeft)/size.width;
+			targetWidth = 7;
+
+			return  targetWidth/(normalizedWidth*12*Math.tan(VIEW_ANGLE*Math.PI/(180*2)));
+		}
+}

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

@@ -0,0 +1,55 @@
+package $package;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.DrawMode;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.ShapeMode;
+
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj.vision.AxisCamera;
+
+/**
+ * This demo shows the use of the AxisCamera class.
+ * Uses AxisCamera class 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.
+ */
+
+public class Robot extends SampleRobot {
+    int session;
+    Image frame;
+    AxisCamera camera;
+
+    public void robotInit() {
+
+        frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
+
+        // open the camera at the IP address assigned. This is the IP address that the camera
+        // can be accessed through the web interface.
+        camera = new AxisCamera("10.1.91.100");
+    }
+
+    public void operatorControl() {
+
+        /**
+         * grab an image from the camera, draw the circle, and provide it for the camera server
+         * which will in turn send it to the dashboard.
+         */
+        NIVision.Rect rect = new NIVision.Rect(10, 10, 100, 100);
+
+        while (isOperatorControl() && isEnabled()) {
+            camera.getImage(frame);
+            NIVision.imaqDrawShapeOnImage(frame, frame, rect,
+                    DrawMode.DRAW_VALUE, ShapeMode.SHAPE_OVAL, 0.0f);
+
+            CameraServer.getInstance().setImage(frame);
+
+            /** robot code here! **/
+            Timer.delay(0.005);		// wait for a motor update time
+        }
+    }
+
+    public void test() {
+    }
+}

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/IntermediateVision/src/org/usfirst/frc/team190/robot/Robot.java

@@ -0,0 +1,57 @@
+package $package;
+
+import com.ni.vision.NIVision;
+import com.ni.vision.NIVision.DrawMode;
+import com.ni.vision.NIVision.Image;
+import com.ni.vision.NIVision.ShapeMode;
+
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a demo program showing the use of the NIVision class to do vision processing. 
+ * The image is acquired from the USB Webcam, then a circle is overlayed on it. 
+ * The NIVision class supplies dozens of methods for different types of processing. 
+ * The resulting image can then be sent to the FRC PC Dashboard with setImage()
+ */
+public class Robot extends SampleRobot {
+    int session;
+    Image frame;
+
+    public void robotInit() {
+
+        frame = NIVision.imaqCreateImage(NIVision.ImageType.IMAGE_RGB, 0);
+
+        // the camera name (ex "cam0") can be found through the roborio web interface
+        session = NIVision.IMAQdxOpenCamera("cam0",
+                NIVision.IMAQdxCameraControlMode.CameraControlModeController);
+        NIVision.IMAQdxConfigureGrab(session);
+    }
+
+    public void operatorControl() {
+        NIVision.IMAQdxStartAcquisition(session);
+
+        /**
+         * grab an image, draw the circle, and provide it for the camera server
+         * which will in turn send it to the dashboard.
+         */
+        NIVision.Rect rect = new NIVision.Rect(10, 10, 100, 100);
+
+        while (isOperatorControl() && isEnabled()) {
+
+            NIVision.IMAQdxGrab(session, frame, 1);
+            NIVision.imaqDrawShapeOnImage(frame, frame, rect,
+                    DrawMode.DRAW_VALUE, ShapeMode.SHAPE_OVAL, 0.0f);
+            
+            CameraServer.getInstance().setImage(frame);
+
+            /** robot code here! **/
+            Timer.delay(0.005);		// wait for a motor update time
+        }
+        NIVision.IMAQdxStopAcquisition(session);
+    }
+
+    public void test() {
+    }
+}

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

@@ -25,10 +25,10 @@ public class Robot extends SampleRobot {
     final int joystickChannel	= 0;
 
     public Robot() {
-    	robotDrive.setExpiration(0.1);
         robotDrive = new RobotDrive(frontLeftChannel, rearLeftChannel, frontRightChannel, rearRightChannel);
     	robotDrive.setInvertedMotor(MotorType.kFrontLeft, true);	// invert the left side motors
     	robotDrive.setInvertedMotor(MotorType.kRearLeft, true);		// you may need to change or remove this to match your robot
+        robotDrive.setExpiration(0.1);
 
         stick = new Joystick(joystickChannel);
     }

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

@@ -0,0 +1,35 @@
+package $package;
+
+import edu.wpi.first.wpilibj.CameraServer;
+import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.Timer;
+
+/**
+ * This is a demo program showing the use of the CameraServer class.
+ * With start automatic capture, there is no opportunity to process the image.
+ * Look at the IntermediateVision sample for how to process the image before sending it to the FRC PC Dashboard.
+ */
+public class Robot extends SampleRobot {
+
+    CameraServer server;
+
+    public Robot() {
+        server = CameraServer.getInstance();
+        server.setQuality(50);
+        //the camera name (ex "cam0") can be found through the roborio web interface
+        server.startAutomaticCapture("cam0");
+    }
+
+    /**
+     * start up automatic capture you should see the video stream from the
+     * webcam in your FRC PC Dashboard.
+     */
+    public void operatorControl() {
+
+        while (isOperatorControl() && isEnabled()) {
+            /** robot code here! **/
+            Timer.delay(0.005);		// wait for a motor update time
+        }
+    }
+
+}

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

@@ -81,12 +81,18 @@
     <description>Example programs that demonstrate the use of the various commonly used sensors on FRC robots</description>
   </tagDescription>
 
+  <tagDescription>
+    <name>Vision</name>
+    <description>Example programs that demonstrate the use of USB Cameras and image processing</description>
+  </tagDescription>
+
   <example>
 	<name>Getting Started</name>
 	<description>An example program which demonstrates the simplest autonomous and
 	teleoperated routines.</description>
 	<tags>
 	  <tag>Getting Started with Java</tag>
+      <tag>Complete List</tag>
 	</tags>
 	<packages>
 	  <package>src/$package-dir</package>
@@ -154,6 +160,40 @@
   </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>
@@ -253,4 +293,97 @@
             destination="src/$package-dir/triggers/DoubleButton.java"></file>
     </files>
   </example>
+
+  <example>
+    <name>Simple Vision</name>
+    <description>Demonstrate the use of the CameraServer class to stream from a USB Webcam without processing the images.</description>
+    <tags>
+      <tag>Vision</tag>
+      <tag>Complete List</tag>
+    </tags>
+    <packages>
+      <package>src/$package-dir</package>
+    </packages>
+    <files>
+      <file source="examples/QuickVision/src/org/usfirst/frc/team190/robot/Robot.java"
+        destination="src/$package-dir/Robot.java"></file>
+    </files>
+  </example>
+
+  <example>
+    <name>Intermediate Vision</name>
+    <description>Demonstrate the use of the NIVision class to capture image from a Webcam, process them, and then send them to the dashboard.</description>
+    <tags>
+      <tag>Vision</tag>
+      <tag>Complete List</tag>
+    </tags>
+    <packages>
+      <package>src/$package-dir</package>
+    </packages>
+    <files>
+      <file source="examples/IntermediateVision/src/org/usfirst/frc/team190/robot/Robot.java"
+        destination="src/$package-dir/Robot.java"></file>
+    </files>
+  </example>
+  
+  	<example>
+		<name>2015 Vision Color Sample</name>
+        <description>An example program that demonstrates image processing to locate Yellow totes by color.
+			This example uses a file which must be copied over to the roboRIO via FTP to demonstrate processing.
+			To use this code with a camera, you must integrate the code for image acquisition from the appropriate
+			camera example;
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src/$package-dir</package>
+        </packages>
+        <files>
+            <file source="examples/2015Vision/Color_src/Robot.java"
+                  destination="src/$package-dir/Robot.java"></file>
+		</files>
+    </example>
+
+	<example>
+		<name>2015 Vision Retro Sample</name>
+        <description>An example program that demonstrates image processing to locate Yellow totes by the retroreflective target.
+			This example uses a file which must be copied over to the roboRIO via FTP to demonstrate processing.
+			To use this code with a camera, you must integrate the code for image acquisition from the appropriate
+			camera example;
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src/$package-dir</package>
+        </packages>
+        <files>
+            <file source="examples/2015Vision/Retro_src/Robot.java"
+                  destination="src/$package-dir/Robot.java"></file>
+		</files>
+    </example>
+
+    <example>
+        <name>Axis Camera Sample</name>
+        <description>An example program that acquires images from an Axis network camera and adds some
+            annotation to the image as you might do for showing operators the result of some image
+            recognition, and sends it to the dashboard for display. This demonstrates the use of the
+            AxisCamera class.
+        </description>
+        <tags>
+            <tag>Vision</tag>
+            <tag>Complete List</tag>
+        </tags>
+        <packages>
+            <package>src/$package-dir</package>
+        </packages>
+        <files>
+            <file source="examples/AxisCameraSample/src/org/usfirst/frc/team190/robot/Robot.java"
+                  destination="src/$package-dir/Robot.java"></file>
+        </files>
+    </example>
+
 </examples>

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/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/resources/java-zip/ant/build.properties

@@ -1,5 +1,5 @@
 # Deployment information
-username=admin
+username=lvuser
 password=
 deploy.dir=/home/lvuser
 deploy.kill.command=. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r
@@ -20,7 +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=18
+roboRIOAllowedImages=23
 
 # Ant support
 wpilib.ant.dir=${wpilib}/ant

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

@@ -19,21 +19,37 @@
   <!-- Targets -->
 
   <target name="get-target-ip">
+    <property name="ant.enable.asserts" value="true"/>
     <property name="target" value="roboRIO-${team-number}.local" />
 	<echo>Trying Target: ${target}</echo>
 	 <if>
-		<isreachable host="${target}"/>
+		<isreachable host="${target}" timeout="5"/>
 	  <then>
 		<echo>roboRIO found via mDNS</echo>
 	  </then>
 	  <else>
-		<math result="ip.upper" operand1="${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 mDNS, falling back to static address of ${target}</echo>
-		<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
-			<isreachable host="${target}"/>
-		</assert>
+		<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>
@@ -88,7 +104,16 @@
   <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"/>
+
+      <sshexec host="${target}"
+               username="admin"
+               password="${password}"
+               trust="true"
+               failonerror="false"
+               command="killall netconsole-host"/>
+      <scp file="${wpilib.ant.dir}/netconsole-host" todir="admin@${target}:/usr/local/frc/bin" password="${password}" trust="true"/>
+
+      <scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
 
     <echo>[athena-deploy] Starting program.</echo>
     <sshexec host="${target}"
@@ -192,7 +217,7 @@
   
   <target name="dependencies" depends="get-target-ip">
     <property name="ant.enable.asserts" value="true"/>
-	<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE">
+	<post to="http://${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"/>
@@ -204,7 +229,8 @@
 			<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
 		</bool>
 	</assert>
-	<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>
+	<echo>roboRIO image version validated</echo>
+	<echo>Checking for JRE. If this fails install the JRE using these instructions: https://wpilib.screenstepslive.com/s/4485/m/13503/l/288822-installing-java-8-on-the-roborio-using-the-frc-roborio-java-installer-java-only</echo>
 	<sshexec host="${target}"
         username="${username}"
         password="${password}"

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

@@ -1,2 +1,2 @@
-/usr/local/frc/JRE/bin/java -jar /home/lvuser/FRCUserProgram.jar
+env LD_PRELOAD=/lib/libstdc++.so.6.0.20 /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

@@ -1,2 +1,2 @@
-/usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar /home/lvuser/FRCUserProgram.jar
+env LD_PRELOAD=/lib/libstdc++.so.6.0.20 /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
 

hal/include/HAL/Compressor.hpp

@@ -23,6 +23,14 @@ extern "C" {
 	
 	bool getPressureSwitch(void *pcm_pointer, int32_t *status);
 	float getCompressorCurrent(void *pcm_pointer, int32_t *status);
+
+	bool getCompressorCurrentTooHighFault(void *pcm_pointer, int32_t *status);
+	bool getCompressorCurrentTooHighStickyFault(void *pcm_pointer, int32_t *status);
+	bool getCompressorShortedStickyFault(void *pcm_pointer, int32_t *status);
+	bool getCompressorShortedFault(void *pcm_pointer, int32_t *status);
+	bool getCompressorNotConnectedStickyFault(void *pcm_pointer, int32_t *status);
+	bool getCompressorNotConnectedFault(void *pcm_pointer, int32_t *status);
+	void clearAllPCMStickyFaults(void *pcm_pointer, int32_t *status);
 }
 
 #endif

hal/include/HAL/Digital.hpp

@@ -86,6 +86,8 @@ extern "C"
 	void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
 			int32_t *status);
 	uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
+	void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
+			bool edgeSensitive, int32_t *status);
 
 	uint16_t getLoopTiming(int32_t *status);
 

hal/include/HAL/Errors.hpp

@@ -4,6 +4,8 @@
 #define CTR_TxTimeout_MESSAGE "CTRE CAN Transmit Timeout"
 #define CTR_InvalidParamValue_MESSAGE "CTRE CAN Invalid Parameter"
 #define CTR_UnexpectedArbId_MESSAGE "CTRE Unexpected Arbitration ID (CAN Node ID)"
+#define CTR_TxFailed_MESSAGE "CTRE CAN Transmit Error"
+#define CTR_SigNotUpdated_MESSAGE "CTRE CAN Signal Not Updated"
 
 #define NiFpga_Status_FifoTimeout_MESSAGE "NIFPGA: FIFO timeout error"
 #define NiFpga_Status_TransferAborted_MESSAGE "NIFPGA: Transfer aborted error"
@@ -45,6 +47,8 @@
 #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 RESOURCE_IS_ALLOCATED -1029
+#define RESOURCE_IS_ALLOCATED_MESSAGE "HAL: Resource already allocated"
 
 #define VI_ERROR_SYSTEM_ERROR_MESSAGE "HAL - VISA: System Error";
 #define VI_ERROR_INV_OBJECT_MESSAGE "HAL - VISA: Invalid Object"

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"
@@ -178,7 +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)
 {
@@ -213,9 +225,12 @@ 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_cond_t *);
+	void HALSetNewDataSem(MULTIWAIT_ID sem);
 	
 	bool HALGetSystemActive(int32_t *status);
 	bool HALGetBrownedOut(int32_t *status);

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/Solenoid.hpp

@@ -13,4 +13,9 @@ extern "C"
 
 	bool getSolenoid(void* solenoid_port_pointer, int32_t *status);
 	void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status);
+
+	int getPCMSolenoidBlackList(void* solenoid_port_pointer, int32_t *status);
+	bool getPCMSolenoidVoltageStickyFault(void* solenoid_port_pointer, int32_t *status);
+	bool getPCMSolenoidVoltageFault(void* solenoid_port_pointer, int32_t *status);
+	void clearAllPCMStickyFaults_sol(void *solenoid_port_pointer, 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/Compressor.cpp

@@ -61,4 +61,56 @@ float getCompressorCurrent(void *pcm_pointer, int32_t *status) {
 	
 	return value;
 }
-
+bool getCompressorCurrentTooHighFault(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetCompressorCurrentTooHighFault(value);
+	
+	return value;
+}
+bool getCompressorCurrentTooHighStickyFault(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetCompressorCurrentTooHighStickyFault(value);
+	
+	return value;
+}
+bool getCompressorShortedStickyFault(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetCompressorShortedStickyFault(value);
+	
+	return value;
+}
+bool getCompressorShortedFault(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetCompressorShortedFault(value);
+	
+	return value;
+}
+bool getCompressorNotConnectedStickyFault(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetCompressorNotConnectedStickyFault(value);
+	
+	return value;
+}
+bool getCompressorNotConnectedFault(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetCompressorNotConnectedFault(value);
+	
+	return value;
+}
+void clearAllPCMStickyFaults(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	
+	*status = module->ClearStickyFaults();
+}

hal/lib/Athena/Digital.cpp

@@ -384,7 +384,11 @@ bool allocateDIO(void* digital_port_pointer, bool input, int32_t *status) {
   DigitalPort* port = (DigitalPort*) digital_port_pointer;
   char buf[64];
   snprintf(buf, 64, "DIO %d", port->port.pin);
-  if (DIOChannels->Allocate(port->port.pin, buf) == ~0ul) return false;
+  if (DIOChannels->Allocate(port->port.pin, buf) == ~0ul) {
+    *status = RESOURCE_IS_ALLOCATED;
+    return false;
+  }
+
   {
     Synchronized sync(digitalDIOSemaphore);
 
@@ -420,7 +424,11 @@ bool allocatePWMChannel(void* digital_port_pointer, int32_t *status) {
 		DigitalPort* port = (DigitalPort*) digital_port_pointer;
 		char buf[64];
 		snprintf(buf, 64, "PWM %d", port->port.pin);
-		if (PWMChannels->Allocate(port->port.pin, buf) == ~0ul) return false;
+		if (PWMChannels->Allocate(port->port.pin, buf) == ~0ul) {
+      *status = RESOURCE_IS_ALLOCATED;
+      return false;
+    }
+
 		if (port->port.pin > tPWM::kNumHdrRegisters-1) {
 			snprintf(buf, 64, "PWM %d and DIO %d", port->port.pin, remapMXPPWMChannel(port->port.pin) + 10);
 			if (DIOChannels->Allocate(remapMXPPWMChannel(port->port.pin) + 10, buf) == ~0ul) return false;
@@ -624,6 +632,25 @@ void setCounterAverageSize(void* counter_pointer, int32_t size, int32_t *status)
   counter->counter->writeTimerConfig_AverageSize(size, status);
 }
 
+/**
+ * remap the digital source pin and set the module.
+ * If it's an analog trigger, determine the module from the high order routing channel
+ * else do normal digital input remapping based on pin number (MXP)
+ */
+void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module) {
+  if (analogTrigger) {
+    module = pin >> 4;
+  } else {
+    if(pin >= kNumHeaders) {
+      pin = remapMXPChannel(pin);
+      module = 1;
+    } else {
+      module = 0;
+    }
+  }
+}
+
+
 /**
  * Set the source object that causes the counter to count up.
  * Set the up counting DigitalSource.
@@ -633,12 +660,7 @@ void setCounterUpSource(void* counter_pointer, uint32_t pin, bool analogTrigger,
 
   uint8_t module;
 
-  if(pin >= kNumHeaders) {
-    pin = remapMXPChannel(pin);
-    module = 1;
-  } else {
-    module = 0;
-  }
+  remapDigitalSource(analogTrigger, pin, module);
 
   counter->counter->writeConfig_UpSource_Module(module, status);
   counter->counter->writeConfig_UpSource_Channel(pin, status);
@@ -688,12 +710,7 @@ void setCounterDownSource(void* counter_pointer, uint32_t pin, bool analogTrigge
 
   uint8_t module;
 
-  if(pin >= kNumHeaders) {
-    pin = remapMXPChannel(pin);
-    module = 1;
-  } else {
-    module = 0;
-  }
+  remapDigitalSource(analogTrigger, pin, module);
 
   counter->counter->writeConfig_DownSource_Module(module, status);
   counter->counter->writeConfig_DownSource_Channel(pin, status);
@@ -830,7 +847,7 @@ double getCounterPeriod(void* counter_pointer, int32_t *status) {
 	// output.Period is a fixed point number that counts by 2 (24 bits, 25 integer bits)
 	period = (double)(output.Period << 1) / (double)output.Count;
   }
-  return period * 1.0e-6;
+  return period * 2.5e-8;  // result * timebase (currently 40ns)
 }
 
 /**
@@ -842,7 +859,7 @@ double getCounterPeriod(void* counter_pointer, int32_t *status) {
  */
 void setCounterMaxPeriod(void* counter_pointer, double maxPeriod, int32_t *status) {
   Counter* counter = (Counter*) counter_pointer;
-  counter->counter->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 1.0e6), status);
+  counter->counter->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 4.0e8), status);
 }
 
 /**
@@ -917,15 +934,8 @@ void* initializeEncoder(uint8_t port_a_module, uint32_t port_a_pin, bool port_a_
   // Initialize encoder structure
   Encoder* encoder = new Encoder();
 
-  if(port_a_pin >= kNumHeaders) {
-    port_a_pin = remapMXPChannel(port_a_pin);
-    port_a_module = 1;
-  }
-
-  if(port_b_pin >= kNumHeaders) {
-    port_b_pin = remapMXPChannel(port_b_pin);
-    port_b_module = 1;
-  }
+  remapDigitalSource(port_a_analog_trigger, port_a_pin, port_a_module);
+  remapDigitalSource(port_b_analog_trigger, port_b_pin, port_b_module);
 
   Resource::CreateResourceObject(&quadEncoders, tEncoder::kNumSystems);
   encoder->index = quadEncoders->Allocate("4X Encoder");
@@ -992,7 +1002,7 @@ double getEncoderPeriod(void* encoder_pointer, int32_t *status) {
 	// output.Period is a fixed point number that counts by 2 (24 bits, 25 integer bits)
 	value = (double)(output.Period << 1) / (double)output.Count;
   }
-  double measuredPeriod = value * 1.0e-6;
+  double measuredPeriod = value * 2.5e-8;
   return measuredPeriod / DECODING_SCALING_FACTOR;
 }
 
@@ -1010,7 +1020,7 @@ double getEncoderPeriod(void* encoder_pointer, int32_t *status) {
  */
 void setEncoderMaxPeriod(void* encoder_pointer, double maxPeriod, int32_t *status) {
   Encoder* encoder = (Encoder*) encoder_pointer;
-  encoder->encoder->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 1.0e6 * DECODING_SCALING_FACTOR), status);
+  encoder->encoder->writeTimerConfig_StallPeriod((uint32_t)(maxPeriod * 4.0e8 * DECODING_SCALING_FACTOR), status);
 }
 
 /**
@@ -1070,6 +1080,20 @@ uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status) {
   return encoder->encoder->readTimerConfig_AverageSize(status);
 }
 
+/**
+ * Set an index source for an encoder, which is an input that resets the
+ * encoder's count.
+ */
+void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
+    bool edgeSensitive, int32_t *status) {
+  Encoder* encoder = (Encoder*) encoder_pointer;
+  encoder->encoder->writeConfig_IndexSource_Channel((unsigned char)pin, status);
+  encoder->encoder->writeConfig_IndexSource_Module((unsigned char)0, status);
+  encoder->encoder->writeConfig_IndexSource_AnalogTrigger(analogTrigger, status);
+  encoder->encoder->writeConfig_IndexActiveHigh(activeHigh, status);
+  encoder->encoder->writeConfig_IndexEdgeSensitive(edgeSensitive, status);
+}
+
 /**
  * Get the loop timing of the PWM system
  *

hal/lib/Athena/HAL.cpp

@@ -8,6 +8,7 @@
 #include "NetworkCommunication/FRCComm.h"
 #include "NetworkCommunication/UsageReporting.h"
 #include "NetworkCommunication/LoadOut.h"
+#include "NetworkCommunication/CANSessionMux.h"
 #include <fstream>
 #include <iostream>
 #include <unistd.h>
@@ -53,6 +54,10 @@ const char* getHALErrorMessage(int32_t code)
 			return CTR_InvalidParamValue_MESSAGE;
 		case CTR_UnexpectedArbId:
 			return CTR_UnexpectedArbId_MESSAGE;
+                case CTR_TxFailed:
+			return CTR_TxFailed_MESSAGE;
+                case CTR_SigNotUpdated:
+			return CTR_SigNotUpdated_MESSAGE;
 		case NiFpga_Status_FifoTimeout:
 			return NiFpga_Status_FifoTimeout_MESSAGE;
 		case NiFpga_Status_TransferAborted:
@@ -201,14 +206,30 @@ int HALGetJoystickPOVs(uint8_t joystickNum, HALJoystickPOVs *povs)
 	return FRC_NetworkCommunication_getJoystickPOVs(joystickNum, (JoystickPOV_t*) povs, kMaxJoystickPOVs);
 }
 
-int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons, uint8_t *count)
+int HALGetJoystickButtons(uint8_t joystickNum, HALJoystickButtons *buttons)
 {
-	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, buttons, count);
+	return FRC_NetworkCommunication_getJoystickButtons(joystickNum, &buttons->buttons, &buttons->count);
 }
 
-void HALSetNewDataSem(pthread_cond_t * param)
+int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc)
 {
-	setNewDataSem(param);
+	return FRC_NetworkCommunication_getJoystickDesc(joystickNum, &desc->isXbox, &desc->type, (char *)(&desc->name), 
+		&desc->axisCount, &desc->axisTypes, &desc->buttonCount, &desc->povCount);
+}
+
+int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble)
+{
+	return FRC_NetworkCommunication_setJoystickOutputs(joystickNum, outputs, leftRumble, rightRumble);
+}
+
+int HALGetMatchTime(float *matchTime)
+{
+	return FRC_NetworkCommunication_getMatchTime(matchTime);
+}
+
+void HALSetNewDataSem(MULTIWAIT_ID sem)
+{
+	setNewDataSem(sem);
 }
 
 bool HALGetSystemActive(int32_t *status)

hal/lib/Athena/Interrupts.cpp

@@ -1,6 +1,8 @@
 #include "HAL/Interrupts.hpp"
 #include "ChipObject.h"
 
+extern void remapDigitalSource(bool analogTrigger, uint32_t &pin, uint8_t &module);
+
 struct Interrupt // FIXME: why is this internal?
 {
 	tInterrupt *anInterrupt;
@@ -99,6 +101,7 @@ void requestInterrupts(void* interrupt_pointer, uint8_t routing_module, uint32_t
 {
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
 	anInterrupt->anInterrupt->writeConfig_WaitForAck(false, status);
+	remapDigitalSource(routing_analog_trigger, routing_pin, routing_module);
 	anInterrupt->anInterrupt->writeConfig_Source_AnalogTrigger(routing_analog_trigger, status);
 	anInterrupt->anInterrupt->writeConfig_Source_Channel(routing_pin, status);
 	anInterrupt->anInterrupt->writeConfig_Source_Module(routing_module, status);

hal/lib/Athena/NetworkCommunication/CANSessionMux.h

@@ -26,6 +26,7 @@
 #define WARN_CANSessionMux_NoToken         44087
 #define ERR_CANSessionMux_NotAllowed      -44088
 #define ERR_CANSessionMux_NotInitialized  -44089
+#define ERR_CANSessionMux_SessionOverrun   44050
 
 struct tCANStreamMessage{
 	uint32_t messageID;

hal/lib/Athena/NetworkCommunication/FRCComm.h

@@ -33,6 +33,7 @@
 #endif
 
 #define ERR_FRCSystem_NetCommNotResponding -44049
+#define ERR_FRCSystem_NoDSConnection -44018
 
 enum AllianceStationID_t {
 	kAllianceStationID_red1,
@@ -43,6 +44,13 @@ enum AllianceStationID_t {
 	kAllianceStationID_blue3,
 };
 
+enum MatchType_t {
+	kMatchType_none,
+	kMatchType_practice,
+	kMatchType_qualification,
+	kMatchType_elimination,
+};
+
 struct ControlWord_t {
 #ifndef __vxworks
 	uint32_t enabled : 1;

hal/lib/Athena/PDP.cpp

@@ -26,3 +26,36 @@ double getPDPChannelCurrent(uint8_t channel, int32_t *status) {
 	return current;
 }
 
+double getPDPTotalCurrent(int32_t *status) {
+	double current;
+	
+	*status = pdp.GetTotalCurrent(current);
+	
+	return current;
+}
+
+double getPDPTotalPower(int32_t *status) {
+	double power;
+	
+	*status = pdp.GetTotalPower(power);
+	
+	return power;
+}
+
+double getPDPTotalEnergy(int32_t *status) {
+	double energy;
+	
+	*status = pdp.GetTotalEnergy(energy);
+	
+	return energy;
+}
+
+void resetPDPTotalEnergy(int32_t *status) {
+	*status = pdp.ResetEnergy();
+}
+
+void clearPDPStickyFaults(int32_t *status) {
+	*status = pdp.ClearStickyFaults();
+}
+
+

hal/lib/Athena/SerialPort.cpp

@@ -13,8 +13,10 @@ void serialInitializePort(uint8_t port, int32_t *status) {
 	
 	if(port == 0)
 		portName = "ASRL1::INSTR";
-	else
+	else if (port == 1)
 		portName = "ASRL2::INSTR";
+	else
+		portName = "ASRL3::INSTR";
 
 	*status = viOpen(m_resourceManagerHandle, const_cast<char*>(portName), VI_NULL, VI_NULL, (ViSession*)&m_portHandle[port]);
 	if(*status > 0)

hal/lib/Athena/Solenoid.cpp

@@ -52,3 +52,33 @@ void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
 
 	port->module->SetSolenoid(port->pin, value);
 }
+
+int getPCMSolenoidBlackList(void* solenoid_port_pointer, int32_t *status){
+	solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
+	UINT8 value;
+	
+	*status = port->module->GetSolenoidBlackList(value);
+
+	return value;
+}
+bool getPCMSolenoidVoltageStickyFault(void* solenoid_port_pointer, int32_t *status){
+	solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
+	bool value;
+
+	*status = port->module->GetSolenoidStickyFault(value);
+
+	return value;
+}
+bool getPCMSolenoidVoltageFault(void* solenoid_port_pointer, int32_t *status){
+	solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
+	bool value;
+
+	*status = port->module->GetSolenoidFault(value);
+
+	return value;
+}
+void clearAllPCMStickyFaults_sol(void *solenoid_port_pointer, int32_t *status){
+	solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
+	
+	*status = port->module->ClearStickyFaults();
+}

hal/lib/Athena/ctre/CanTalonSRX.h

@@ -0,0 +1,375 @@
+/**
+ * @brief CAN TALON SRX driver.
+ *
+ * The TALON SRX is designed to instrument all runtime signals periodically.  The default periods are chosen to support 16 TALONs
+ * with 10ms update rate for control (throttle or setpoint).  However these can be overridden with SetStatusFrameRate. @see SetStatusFrameRate
+ * The getters for these unsolicited signals are auto generated at the bottom of this module.
+ *
+ * Likewise most control signals are sent periodically using the fire-and-forget CAN API.
+ * The setters for these unsolicited signals are auto generated at the bottom of this module.
+ *
+ * Signals that are not available in an unsolicited fashion are the Close Loop gains.
+ * For teams that have a single profile for their TALON close loop they can use either the webpage to configure their TALONs once
+ * 	or set the PIDF,Izone,CloseLoopRampRate,etc... once in the robot application.  These parameters are saved to flash so once they are
+ * 	loaded in the TALON, they will persist through power cycles and mode changes.
+ *
+ * For teams that have one or two profiles to switch between, they can use the same strategy since there are two slots to choose from
+ * and the ProfileSlotSelect is periodically sent in the 10 ms control frame.
+ *
+ * For teams that require changing gains frequently, they can use the soliciting API to get and set those parameters.  Most likely
+ * they will only need to set them in a periodic fashion as a function of what motion the application is attempting.
+ * If this API is used, be mindful of the CAN utilization reported in the driver station.
+ *
+ * Encoder position is measured in encoder edges.  Every edge is counted (similar to roboRIO 4X mode).
+ * Analog position is 10 bits, meaning 1024 ticks per rotation (0V => 3.3V).
+ * Use SetFeedbackDeviceSelect to select which sensor type you need.  Once you do that you can use GetSensorPosition()
+ * and GetSensorVelocity().  These signals are updated on CANBus every 20ms (by default).
+ * If a relative sensor is selected, you can zero (or change the current value) using SetSensorPosition.
+ *
+ * Analog Input and quadrature position (and velocity) are also explicitly reported in GetEncPosition, GetEncVel, GetAnalogInWithOv, GetAnalogInVel.
+ * These signals are available all the time, regardless of what sensor is selected at a rate of 100ms.  This allows easy instrumentation
+ * for "in the pits" checking of all sensors regardless of modeselect.  The 100ms rate is overridable for teams who want to acquire sensor
+ * data for processing, not just instrumentation.  Or just select the sensor using SetFeedbackDeviceSelect to get it at 20ms.
+ *
+ * Velocity is in position ticks / 100ms.
+ *
+ * All output units are in respect to duty cycle (throttle) which is -1023(full reverse) to +1023 (full forward).
+ *  This includes demand (which specifies duty cycle when in duty cycle mode) and rampRamp, which is in throttle units per 10ms (if nonzero).
+ *
+ * Pos and velocity close loops are calc'd as
+ * 		err = target - posOrVel.
+ * 		iErr += err;
+ * 		if(   (IZone!=0)  and  abs(err) > IZone)
+ * 			ClearIaccum()
+ * 		output = P X err + I X iErr + D X dErr + F X target
+ * 		dErr = err - lastErr
+ *	P, I,and D gains are always positive. F can be negative.
+ *	Motor direction can be reversed using SetRevMotDuringCloseLoopEn if sensor and motor are out of phase.
+ *	Similarly feedback sensor can also be reversed (multiplied by -1) if you prefer the sensor to be inverted.
+ *
+ * P gain is specified in throttle per error tick.  For example, a value of 102 is ~9.9% (which is 102/1023) throttle per 1
+ * 		ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor.
+ *
+ * I gain is specified in throttle per integrated error. For example, a value of 10 equates to ~0.99% (which is 10/1023)
+ *  	for each accumulated ADC unit(10bit) or 1 quadrature encoder edge depending on selected sensor.
+ *  	Close loop and integral accumulator runs every 1ms.
+ *
+ * D gain is specified in throttle per derivative error. For example a value of 102 equates to ~9.9% (which is 102/1023)
+ * 	per change of 1 unit (ADC or encoder) per ms.
+ *
+ * I Zone is specified in the same units as sensor position (ADC units or quadrature edges).  If pos/vel error is outside of
+ * 		this value, the integrated error will auto-clear...
+ * 		if(   (IZone!=0)  and  abs(err) > IZone)
+ * 			ClearIaccum()
+ * 		...this is very useful in preventing integral windup and is highly recommended if using full PID to keep stability low.
+ *
+ * CloseLoopRampRate is in throttle units per 1ms.  Set to zero to disable ramping.
+ * 		Works the same as RampThrottle but only is in effect when a close loop mode and profile slot is selected.
+ *
+ * auto generated using spreadsheet and WpiClassGen.csproj
+ * @link https://docs.google.com/spreadsheets/d/1OU_ZV7fZLGYUQ-Uhc8sVAmUmWTlT8XBFYK8lfjg_tac/edit#gid=1766046967
+ */
+#ifndef CanTalonSRX_H_
+#define CanTalonSRX_H_
+#include "ctre.h"				//BIT Defines + Typedefs
+#include "CtreCanNode.h"
+#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
+#include <map>
+class CanTalonSRX : public CtreCanNode
+{
+private:
+
+	/** just in case user wants to modify periods of certain status frames.
+	 * 	Default the vars to match the firmware default. */
+	uint32_t _statusRateMs[4];
+	//---------------------- Vars for opening a CAN stream if caller needs signals that require soliciting */
+	uint32_t _can_h; 	//!< Session handle for catching response params.
+	int32_t _can_stat; //!< Session handle status.
+	struct tCANStreamMessage _msgBuff[20];
+	static int const kMsgCapacity	= 20;
+	typedef std::map<uint32_t, uint32_t> sigs_t;
+	sigs_t _sigs; //!< Catches signal updates that are solicited.  Expect this to be very few.
+	void OpenSessionIfNeedBe();
+	void ProcessStreamMessages();
+	/**
+	 * Send a one shot frame to set an arbitrary signal.
+	 * Most signals are in the control frame so avoid using this API unless you have to.
+	 * Use this api for...
+	 * -A motor controller profile signal eProfileParam_XXXs.  These are backed up in flash.  If you are gain-scheduling then call this periodically.
+	 * -Default brake and limit switch signals... eOnBoot_XXXs.  Avoid doing this, use the override signals in the control frame.
+	 * Talon will automatically send a PARAM_RESPONSE after the set, so GetParamResponse will catch the latest value after a couple ms.
+	 */
+	CTR_Code SetParamRaw(uint32_t paramEnum, int32_t rawBits);
+	/**
+	 * Checks cached CAN frames and updating solicited signals.
+	 */
+	CTR_Code GetParamResponseRaw(uint32_t paramEnum, int32_t & rawBits);
+public:
+	static const int kDefaultControlPeriodMs = 10; //!< default control update rate is 10ms.
+	CanTalonSRX(int deviceNumber = 0,int controlPeriodMs = kDefaultControlPeriodMs);
+	~CanTalonSRX();
+	void Set(double value);
+	/* mode select enumerations */
+	static const int kMode_DutyCycle = 0; //!< Demand is 11bit signed duty cycle [-1023,1023].
+	static const int kMode_PositionCloseLoop = 1; //!< Position PIDF.
+	static const int kMode_VelocityCloseLoop = 2; //!< Velocity PIDF.
+	static const int kMode_CurrentCloseLoop = 3; //!< Current close loop - not done.
+	static const int kMode_VoltCompen = 4; //!< Voltage Compensation Mode - not done.  Demand is fixed pt target 8.8 volts.
+	static const int kMode_SlaveFollower = 5; //!< Demand is the 6 bit Device ID of the 'master' TALON SRX.
+	static const int kMode_NoDrive = 15; //!< Zero the output (honors brake/coast) regardless of demand.  Might be useful if we need to change modes but can't atomically change all the signals we want in between.
+	/* limit switch enumerations */
+	static const int kLimitSwitchOverride_UseDefaultsFromFlash = 1;
+	static const int kLimitSwitchOverride_DisableFwd_DisableRev = 4;
+	static const int kLimitSwitchOverride_DisableFwd_EnableRev = 5;
+	static const int kLimitSwitchOverride_EnableFwd_DisableRev = 6;
+	static const int kLimitSwitchOverride_EnableFwd_EnableRev = 7;
+	/* brake override enumerations */
+	static const int kBrakeOverride_UseDefaultsFromFlash = 0;
+	static const int kBrakeOverride_OverrideCoast = 1;
+	static const int kBrakeOverride_OverrideBrake = 2;
+	/* feedback device enumerations */
+	static const int kFeedbackDev_DigitalQuadEnc=0;
+	static const int kFeedbackDev_AnalogPot=2;
+	static const int kFeedbackDev_AnalogEncoder=3;
+	static const int kFeedbackDev_CountEveryRisingEdge=4;
+	static const int kFeedbackDev_CountEveryFallingEdge=5;
+	static const int kFeedbackDev_PosIsPulseWidth=8;
+	/* ProfileSlotSelect enumerations*/
+	static const int kProfileSlotSelect_Slot0 = 0;
+	static const int kProfileSlotSelect_Slot1 = 1;
+    /* status frame rate types */
+    static const int kStatusFrame_General = 0;
+    static const int kStatusFrame_Feedback = 1;
+    static const int kStatusFrame_Encoder = 2;
+    static const int kStatusFrame_AnalogTempVbat = 3;
+	/**
+	 * Signal enumeration for generic signal access.
+	 * Although every signal is enumerated, only use this for traffic that must be solicited.
+	 * Use the auto generated getters/setters at bottom of this header as much as possible.
+	 */
+	typedef enum _param_t{
+		eProfileParamSlot0_P=1,
+		eProfileParamSlot0_I=2,
+		eProfileParamSlot0_D=3,
+		eProfileParamSlot0_F=4,
+		eProfileParamSlot0_IZone=5,
+		eProfileParamSlot0_CloseLoopRampRate=6,
+		eProfileParamSlot1_P=11,
+		eProfileParamSlot1_I=12,
+		eProfileParamSlot1_D=13,
+		eProfileParamSlot1_F=14,
+		eProfileParamSlot1_IZone=15,
+		eProfileParamSlot1_CloseLoopRampRate=16,
+		eProfileParamSoftLimitForThreshold=21,
+		eProfileParamSoftLimitRevThreshold=22,
+		eProfileParamSoftLimitForEnable=23,
+		eProfileParamSoftLimitRevEnable=24,
+		eOnBoot_BrakeMode=31,
+		eOnBoot_LimitSwitch_Forward_NormallyClosed=32,
+		eOnBoot_LimitSwitch_Reverse_NormallyClosed=33,
+		eOnBoot_LimitSwitch_Forward_Disable=34,
+		eOnBoot_LimitSwitch_Reverse_Disable=35,
+		eFault_OverTemp=41,
+		eFault_UnderVoltage=42,
+		eFault_ForLim=43,
+		eFault_RevLim=44,
+		eFault_HardwareFailure=45,
+		eFault_ForSoftLim=46,
+		eFault_RevSoftLim=47,
+		eStckyFault_OverTemp=48,
+		eStckyFault_UnderVoltage=49,
+		eStckyFault_ForLim=50,
+		eStckyFault_RevLim=51,
+		eStckyFault_ForSoftLim=52,
+		eStckyFault_RevSoftLim=53,
+		eAppliedThrottle=61,
+		eCloseLoopErr=62,
+		eFeedbackDeviceSelect=63,
+		eRevMotDuringCloseLoopEn=64,
+		eModeSelect=65,
+		eProfileSlotSelect=66,
+		eRampThrottle=67,
+		eRevFeedbackSensor=68,
+		eLimitSwitchEn=69,
+		eLimitSwitchClosedFor=70,
+		eLimitSwitchClosedRev=71,
+		eSensorPosition=73,
+		eSensorVelocity=74,
+		eCurrent=75,
+		eBrakeIsEnabled=76,
+		eEncPosition=77,
+		eEncVel=78,
+		eEncIndexRiseEvents=79,
+		eQuadApin=80,
+		eQuadBpin=81,
+		eQuadIdxpin=82,
+		eAnalogInWithOv=83,
+		eAnalogInVel=84,
+		eTemp=85,
+		eBatteryV=86,
+		eResetCount=87,
+		eResetFlags=88,
+		eFirmVers=89,
+		eSettingsChanged=90,
+		eQuadFilterEn=91,	
+		ePidIaccum=93,
+	}param_t;
+    /*---------------------setters and getters that use the solicated param request/response-------------*//**
+     * Send a one shot frame to set an arbitrary signal.
+     * Most signals are in the control frame so avoid using this API unless you have to.
+     * Use this api for...
+     * -A motor controller profile signal eProfileParam_XXXs.  These are backed up in flash.  If you are gain-scheduling then call this periodically.
+     * -Default brake and limit switch signals... eOnBoot_XXXs.  Avoid doing this, use the override signals in the control frame.
+     * Talon will automatically send a PARAM_RESPONSE after the set, so GetParamResponse will catch the latest value after a couple ms.
+     */
+	CTR_Code SetParam(param_t paramEnum, double value);
+	/**
+	 * Asks TALON to immedietely respond with signal value.  This API is only used for signals that are not sent periodically.
+	 * This can be useful for reading params that rarely change like Limit Switch settings and PIDF values.
+	  * @param param to request.
+	 */
+	CTR_Code RequestParam(param_t paramEnum);
+	CTR_Code GetParamResponse(param_t paramEnum, double & value);
+	CTR_Code GetParamResponseInt32(param_t paramEnum, int & value);
+    /*----- getters and setters that use param request/response. These signals are backed up in flash and will survive a power cycle. ---------*/
+	/*----- If your application requires changing these values consider using both slots and switch between slot0 <=> slot1. ------------------*/
+	/*----- If your application requires changing these signals frequently then it makes sense to leverage this API. --------------------------*/
+	/*----- Getters don't block, so it may require several calls to get the latest value. --------------------------*/
+	CTR_Code SetPgain(unsigned slotIdx,double gain);
+	CTR_Code SetIgain(unsigned slotIdx,double gain);
+	CTR_Code SetDgain(unsigned slotIdx,double gain);
+	CTR_Code SetFgain(unsigned slotIdx,double gain);
+	CTR_Code SetIzone(unsigned slotIdx,int zone);
+	CTR_Code SetCloseLoopRampRate(unsigned slotIdx,int closeLoopRampRate);
+	CTR_Code SetSensorPosition(int pos);
+	CTR_Code SetForwardSoftLimit(int forwardLimit);
+	CTR_Code SetReverseSoftLimit(int reverseLimit);
+	CTR_Code SetForwardSoftEnable(int enable);
+	CTR_Code SetReverseSoftEnable(int enable);
+	CTR_Code GetPgain(unsigned slotIdx,double & gain);
+	CTR_Code GetIgain(unsigned slotIdx,double & gain);
+	CTR_Code GetDgain(unsigned slotIdx,double & gain);
+	CTR_Code GetFgain(unsigned slotIdx,double & gain);
+	CTR_Code GetIzone(unsigned slotIdx,int & zone);
+	CTR_Code GetCloseLoopRampRate(unsigned slotIdx,int & closeLoopRampRate);
+	CTR_Code GetForwardSoftLimit(int & forwardLimit);
+	CTR_Code GetReverseSoftLimit(int & reverseLimit);
+	CTR_Code GetForwardSoftEnable(int & enable);
+	CTR_Code GetReverseSoftEnable(int & enable);
+	/**
+	 * Change the periodMs of a TALON's status frame.  See kStatusFrame_* enums for what's available.
+	 */
+	CTR_Code SetStatusFrameRate(unsigned frameEnum, unsigned periodMs);
+	/**
+	 * Clear all sticky faults in TALON.
+	 */
+	CTR_Code ClearStickyFaults();
+    /*------------------------ auto generated.  This API is optimal since it uses the fire-and-forget CAN interface ----------------------*/
+    /*------------------------ These signals should cover the majority of all use cases. ----------------------------------*/
+	CTR_Code GetFault_OverTemp(int &param);
+	CTR_Code GetFault_UnderVoltage(int &param);
+	CTR_Code GetFault_ForLim(int &param);
+	CTR_Code GetFault_RevLim(int &param);
+	CTR_Code GetFault_HardwareFailure(int &param);
+	CTR_Code GetFault_ForSoftLim(int &param);
+	CTR_Code GetFault_RevSoftLim(int &param);
+	CTR_Code GetStckyFault_OverTemp(int &param);
+	CTR_Code GetStckyFault_UnderVoltage(int &param);
+	CTR_Code GetStckyFault_ForLim(int &param);
+	CTR_Code GetStckyFault_RevLim(int &param);
+	CTR_Code GetStckyFault_ForSoftLim(int &param);
+	CTR_Code GetStckyFault_RevSoftLim(int &param);
+	CTR_Code GetAppliedThrottle(int &param);
+	CTR_Code GetCloseLoopErr(int &param);
+	CTR_Code GetFeedbackDeviceSelect(int &param);
+	CTR_Code GetModeSelect(int &param);
+	CTR_Code GetLimitSwitchEn(int &param);
+	CTR_Code GetLimitSwitchClosedFor(int &param);
+	CTR_Code GetLimitSwitchClosedRev(int &param);
+	CTR_Code GetSensorPosition(int &param);
+	CTR_Code GetSensorVelocity(int &param);
+	CTR_Code GetCurrent(double &param);
+	CTR_Code GetBrakeIsEnabled(int &param);
+	CTR_Code GetEncPosition(int &param);
+	CTR_Code GetEncVel(int &param);
+	CTR_Code GetEncIndexRiseEvents(int &param);
+	CTR_Code GetQuadApin(int &param);
+	CTR_Code GetQuadBpin(int &param);
+	CTR_Code GetQuadIdxpin(int &param);
+	CTR_Code GetAnalogInWithOv(int &param);
+	CTR_Code GetAnalogInVel(int &param);
+	CTR_Code GetTemp(double &param);
+	CTR_Code GetBatteryV(double &param);
+	CTR_Code GetResetCount(int &param);
+	CTR_Code GetResetFlags(int &param);
+	CTR_Code GetFirmVers(int &param);
+	CTR_Code SetDemand(int param);
+	CTR_Code SetOverrideLimitSwitchEn(int param);
+	CTR_Code SetFeedbackDeviceSelect(int param);
+	CTR_Code SetRevMotDuringCloseLoopEn(int param);
+	CTR_Code SetOverrideBrakeType(int param);
+	CTR_Code SetModeSelect(int param);
+	CTR_Code SetModeSelect(int modeSelect,int demand);
+	CTR_Code SetProfileSlotSelect(int param);
+	CTR_Code SetRampThrottle(int param);
+	CTR_Code SetRevFeedbackSensor(int param);
+};
+extern "C" {
+	void *c_TalonSRX_Create(int deviceNumber, int controlPeriodMs);
+	void c_TalonSRX_Destroy(void *handle);
+	CTR_Code c_TalonSRX_SetParam(void *handle, int paramEnum, double value);
+	CTR_Code c_TalonSRX_RequestParam(void *handle, int paramEnum);
+	CTR_Code c_TalonSRX_GetParamResponse(void *handle, int paramEnum, double *value);
+	CTR_Code c_TalonSRX_GetParamResponseInt32(void *handle, int paramEnum, int *value);
+	CTR_Code c_TalonSRX_SetStatusFrameRate(void *handle, unsigned frameEnum, unsigned periodMs);
+	CTR_Code c_TalonSRX_ClearStickyFaults(void *handle);
+	CTR_Code c_TalonSRX_GetFault_OverTemp(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_UnderVoltage(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_ForLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_RevLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_HardwareFailure(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_ForSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFault_RevSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_OverTemp(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_UnderVoltage(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_ForLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_RevLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_ForSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetStckyFault_RevSoftLim(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetAppliedThrottle(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetCloseLoopErr(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFeedbackDeviceSelect(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetModeSelect(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetLimitSwitchEn(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetLimitSwitchClosedFor(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetLimitSwitchClosedRev(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetSensorPosition(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetSensorVelocity(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetCurrent(void *handle, double *param);
+	CTR_Code c_TalonSRX_GetBrakeIsEnabled(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetEncPosition(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetEncVel(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetEncIndexRiseEvents(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetQuadApin(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetQuadBpin(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetQuadIdxpin(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetAnalogInWithOv(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetAnalogInVel(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetTemp(void *handle, double *param);
+	CTR_Code c_TalonSRX_GetBatteryV(void *handle, double *param);
+	CTR_Code c_TalonSRX_GetResetCount(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetResetFlags(void *handle, int *param);
+	CTR_Code c_TalonSRX_GetFirmVers(void *handle, int *param);
+	CTR_Code c_TalonSRX_SetDemand(void *handle, int param);
+	CTR_Code c_TalonSRX_SetOverrideLimitSwitchEn(void *handle, int param);
+	CTR_Code c_TalonSRX_SetFeedbackDeviceSelect(void *handle, int param);
+	CTR_Code c_TalonSRX_SetRevMotDuringCloseLoopEn(void *handle, int param);
+	CTR_Code c_TalonSRX_SetOverrideBrakeType(void *handle, int param);
+	CTR_Code c_TalonSRX_SetModeSelect(void *handle, int param);
+	CTR_Code c_TalonSRX_SetModeSelect2(void *handle, int modeSelect, int demand);
+	CTR_Code c_TalonSRX_SetProfileSlotSelect(void *handle, int param);
+	CTR_Code c_TalonSRX_SetRampThrottle(void *handle, int param);
+	CTR_Code c_TalonSRX_SetRevFeedbackSensor(void *handle, int param);
+}
+#endif
+

hal/lib/Athena/ctre/CtreCanNode.cpp

@@ -1,98 +1,101 @@
-#include "CtreCanNode.h"
-#include "NetworkCommunication/CANSessionMux.h"
-#include <string.h> // memset
-#include <unistd.h> // usleep
-
-static const UINT32 kFullMessageIDMask = 0x1fffffff;
-
-CtreCanNode::CtreCanNode(UINT8 deviceNumber)
-{
-	_deviceNumber = deviceNumber;
-}
-CtreCanNode::~CtreCanNode()
-{
-}
-void CtreCanNode::RegisterRx(uint32_t arbId)
-{
-	/* no need to do anything, we just use new API to poll last received message */
-}
-void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
-{
-	int32_t status = 0;
-
-	txJob_t job;
-	job.arbId = arbId;
-	job.periodMs = periodMs;
-	_txJobs[arbId] = job;
-	FRC_NetworkCommunication_CANSessionMux_sendMessage(	job.arbId,
-														job.toSend,
-														8,
-														job.periodMs,
-														&status);
-}
-timespec diff(const timespec & start, const timespec & end)
-{
-	timespec temp;
-	if ((end.tv_nsec-start.tv_nsec)<0) {
-		temp.tv_sec = end.tv_sec-start.tv_sec-1;
-		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
-	} else {
-		temp.tv_sec = end.tv_sec-start.tv_sec;
-		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
-	}
-	return temp;
-}
-CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
-{
-	CTR_Code retval = CTR_OKAY;
-	int32_t status = 0;
-	uint8_t len = 0;
-	uint32_t timeStamp;
-	/* cap timeout at 999ms */
-	if(timeoutMs > 999)
-		timeoutMs = 999;
-	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
-	if(status == 0){
-		/* fresh update */
-		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
-		clock_gettime(2,&r.time); 			/* fill in time */
-		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
-	}else{
-		/* did not get the message */
-		rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
-		if(i == _rxRxEvents.end()){
-			/* we've never gotten this mesage */
-			retval = CTR_RxTimeout;
-			/* fill caller's buffer with zeros */
-			memset(dataBytes,0,8);
-		}else{
-			/* we've gotten this message before but not recently */
-			memcpy(dataBytes,i->second.bytes,8);
-			/* get the time now */
-			struct timespec temp;
-			clock_gettime(2,&temp); /* get now */
-			/* how long has it been? */
-			temp = diff(i->second.time,temp); /* temp = now - last */
-			if(temp.tv_sec > 0){
-				retval = CTR_RxTimeout;
-			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
-				retval = CTR_RxTimeout;
-			}else {
-				/* our last update was recent enough */
-			}
-		}
-	}
-
-	return retval;
-}
-void CtreCanNode::FlushTx(uint32_t arbId)
-{
-	int32_t status = 0;
-	txJobs_t::iterator iter = _txJobs.find(arbId);
-	if(iter != _txJobs.end())
-		FRC_NetworkCommunication_CANSessionMux_sendMessage(	iter->second.arbId,
-															iter->second.toSend,
-															8,
-															iter->second.periodMs,
-															&status);
-}
+#pragma GCC diagnostic ignored "-Wmissing-field-initializers"
+
+#include "CtreCanNode.h"
+#include "NetworkCommunication/CANSessionMux.h"
+#include <string.h> // memset
+#include <unistd.h> // usleep
+
+static const UINT32 kFullMessageIDMask = 0x1fffffff;
+
+CtreCanNode::CtreCanNode(UINT8 deviceNumber)
+{
+	_deviceNumber = deviceNumber;
+}
+CtreCanNode::~CtreCanNode()
+{
+}
+void CtreCanNode::RegisterRx(uint32_t arbId)
+{
+	/* no need to do anything, we just use new API to poll last received message */
+}
+void CtreCanNode::RegisterTx(uint32_t arbId, uint32_t periodMs)
+{
+	int32_t status = 0;
+
+	txJob_t job = {0};
+	job.arbId = arbId;
+	job.periodMs = periodMs;
+	_txJobs[arbId] = job;
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(	job.arbId,
+														job.toSend,
+														8,
+														job.periodMs,
+														&status);
+}
+timespec diff(const timespec & start, const timespec & end)
+{
+	timespec temp;
+	if ((end.tv_nsec-start.tv_nsec)<0) {
+		temp.tv_sec = end.tv_sec-start.tv_sec-1;
+		temp.tv_nsec = 1000000000+end.tv_nsec-start.tv_nsec;
+	} else {
+		temp.tv_sec = end.tv_sec-start.tv_sec;
+		temp.tv_nsec = end.tv_nsec-start.tv_nsec;
+	}
+	return temp;
+}
+CTR_Code CtreCanNode::GetRx(uint32_t arbId,uint8_t * dataBytes, uint32_t timeoutMs)
+{
+	CTR_Code retval = CTR_OKAY;
+	int32_t status = 0;
+	uint8_t len = 0;
+	uint32_t timeStamp;
+	/* cap timeout at 999ms */
+	if(timeoutMs > 999)
+		timeoutMs = 999;
+	FRC_NetworkCommunication_CANSessionMux_receiveMessage(&arbId,kFullMessageIDMask,dataBytes,&len,&timeStamp,&status);
+	if(status == 0){
+		/* fresh update */
+		rxEvent_t & r = _rxRxEvents[arbId]; /* lookup entry or make a default new one with all zeroes */
+		clock_gettime(2,&r.time); 			/* fill in time */
+		memcpy(r.bytes,  dataBytes,  8);	/* fill in databytes */
+	}else{
+		/* did not get the message */
+		rxRxEvents_t::iterator i = _rxRxEvents.find(arbId);
+		if(i == _rxRxEvents.end()){
+			/* we've never gotten this mesage */
+			retval = CTR_RxTimeout;
+			/* fill caller's buffer with zeros */
+			memset(dataBytes,0,8);
+		}else{
+			/* we've gotten this message before but not recently */
+			memcpy(dataBytes,i->second.bytes,8);
+			/* get the time now */
+			struct timespec temp;
+			clock_gettime(2,&temp); /* get now */
+			/* how long has it been? */
+			temp = diff(i->second.time,temp); /* temp = now - last */
+			if(temp.tv_sec > 0){
+				retval = CTR_RxTimeout;
+			}else if(temp.tv_nsec > ((int32_t)timeoutMs*1000*1000)){
+				retval = CTR_RxTimeout;
+			}else {
+				/* our last update was recent enough */
+			}
+		}
+	}
+
+	return retval;
+}
+void CtreCanNode::FlushTx(uint32_t arbId)
+{
+	int32_t status = 0;
+	txJobs_t::iterator iter = _txJobs.find(arbId);
+	if(iter != _txJobs.end())
+		FRC_NetworkCommunication_CANSessionMux_sendMessage(	iter->second.arbId,
+															iter->second.toSend,
+															8,
+															iter->second.periodMs,
+															&status);
+}
+

hal/lib/Athena/ctre/CtreCanNode.h

@@ -1,121 +1,116 @@
-#ifndef CtreCanNode_H_
-#define CtreCanNode_H_
-#include "ctre.h"				//BIT Defines + Typedefs
-#include "NetworkCommunication/CANSessionMux.h" 	//CAN Comm
-#include <pthread.h>
-#include <map>
-#include <string.h> // memcpy
-#include <sys/time.h>
-class CtreCanNode
-{
-public:
-	CtreCanNode(UINT8 deviceNumber);
-    ~CtreCanNode();
-
-	UINT8 GetDeviceNumber()
-	{
-		return _deviceNumber;
-	}
-protected:
-
-
-	template <typename T> class txTask{
-		public:
-			uint32_t arbId;
-			T * toSend;
-			T * operator -> ()
-			{
-				return toSend;
-			}
-			T & operator*()
-			{
-				return *toSend;
-			}
-			bool IsEmpty()
-			{
-				if(toSend == 0)
-					return true;
-				return false;
-			}
-	};
-	template <typename T> class recMsg{
-		public:
-			uint32_t arbId;
-			uint8_t bytes[8];
-			CTR_Code err;
-			T * operator -> ()
-			{
-				return (T *)bytes;
-			}
-			T & operator*()
-			{
-				return *(T *)bytes;
-			}
-	};
-	UINT8 _deviceNumber;
-	void RegisterRx(uint32_t arbId);
-	void RegisterTx(uint32_t arbId, uint32_t periodMs);
-
-	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
-	void FlushTx(uint32_t arbId);
-
-	template<typename T> txTask<T> GetTx(uint32_t arbId)
-	{
-		txTask<T> retval = {0};
-		txJobs_t::iterator i = _txJobs.find(arbId);
-		if(i != _txJobs.end()){
-			retval.arbId = i->second.arbId;
-			retval.toSend = (T*)i->second.toSend;
-		}
-		return retval;
-	}
-	template<class T> void FlushTx(T & par)
-	{
-		FlushTx(par.arbId);
-	}
-
-	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
-	{
-		recMsg<T> retval;
-		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
-		return retval;
-	}
-
-private:
-
-	class txJob_t {
-		public:
-			uint32_t arbId;
-			uint8_t toSend[8];
-			uint32_t periodMs;
-			txJob_t() : arbId(0),periodMs(0)
-			{
-				for(unsigned i=0;i<sizeof(toSend);++i)
-					toSend[i] = 0;
-			}
-	};
-
-	class rxEvent_t{
-		public:
-			uint8_t bytes[8];
-			struct timespec time;
-			rxEvent_t()
-			{
-				bytes[0] = 0;
-				bytes[1] = 0;
-				bytes[2] = 0;
-				bytes[3] = 0;
-				bytes[4] = 0;
-				bytes[5] = 0;
-				bytes[6] = 0;
-				bytes[7] = 0;
-			}
-	};
-
-	typedef std::map<uint32_t,txJob_t> txJobs_t;
-	txJobs_t _txJobs;
-
-	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
-	rxRxEvents_t _rxRxEvents;
-};
-#endif
+#ifndef CtreCanNode_H_
+#define CtreCanNode_H_
+#include "ctre.h"				//BIT Defines + Typedefs
+#include <NetworkCommunication/CANSessionMux.h>	//CAN Comm
+#include <pthread.h>
+#include <map>
+#include <string.h> // memcpy
+#include <sys/time.h>
+class CtreCanNode
+{
+public:
+	CtreCanNode(UINT8 deviceNumber);
+    ~CtreCanNode();
+
+	UINT8 GetDeviceNumber()
+	{
+		return _deviceNumber;
+	}
+protected:
+
+
+	template <typename T> class txTask{
+		public:
+			uint32_t arbId;
+			T * toSend;
+			T * operator -> ()
+			{
+				return toSend;
+			}
+			T & operator*()
+			{
+				return *toSend;
+			}
+			bool IsEmpty()
+			{
+				if(toSend == 0)
+					return true;
+				return false;
+			}
+	};
+	template <typename T> class recMsg{
+		public:
+			uint32_t arbId;
+			uint8_t bytes[8];
+			CTR_Code err;
+			T * operator -> ()
+			{
+				return (T *)bytes;
+			}
+			T & operator*()
+			{
+				return *(T *)bytes;
+			}
+	};
+	UINT8 _deviceNumber;
+	void RegisterRx(uint32_t arbId);
+	void RegisterTx(uint32_t arbId, uint32_t periodMs);
+
+	CTR_Code GetRx(uint32_t arbId,uint8_t * dataBytes,uint32_t timeoutMs);
+	void FlushTx(uint32_t arbId);
+
+	template<typename T> txTask<T> GetTx(uint32_t arbId)
+	{
+		txTask<T> retval = {0, nullptr};
+		txJobs_t::iterator i = _txJobs.find(arbId);
+		if(i != _txJobs.end()){
+			retval.arbId = i->second.arbId;
+			retval.toSend = (T*)i->second.toSend;
+		}
+		return retval;
+	}
+	template<class T> void FlushTx(T & par)
+	{
+		FlushTx(par.arbId);
+	}
+
+	template<class T> recMsg<T> GetRx(uint32_t arbId, uint32_t timeoutMs)
+	{
+		recMsg<T> retval;
+		retval.err = GetRx(arbId,retval.bytes, timeoutMs);
+		return retval;
+	}
+
+private:
+
+	class txJob_t {
+		public:
+			uint32_t arbId;
+			uint8_t toSend[8];
+			uint32_t periodMs;
+	};
+
+	class rxEvent_t{
+		public:
+			uint8_t bytes[8];
+			struct timespec time;
+			rxEvent_t()
+			{
+				bytes[0] = 0;
+				bytes[1] = 0;
+				bytes[2] = 0;
+				bytes[3] = 0;
+				bytes[4] = 0;
+				bytes[5] = 0;
+				bytes[6] = 0;
+				bytes[7] = 0;
+			}
+	};
+
+	typedef std::map<uint32_t,txJob_t> txJobs_t;
+	txJobs_t _txJobs;
+
+	typedef std::map<uint32_t,rxEvent_t> rxRxEvents_t;
+	rxRxEvents_t _rxRxEvents;
+};
+#endif

hal/lib/Athena/ctre/PCM.cpp

@@ -13,11 +13,13 @@ static const INT32 kCANPeriod = 20;
 #define STATUS_DEBUG  		0x9041480
 
 #define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
-#define GET_PCM_STATUS()			CtreCanNode::recMsg<PcmStatus_t> 		rx = GetRx<PcmStatus_t>			(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_PCM_SOL_FAULTS()		CtreCanNode::recMsg<PcmStatusFault_t> 	rx = GetRx<PcmStatusFault_t>	(STATUS_SOL_FAULTS,EXPECTED_RESPONSE_TIMEOUT_MS)
-#define GET_PCM_DEBUG()				CtreCanNode::recMsg<PcmDebug_t> 		rx = GetRx<PcmDebug_t>			(STATUS_DEBUG,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_STATUS()			CtreCanNode::recMsg<PcmStatus_t> 		rx = GetRx<PcmStatus_t>			(STATUS_1|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_SOL_FAULTS()		CtreCanNode::recMsg<PcmStatusFault_t> 	rx = GetRx<PcmStatusFault_t>	(STATUS_SOL_FAULTS|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_PCM_DEBUG()				CtreCanNode::recMsg<PcmDebug_t> 		rx = GetRx<PcmDebug_t>			(STATUS_DEBUG|GetDeviceNumber(),EXPECTED_RESPONSE_TIMEOUT_MS)
 
-#define CONTROL_1 			0x09041C00
+#define CONTROL_1 			0x09041C00	/* PCM_Control */
+#define CONTROL_2 			0x09041C40	/* PCM_SupplemControl */
+#define CONTROL_3 			0x09041C80	/* PcmControlSetOneShotDur_t */
 
 /* encoder/decoders */
 typedef struct _PcmStatus_t{
@@ -27,8 +29,8 @@ typedef struct _PcmStatus_t{
 	unsigned compressorOn:1;
 	unsigned stickyFaultFuseTripped:1;
 	unsigned stickyFaultCompCurrentTooHigh:1;
-	unsigned faultCompCurrentTooHigh:1;
 	unsigned faultFuseTripped:1;
+	unsigned faultCompCurrentTooHigh:1;
 	unsigned faultHardwareFailure:1;
 	unsigned isCloseloopEnabled:1;
 	unsigned pressureSwitchEn:1;
@@ -40,7 +42,8 @@ typedef struct _PcmStatus_t{
 	unsigned compressorCurrentTop6:6;
 	unsigned solenoidVoltageBtm2:2;
 	/* Byte 5 */
-	unsigned reserved:2;
+	unsigned StickyFault_dItooHigh :1;
+	unsigned Fault_dItooHigh :1;
 	unsigned moduleEnabled:1;
 	unsigned closedLoopOutput:1;
 	unsigned compressorCurrentBtm4:4;
@@ -63,19 +66,28 @@ typedef struct _PcmControl_t{
 	unsigned compressorOn:1;
 	unsigned closedLoopEnable:1;
 	unsigned clearStickyFaults:1;
+	/* Byte 4 */
+	unsigned OneShotField_h8:8;
+	/* Byte 5 */
+	unsigned OneShotField_l8:8;
 }PcmControl_t;
 
+typedef struct _PcmControlSetOneShotDur_t{
+	uint8_t sol10MsPerUnit[8];
+}PcmControlSetOneShotDur_t;
+
 typedef struct _PcmStatusFault_t{
 	/* Byte 0 */
 	unsigned SolenoidBlacklist:8;
 	/* Byte 1 */
-	unsigned reserved1:8;
-	unsigned reserved2:8;
-	unsigned reserved3:8;
-	unsigned reserved4:8;
-	unsigned reserved5:8;
-	unsigned reserved6:8;
-	unsigned reserved7:8;
+	unsigned reserved_bit0 :1;
+	unsigned reserved_bit1 :1;
+	unsigned reserved_bit2 :1;
+	unsigned reserved_bit3 :1;
+	unsigned StickyFault_CompNoCurrent :1;
+	unsigned Fault_CompNoCurrent :1;
+	unsigned StickyFault_SolenoidJumper :1;
+	unsigned Fault_SolenoidJumper :1;
 }PcmStatusFault_t;
 
 typedef struct _PcmDebug_t{
@@ -135,12 +147,13 @@ CTR_Code PCM::SetSolenoid(unsigned char idx, bool en)
  *
  * @Param 	-	clr		- 	Clear / do not clear faults
  */
-CTR_Code PCM::ClearStickyFaults(bool clr)
+CTR_Code PCM::ClearStickyFaults()
 {
-	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
-	if(toFill.IsEmpty())return CTR_UnexpectedArbId;
-	toFill->clearStickyFaults = clr;
-	FlushTx(toFill);
+	int32_t status = 0;
+	uint8_t pcmSupplemControl[] = { 0, 0, 0, 0x80 }; /* only bit set is ClearStickyFaults */
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_2  | GetDeviceNumber(), pcmSupplemControl, sizeof(pcmSupplemControl), 0, &status);
+	if(status)
+		return CTR_TxFailed;
 	return CTR_OKAY;
 }
 
@@ -158,6 +171,59 @@ CTR_Code PCM::SetClosedLoopControl(bool en)
 	FlushTx(toFill);
 	return CTR_OKAY;
 }
+/* Get solenoid Blacklist status
+ * @Return	-	CTR_Code	-	Error code (if any)
+ * @Param	-	idx			-	ID of solenoid [0,7] to fire one shot pulse.
+ */
+CTR_Code PCM::FireOneShotSolenoid(UINT8 idx)
+{
+	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
+	if(toFill.IsEmpty())return CTR_UnexpectedArbId;
+	/* grab field as it is now */
+	uint16_t oneShotField;
+	oneShotField = toFill->OneShotField_h8;
+	oneShotField <<= 8;
+	oneShotField |= toFill->OneShotField_l8;
+	/* get the caller's channel */
+	uint16_t shift = 2*idx;
+	uint16_t mask = 3; /* two bits wide */
+	uint8_t chBits = (oneShotField >> shift) & mask;
+	/* flip it */
+	chBits = (chBits)%3 + 1;
+	/* clear out 2bits for this channel*/
+	oneShotField &= ~(mask << shift);
+	/* put new field in */
+	oneShotField |= chBits << shift;
+	/* apply field as it is now */
+	toFill->OneShotField_h8 = oneShotField >> 8;
+	toFill->OneShotField_l8 = oneShotField;
+	FlushTx(toFill);
+	return CTR_OKAY;
+}
+/* Configure the pulse width of a solenoid channel for one-shot pulse.
+ * Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
+ * @Return	-	CTR_Code	-	Error code (if any)
+ * @Param	-	idx			-	ID of solenoid [0,7] to configure.
+ * @Param	-	durMs		-	pulse width in ms.
+ */
+CTR_Code PCM::SetOneShotDurationMs(UINT8 idx,uint32_t durMs)
+{
+	/* sanity check caller's param */
+	if(idx > 8)
+		return CTR_InvalidParamValue;
+	/* get latest tx frame */
+	CtreCanNode::txTask<PcmControlSetOneShotDur_t> toFill = GetTx<PcmControlSetOneShotDur_t>(CONTROL_3 | GetDeviceNumber());
+	if(toFill.IsEmpty()){
+		/* only send this out if caller wants to do one-shots */
+		RegisterTx(CONTROL_3 | _deviceNumber, kCANPeriod);
+		/* grab it */
+		toFill = GetTx<PcmControlSetOneShotDur_t>(CONTROL_3 | GetDeviceNumber());
+	}
+	toFill->sol10MsPerUnit[idx] = std::min(durMs/10,(uint32_t)0xFF);
+	/* apply the new data bytes */
+	FlushTx(toFill);
+	return CTR_OKAY;
+}
 
 /* Get solenoid state
  *
@@ -248,12 +314,36 @@ CTR_Code PCM::GetHardwareFault(bool &status)
  *
  * @Return	-	True/False	-	True if shorted compressor detected, false if otherwise
  */
-CTR_Code PCM::GetCompressorFault(bool &status)
+CTR_Code PCM::GetCompressorCurrentTooHighFault(bool &status)
 {
 	GET_PCM_STATUS();
 	status = rx->faultCompCurrentTooHigh;
 	return rx.err;
 }
+CTR_Code PCM::GetCompressorShortedStickyFault(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->StickyFault_dItooHigh;
+	return rx.err;
+}
+CTR_Code PCM::GetCompressorShortedFault(bool &status)
+{
+	GET_PCM_STATUS();
+	status = rx->Fault_dItooHigh;
+	return rx.err;
+}
+CTR_Code PCM::GetCompressorNotConnectedStickyFault(bool &status)
+{
+	GET_PCM_SOL_FAULTS();
+	status = rx->StickyFault_CompNoCurrent;
+	return rx.err;
+}
+CTR_Code PCM::GetCompressorNotConnectedFault(bool &status)
+{
+	GET_PCM_SOL_FAULTS();
+	status = rx->Fault_CompNoCurrent;
+	return rx.err;
+}
 
 /* Get solenoid fault value
  *
@@ -271,7 +361,7 @@ CTR_Code PCM::GetSolenoidFault(bool &status)
  * @Return	-	True/False	-	True if solenoid had previously been shorted
  * 								(and sticky fault was not cleared), false if otherwise
  */
-CTR_Code PCM::GetCompressorStickyFault(bool &status)
+CTR_Code PCM::GetCompressorCurrentTooHighStickyFault(bool &status)
 {
 	GET_PCM_STATUS();
 	status = rx->stickyFaultCompCurrentTooHigh;
@@ -369,7 +459,7 @@ extern "C" {
 		return ((PCM*) handle)->SetClosedLoopControl(param);
 	}
 	CTR_Code c_ClearStickyFaults(void * handle, INT8 param) {
-		return ((PCM*) handle)->ClearStickyFaults(param);
+		return ((PCM*) handle)->ClearStickyFaults();
 	}
 	CTR_Code c_GetSolenoid(void * handle, UINT8 idx, INT8 * status) {
 		bool bstatus;
@@ -410,7 +500,7 @@ extern "C" {
 	}
 	CTR_Code c_GetCompressorFault(void * handle, INT8*status) {
 		bool bstatus;
-		CTR_Code retval = ((PCM*) handle)->GetCompressorFault(bstatus);
+		CTR_Code retval = ((PCM*) handle)->GetCompressorCurrentTooHighFault(bstatus);
 		*status = bstatus;
 		return retval;
 	}
@@ -422,7 +512,7 @@ extern "C" {
 	}
 	CTR_Code c_GetCompressorStickyFault(void * handle, INT8*status) {
 		bool bstatus;
-		CTR_Code retval = ((PCM*) handle)->GetCompressorStickyFault(bstatus);
+		CTR_Code retval = ((PCM*) handle)->GetCompressorCurrentTooHighStickyFault(bstatus);
 		*status = bstatus;
 		return retval;
 	}

hal/lib/Athena/ctre/PCM.h

@@ -26,9 +26,8 @@ public:
 
     /* Clears PCM sticky faults (indicators of past faults
      * @Return	-	CTR_Code	-	Error code (if any) for setting solenoid
-     * @Param 	-	clr		- 	Clear / do not clear faults
      */
-    CTR_Code 	ClearStickyFaults(bool clr);
+    CTR_Code 	ClearStickyFaults();
     
     /* Get solenoid state
      *
@@ -76,9 +75,9 @@ public:
 
     /* Get compressor fault value
      * @Return	-	CTR_Code	-	Error code (if any)
-     * @Param	-	status		-	True if shorted compressor detected, false if otherwise
+     * @Param	-	status		-	True if abnormally high compressor current detected, false if otherwise
      */
-    CTR_Code 	GetCompressorFault(bool &status);
+    CTR_Code 	GetCompressorCurrentTooHighFault(bool &status);
 
     /* Get solenoid fault value
      * @Return	-	CTR_Code	-	Error code (if any)
@@ -91,7 +90,29 @@ public:
      * @Param	-	status		-	True if solenoid had previously been shorted
      * 								(and sticky fault was not cleared), false if otherwise
      */
-    CTR_Code 	GetCompressorStickyFault(bool &status);
+    CTR_Code 	GetCompressorCurrentTooHighStickyFault(bool &status);
+    /* Get compressor shorted sticky fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor output is shorted, false if otherwise
+     */
+    CTR_Code 	GetCompressorShortedStickyFault(bool &status);
+    /* Get compressor shorted fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor output is shorted, false if otherwise
+     */
+    CTR_Code 	GetCompressorShortedFault(bool &status);
+    /* Get compressor is not connected sticky fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor current is too low, 
+     * 					indicating compressor is not connected, false if otherwise
+     */
+    CTR_Code 	GetCompressorNotConnectedStickyFault(bool &status);
+    /* Get compressor is not connected fault value
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	status		-	True if compressor current is too low, 
+     * 					indicating compressor is not connected, false if otherwise
+     */
+    CTR_Code 	GetCompressorNotConnectedFault(bool &status);
 
     /* Get solenoid sticky fault value
      * @Return	-	CTR_Code	-	Error code (if any)
@@ -146,6 +167,21 @@ public:
      * @Param	-	status		-	Returns TRUE if PCM is enabled, FALSE if disabled
      */
     CTR_Code	isModuleEnabled(bool &status);
+
+    /* Get solenoid Blacklist status
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	idx			-	ID of solenoid [0,7] to fire one shot pulse.
+     */
+    CTR_Code FireOneShotSolenoid(UINT8 idx);
+
+    /* Configure the pulse width of a solenoid channel for one-shot pulse.
+	 * Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
+     * @Return	-	CTR_Code	-	Error code (if any)
+     * @Param	-	idx			-	ID of solenoid [0,7] to configure.
+     * @Param	-	durMs		-	pulse width in ms.
+     */
+    CTR_Code SetOneShotDurationMs(UINT8 idx,uint32_t durMs);
+
 };
 //------------------ C interface --------------------------------------------//
 extern "C" {

hal/lib/Athena/ctre/PDP.cpp

@@ -6,11 +6,15 @@
 #define STATUS_1  		0x8041400
 #define STATUS_2  		0x8041440
 #define STATUS_3  		0x8041480
+#define STATUS_ENERGY	0x8041740
+
+#define CONTROL_1		0x08041C00	/* PDP_Control_ClearStats */
 
 #define EXPECTED_RESPONSE_TIMEOUT_MS	(50)
 #define GET_STATUS1()		CtreCanNode::recMsg<PdpStatus1_t> rx = GetRx<PdpStatus1_t>(STATUS_1,EXPECTED_RESPONSE_TIMEOUT_MS)
 #define GET_STATUS2()		CtreCanNode::recMsg<PdpStatus2_t> rx = GetRx<PdpStatus2_t>(STATUS_2,EXPECTED_RESPONSE_TIMEOUT_MS)
 #define GET_STATUS3()		CtreCanNode::recMsg<PdpStatus3_t> rx = GetRx<PdpStatus3_t>(STATUS_3,EXPECTED_RESPONSE_TIMEOUT_MS)
+#define GET_STATUS_ENERGY()	CtreCanNode::recMsg<PDP_Status_Energy_t> rx = GetRx<PDP_Status_Energy_t>(STATUS_ENERGY,EXPECTED_RESPONSE_TIMEOUT_MS)
 
 /* encoder/decoders */
 typedef struct _PdpStatus1_t{
@@ -56,6 +60,18 @@ typedef struct _PdpStatus3_t{
 	unsigned busVoltage:8;
 	unsigned temp:8;
 }PdpStatus3_t;
+typedef struct _PDP_Status_Energy_t {
+	unsigned TmeasMs_likelywillbe20ms_:8;
+	unsigned TotalCurrent_125mAperunit_h8:8;
+	unsigned Power_125mWperunit_h4:4;
+	unsigned TotalCurrent_125mAperunit_l4:4;
+	unsigned Power_125mWperunit_m8:8;
+	unsigned Energy_125mWPerUnitXTmeas_h4:4;
+	unsigned Power_125mWperunit_l4:4;
+	unsigned Energy_125mWPerUnitXTmeas_mh8:8;
+	unsigned Energy_125mWPerUnitXTmeas_ml8:8;
+	unsigned Energy_125mWPerUnitXTmeas_l8:8;
+} PDP_Status_Energy_t ;
 
 PDP::PDP(UINT8 deviceNumber): CtreCanNode(deviceNumber)
 {
@@ -128,6 +144,69 @@ CTR_Code PDP::GetTemperature(double &tempC)
 	tempC =	(double)raw * 1.03250836957542 - 67.8564500484966;
 	return rx.err;
 }
+CTR_Code PDP::GetTotalCurrent(double &currentAmps)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->TotalCurrent_125mAperunit_h8;
+	raw <<= 4;
+	raw |=  rx->TotalCurrent_125mAperunit_l4;
+	currentAmps = 0.125 * raw;
+	return rx.err;
+}
+CTR_Code PDP::GetTotalPower(double &powerWatts)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->Power_125mWperunit_h4;
+	raw <<= 8;
+	raw |=  rx->Power_125mWperunit_m8;
+	raw <<= 4;
+	raw |=  rx->Power_125mWperunit_l4;
+	powerWatts = 0.125 * raw;
+	return rx.err;
+}
+CTR_Code PDP::GetTotalEnergy(double &energyJoules)
+{
+	GET_STATUS_ENERGY();
+	uint32_t raw;
+	raw = rx->Energy_125mWPerUnitXTmeas_h4;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_mh8;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_ml8;
+	raw <<= 8;
+	raw |=  rx->Energy_125mWPerUnitXTmeas_l8;
+	energyJoules = 0.125 * raw; 						/* mW integrated every TmeasMs */
+	energyJoules *= 0.001;								/* convert from mW to W */
+	energyJoules *= rx->TmeasMs_likelywillbe20ms_;		/* multiplied by TmeasMs = joules */
+	return rx.err;
+}
+/* Clear sticky faults.
+ * @Return	-	CTR_Code	-	Error code (if any)
+ */
+CTR_Code PDP::ClearStickyFaults()
+{
+	int32_t status = 0;
+	uint8_t pdpControl[] = { 0x80 }; /* only bit set is ClearStickyFaults */
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1  | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
+	if(status)
+		return CTR_TxFailed;
+	return CTR_OKAY;
+}
+
+/* Reset Energy Signals
+ * @Return	-	CTR_Code	-	Error code (if any)
+ */
+CTR_Code PDP::ResetEnergy()
+{
+	int32_t status = 0;
+	uint8_t pdpControl[] = { 0x40 }; /* only bit set is ResetEnergy */
+	FRC_NetworkCommunication_CANSessionMux_sendMessage(CONTROL_1  | GetDeviceNumber(), pdpControl, sizeof(pdpControl), 0, &status);
+	if(status)
+		return CTR_TxFailed;
+	return CTR_OKAY;
+}
 //------------------ C interface --------------------------------------------//
 extern "C" {
 	void * c_PDP_Init(void)

hal/lib/Athena/ctre/PDP.h

@@ -38,6 +38,19 @@ public:
      * @Param	-	status		-	Temperature of PDP in Centigrade / Celcius (C)
      */
     CTR_Code GetTemperature(double &status);
+
+	CTR_Code GetTotalCurrent(double &currentAmps);
+	CTR_Code GetTotalPower(double &powerWatts);
+	CTR_Code GetTotalEnergy(double &energyJoules);
+    /* Clear sticky faults.
+     * @Return	-	CTR_Code	-	Error code (if any)
+     */
+	CTR_Code ClearStickyFaults();
+
+	/* Reset Energy Signals
+	 * @Return	-	CTR_Code	-	Error code (if any)
+	 */
+	CTR_Code ResetEnergy();
 private:
     uint64_t ReadCurrents(uint8_t api);
 };

hal/lib/Athena/ctre/ctre.h

@@ -38,23 +38,13 @@ typedef	unsigned int	UINT;
 typedef unsigned long	ULONG;
 
 typedef enum {
-		CTR_OKAY,				//No Error - Function executed as expected
-		CTR_RxTimeout,			/*
-								 *	Receive Timeout
-								 *
-								 *		No module-specific CAN frames have been received in
-								 *	the last 50ms. Function returns the latest received data
-								 *	but may be STALE DATA.
-								 */
-		CTR_TxTimeout,			/*
-								 *	Transmission Timeout
-								 *
-								 *		No module-specific CAN frames were transmitted in
-								 *	the last 50ms. Parameters passed in by the user are loaded
-								 *	for next transmission but have not sent.
-								 */
-		CTR_InvalidParamValue,
-		CTR_UnexpectedArbId,
+		CTR_OKAY,				//!< No Error - Function executed as expected
+		CTR_RxTimeout,			//!< CAN frame has not been received within specified period of time.
+		CTR_TxTimeout,			//!< Not used.
+		CTR_InvalidParamValue, 	//!< Caller passed an invalid param
+		CTR_UnexpectedArbId,	//!< Specified CAN Id is invalid.
+		CTR_TxFailed,			//!< Could not transmit the CAN frame.
+		CTR_SigNotUpdated,		//!< Have not received an value response for signal.
 }CTR_Code;
 
 #endif

hal/lib/Athena/i2clib/i2c-lib.h

@@ -1,16 +1,16 @@
-#pragma once
+#ifndef __I2C_LIB_H__
+#define __I2C_LIB_H__
 
 #ifdef __cplusplus
 extern "C" {
 #endif
-
 int i2clib_open(const char *device);
 void i2clib_close(int handle);
 int i2clib_read(int handle, uint8_t dev_addr, char *recv_buf, int32_t recv_size);
 int i2clib_write(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size);
 int i2clib_writeread(int handle, uint8_t dev_addr, const char *send_buf, int32_t send_size, char *recv_buf, int32_t recv_size);
-
 #ifdef __cplusplus
 }
 #endif
 
+#endif /* __I2C_LIB_H__ */

hal/lib/Athena/spilib/spi-lib.h

@@ -1,12 +1,9 @@
 #ifndef __SPI_LIB_H__
 #define __SPI_LIB_H__
 
-#pragma once
-
 #ifdef __cplusplus
 extern "C" {
 #endif
-
 int spilib_open(const char *device);
 void spilib_close(int handle);
 int spilib_setspeed(int handle, uint32_t speed);
@@ -15,11 +12,8 @@ int spilib_setopts(int handle, int msb_first, int sample_on_trailing, int clk_id
 int spilib_read(int handle, char *recv_buf, int32_t size);
 int spilib_write(int handle, const char *send_buf, int32_t size);
 int spilib_writeread(int handle, const char *send_buf, char *recv_buf, int32_t size);
-
 #ifdef __cplusplus
 }
 #endif
 
-#endif /* __SPI_LIB_H__ */
-
-
+#endif /* __SPI_LIB_H__ */

jenkins/docs/cpp.doxy

@@ -234,7 +234,7 @@ TCL_SUBST              =
 # members will be omitted, etc.
 # The default value is: NO.
 
-OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_FOR_C  = NO
 
 # Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or
 # Python sources only. Doxygen will then generate output that is more tailored

networktables/cpp/include/networktables2/AbstractNetworkTableEntryStore.h

@@ -35,6 +35,8 @@ public:
 
 class AbstractNetworkTableEntryStore : public IncomingEntryReceiver{
 protected:
+
+	NTReentrantSemaphore block_namedEntries;
 	std::map<EntryId,NetworkTableEntry*> idEntries;
 	std::map<std::string,NetworkTableEntry*> namedEntries;
 	TableListenerManager& listenerManager;
@@ -45,10 +47,10 @@ protected:
 	OutgoingEntryReceiver* incomingReceiver;
 
 
-	
+
 	virtual bool addEntry(NetworkTableEntry* entry) = 0;
 	virtual bool updateEntry(NetworkTableEntry* entry, SequenceNumber sequenceNumber, EntryValue value) = 0;
-	
+
 public:
 	virtual ~AbstractNetworkTableEntryStore();
 
@@ -62,14 +64,14 @@ public:
 
 	void SetOutgoingReceiver(OutgoingEntryReceiver* receiver);
 	void SetIncomingReceiver(OutgoingEntryReceiver* receiver);
-	
+
 	void PutOutgoing(std::string& name, NetworkTableEntryType* type, EntryValue value);
 	void PutOutgoing(NetworkTableEntry* tableEntry, EntryValue value);
-	
+
 
 	void offerIncomingAssignment(NetworkTableEntry* entry);
 	void offerIncomingUpdate(NetworkTableEntry* entry, EntryId sequenceNumber, EntryValue value);
-	
+
 	void notifyEntries(ITable* table, ITableListener* listener);
 
 };

networktables/cpp/include/networktables2/NetworkTableEntry.h

@@ -42,6 +42,7 @@ public:
 	
 	NetworkTableEntry(std::string& name, NetworkTableEntryType* type, EntryValue value);
 	NetworkTableEntry(EntryId id, std::string& name, SequenceNumber sequenceNumber, NetworkTableEntryType* type, EntryValue value);
+	NetworkTableEntry(const NetworkTableEntry &);
 	virtual ~NetworkTableEntry();
 
 	EntryId GetId();

networktables/cpp/lib/Athena/networktables2/stream/FDIOStream.cpp

@@ -15,6 +15,7 @@
 #include <iolib.h>
 #else
 #include <unistd.h>
+#include <fcntl.h>
 #endif
 #include <stdio.h>
 
@@ -24,6 +25,13 @@ FDIOStream::FDIOStream(int _fd){
   //	f = fdopen(_fd, "rbwb");
   //	if(f==NULL)
   //		throw IOException("Could not open stream from file descriptor", errno);
+  // Set the TCP socket to be non-blocking
+  int flags = fcntl(fd, F_GETFL, 0);
+  if (fcntl(fd, F_SETFL, flags | O_NONBLOCK) < 0)
+  {
+    ::close(fd);
+    throw IOException("Could not set socket to non-blocking mode");
+  }
 }
 FDIOStream::~FDIOStream(){
 	close();
@@ -66,14 +74,35 @@ int FDIOStream::read(void* ptr, int numbytes){
 	return totalRead;
 }
 int FDIOStream::write(const void* ptr, int numbytes){
-  int numWrote = ::write(fd, (char*)ptr, numbytes);//TODO: this is bad
-  //int numWrote = fwrite(ptr, 1, numbytes, f);
-  if(numWrote==numbytes)
-    return numWrote;
-  perror("write error: ");
-  fflush(stderr);
-  throw IOException("Could not write all bytes to fd stream");
-	
+	int numWrote = ::write(fd, (char*)ptr, numbytes);
+	if(numWrote==numbytes)
+		return numWrote;
+
+	if (numWrote == -1 && (errno == EWOULDBLOCK || errno == EAGAIN))
+	{
+		// see if write timeout expires
+		struct timeval timeout;
+		fd_set fdSet;
+
+		FD_ZERO(&fdSet);
+		FD_SET(fd, &fdSet);
+		timeout.tv_sec = 1;		// wait 1 second for the other side to connect
+		timeout.tv_usec = 0;
+
+		int select_result = select(FD_SETSIZE, NULL, &fdSet, NULL, &timeout);
+		if ( select_result < 0)
+			throw IOException("Select returned an error on write");
+
+		if (FD_ISSET(fd, &fdSet)) {
+			numWrote = ::write(fd, (char*)ptr, numbytes);
+			if(numWrote==numbytes)
+				return numWrote;
+		}
+	}
+ 	
+	perror("write error: ");
+	fflush(stderr);
+	throw IOException("Could not write all bytes to fd stream");
 }
 void FDIOStream::flush(){
   //if(fflush(f)==EOF)

networktables/cpp/lib/Win32/src/main/native/OSAL/Task.cpp

@@ -1,6 +1,8 @@
 #include "stdafx.h"
 #include "OSAL/Task.h"
 
+#include "NetworkCommunication/UsageReporting.h"
+#include "WPIErrors.h"
 #include <string.h>
 #include <Windows.h>
 
@@ -55,7 +57,7 @@ DWORD thread_proc( void *p_ptr )
 //This sets the name of the thread, which can help to identify threads in win32
 #define MS_VC_EXCEPTION 0x406D1388
 static void set_thread_name( const char *p_thread_name, DWORD ID )
-{	
+{
 #pragma pack(push,8)
 	typedef struct tagTHREADNAME_INFO
 	{	DWORD dwType;		// Must be 0x1000.
@@ -162,7 +164,7 @@ bool NTTask::Stop()
 		::TerminateThread( m_Handle, 0 );
 
 		// Free the memory
-		::VirtualFree( Info_.AllocationBase, 0, MEM_RELEASE ); 		
+		::VirtualFree( Info_.AllocationBase, 0, MEM_RELEASE );
 	}
 
 	//if (Verify())
@@ -289,19 +291,19 @@ bool NTTask::HandleError(STATUS results)
 	//case S_objLib_OBJ_ID_ERROR:
 	//	wpi_setWPIErrorWithContext(TaskIDError, m_taskName);
 	//	break;
-	//	
+	//
 	//case S_objLib_OBJ_DELETED:
 	//	wpi_setWPIErrorWithContext(TaskDeletedError, m_taskName);
 	//	break;
-	//	
+	//
 	//case S_taskLib_ILLEGAL_OPTIONS:
 	//	wpi_setWPIErrorWithContext(TaskOptionsError, m_taskName);
 	//	break;
-	//	
+	//
 	//case S_memLib_NOT_ENOUGH_MEMORY:
 	//	wpi_setWPIErrorWithContext(TaskMemoryError, m_taskName);
 	//	break;
-	//	
+	//
 	//case S_taskLib_ILLEGAL_PRIORITY:
 	//	wpi_setWPIErrorWithContext(TaskPriorityError, m_taskName);
 	//	break;
@@ -312,4 +314,3 @@ bool NTTask::HandleError(STATUS results)
 	//}
 	return false;
 }
-

networktables/cpp/lib/Win32/src/main/native/networktables2/stream/FDIOStream.cpp

@@ -20,6 +20,13 @@
 
 FDIOStream::FDIOStream(int _fd){
   fd = _fd;
+  // Set the TCP socket to be non-blocking
+  u_long on = 1;
+  if (ioctlsocket(fd, FIONBIO, &on))
+  {
+    ::close(fd);
+    throw IOException("Could not set socket to non-blocking mode");
+  }
 }
 
 FDIOStream::~FDIOStream(){
@@ -79,13 +86,35 @@ int Send( int sockfd,char* Data, size_t sizeData )
 
 int FDIOStream::write(const void* ptr, int numbytes)
 {
-  int numWrote = Send(fd,(char *)ptr,numbytes);
-  if(numWrote==numbytes)
-    return numWrote;
-  perror("write error: ");
-  fflush(stderr);
-  throw IOException("Could not write all bytes to fd stream");
-	
+	int numWrote = ::write(fd, (char*)ptr, numbytes);
+	if(numWrote==numbytes)
+		return numWrote;
+
+	if (numWrote == -1 && (errno == EWOULDBLOCK || errno == EAGAIN))
+	{
+		// see if write timeout expires
+		struct timeval timeout;
+		fd_set fdSet;
+
+		FD_ZERO(&fdSet);
+		FD_SET(fd, &fdSet);
+		timeout.tv_sec = 1;		// wait 1 second for the other side to connect
+		timeout.tv_usec = 0;
+
+		int select_result = select(FD_SETSIZE, NULL, &fdSet, NULL, &timeout);
+		if ( select_result < 0)
+			throw IOException("Select returned an error on write");
+
+		if (FD_ISSET(fd, &fdSet)) {
+			numWrote = ::write(fd, (char*)ptr, numbytes);
+			if(numWrote==numbytes)
+				return numWrote;
+		}
+	}
+ 	
+	perror("write error: ");
+	fflush(stderr);
+	throw IOException("Could not write all bytes to fd stream");
 }
 
 void FDIOStream::flush(){

networktables/cpp/lib/share/networktables2/AbstractNetworkTableEntryStore.cpp

@@ -12,10 +12,10 @@
 #include <iostream>
 #include <stdio.h>
 
-	AbstractNetworkTableEntryStore::AbstractNetworkTableEntryStore(TableListenerManager& lstnManager): 
+	AbstractNetworkTableEntryStore::AbstractNetworkTableEntryStore(TableListenerManager& lstnManager):
 			listenerManager(lstnManager){
 	}
-	
+
 	AbstractNetworkTableEntryStore::~AbstractNetworkTableEntryStore(){
 		LOCK.take();
 		std::map<std::string, NetworkTableEntry*>::iterator itr;
@@ -24,15 +24,15 @@
 		    namedEntries.erase(itr++);
 		}
 	}
-	
+
 	/**
 	 * Get an entry based on it's name
 	 * @param name the name of the entry to look for
 	 * @return the entry or null if the entry does not exist
 	 */
 	NetworkTableEntry* AbstractNetworkTableEntryStore::GetEntry(std::string& name){
-		{ 
-			NTSynchronized sync(LOCK);
+		{
+			NTSynchronized sync(block_namedEntries);
 			std::map<std::string, NetworkTableEntry*>::iterator value_itr = namedEntries.find(name);
 			if(value_itr != namedEntries.end()) {
 				return value_itr->second;
@@ -40,11 +40,11 @@
 			return NULL;
 		}
 	}
-	
+
 	NetworkTableEntry* AbstractNetworkTableEntryStore::GetEntry(EntryId entryId){
-		{ 
-			NTSynchronized sync(LOCK);
-			
+		{
+			NTSynchronized sync(block_namedEntries);
+
 			std::map<EntryId, NetworkTableEntry*>::iterator value_itr = idEntries.find(entryId);
 			if(value_itr != idEntries.end()) {
 				return value_itr->second;
@@ -52,74 +52,74 @@
 			return NULL;
 		}
 	}
-	
+
 	std::vector<std::string>* AbstractNetworkTableEntryStore::keys(){
-		{ 
-			NTSynchronized sync(LOCK);
+		{
+			NTSynchronized sync(block_namedEntries);
 			std::vector<std::string>* keys = new std::vector<std::string>();
 			std::map<std::string, NetworkTableEntry*>::iterator itr;
-			
+
 			for(itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
 			{
 				std::string key = (*itr).first;
 				keys->push_back(key);
 			}
-			
+
 			return (keys);
 		}
-		
+
 	}
-	
+
 	/**
 	 * Remove all entries
          * NOTE: This method should not be used with applications which cache entries which would lead to unknown results
          * This method is for use in testing only
 	 */
 	void AbstractNetworkTableEntryStore::clearEntries(){
-		{ 
-			NTSynchronized sync(LOCK);
+		{
+			NTSynchronized sync(block_namedEntries);
 			namedEntries.clear();
 			idEntries.clear();
 		}
 	}
-	
+
 	/**
 	 * clear the id's of all entries
 	 */
 	void AbstractNetworkTableEntryStore::clearIds(){
-		{ 
-			NTSynchronized sync(LOCK);
+		{
+			NTSynchronized sync(block_namedEntries);
 			std::map<std::string, NetworkTableEntry*>::iterator itr;
 			idEntries.clear();
-			
+
 			for(itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
 			{
 				((NetworkTableEntry*)(*itr).second)->ClearId();
 			}
 		}
 	}
-	
+
 	void AbstractNetworkTableEntryStore::SetOutgoingReceiver(OutgoingEntryReceiver* receiver){
 		outgoingReceiver = receiver;
 	}
-	
+
 	void AbstractNetworkTableEntryStore::SetIncomingReceiver(OutgoingEntryReceiver* receiver){
 		incomingReceiver = receiver;
 	}
-	
+
 	/**
-	 * Stores the given value under the given name and queues it for 
+	 * Stores the given value under the given name and queues it for
 	 * transmission to the server.
-	 * 
+	 *
 	 * @param name The name under which to store the given value.
 	 * @param type The type of the given value.
 	 * @param value The value to store.
-	 * @throws TableKeyExistsWithDifferentTypeException Thrown if an 
+	 * @throws TableKeyExistsWithDifferentTypeException Thrown if an
 	 *  entry already exists with the given name and is of a different type.
 	 */
 	void AbstractNetworkTableEntryStore::PutOutgoing(std::string& name, NetworkTableEntryType* type, EntryValue value){
-		{ 
-			NTSynchronized sync(LOCK);
+		{
+			NTSynchronized sync(block_namedEntries);
 			std::map<std::string, NetworkTableEntry*>::iterator index = namedEntries.find(name);
 			NetworkTableEntry* tableEntry;
 			if(index == namedEntries.end())//if the name does not exist in the current entries
@@ -137,21 +137,21 @@
 				if(tableEntry->GetType()->id != type->id){
 					throw TableKeyExistsWithDifferentTypeException(name, tableEntry->GetType());
 				}
-				
+
 				EntryValue oldValue = tableEntry->GetValue();
 				if(!type->areEqual(value, oldValue)){
 				  if(updateEntry(tableEntry, (SequenceNumber)(tableEntry->GetSequenceNumber() + 1), value)){
 				    outgoingReceiver->offerOutgoingUpdate(tableEntry);
 				  }
-				
+
 				  tableEntry->FireListener(listenerManager);
 				}
 			}
 		}
 	}
-	
+
 	void AbstractNetworkTableEntryStore::PutOutgoing(NetworkTableEntry* tableEntry, EntryValue value){
-		{ 
+		{
 			NTSynchronized sync(LOCK);
 			NetworkTableEntryType* type = tableEntry->GetType();
 			EntryValue oldValue = tableEntry->GetValue();
@@ -159,15 +159,15 @@
 			  if(updateEntry(tableEntry, (SequenceNumber)(tableEntry->GetSequenceNumber() + 1), value)){
 			    outgoingReceiver->offerOutgoingUpdate(tableEntry);
 			  }
-			
+
 			  tableEntry->FireListener(listenerManager);
 			}
 		}
 	}
-	
+
 	void AbstractNetworkTableEntryStore::offerIncomingAssignment(NetworkTableEntry* entry){
-		{ 
-			NTSynchronized sync(LOCK);
+		{
+			NTSynchronized sync(block_namedEntries);
 			std::map<std::string, NetworkTableEntry*>::iterator itr = namedEntries.find(entry->name);
 			NetworkTableEntry* tableEntry;
 			if(addEntry(entry)){
@@ -177,7 +177,7 @@
 				else{
 					tableEntry = entry;
 				}
-				
+
 				tableEntry->FireListener(listenerManager);//if we didnt have a pointer, then the copy of the version in the list would call this method, however with the pointer we are updating the version in the list
 				incomingReceiver->offerOutgoingAssignment(tableEntry);
 			}
@@ -185,9 +185,9 @@
 			  delete entry;
 		}
 	}
-	
+
 	void AbstractNetworkTableEntryStore::offerIncomingUpdate(NetworkTableEntry* entry, SequenceNumber squenceNumber, EntryValue value){
-		{ 
+		{
 			NTSynchronized sync(LOCK);
 			if(updateEntry(entry, squenceNumber, value)){
 				entry->FireListener(listenerManager);
@@ -195,15 +195,15 @@
 			}
 		}
 	}
-	
+
 	/**
 	 * Called to say that a listener should notify the listener manager of all of the entries
 	 * @param listener
-	 * @param table 
+	 * @param table
 	 */
 	void AbstractNetworkTableEntryStore::notifyEntries(ITable* table, ITableListener* listener){
-		{ 
-			NTSynchronized sync(LOCK);
+		{
+			NTSynchronized sync(block_namedEntries);
 			std::map<std::string, NetworkTableEntry*>::iterator itr;
 			for(itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
 			{

networktables/cpp/lib/share/networktables2/NetworkTableEntry.cpp

@@ -20,6 +20,17 @@ NetworkTableEntry::NetworkTableEntry(EntryId _id, std::string& _name, SequenceNu
 	m_isDirty = false;
 }
 
+NetworkTableEntry::NetworkTableEntry(const NetworkTableEntry &other) :
+	name(other.name),
+	id(other.id),
+	sequenceNumber(other.sequenceNumber),
+	type(other.type),
+	m_isNew(other.m_isNew),
+	m_isDirty(other.m_isDirty)
+{
+	value = type->copyValue(other.value);
+}
+
 NetworkTableEntry::~NetworkTableEntry(){
   type->deleteValue(value);
 }

networktables/cpp/lib/share/networktables2/WriteManager.cpp

@@ -54,10 +54,15 @@ void WriteManager::stop(){
 
 void WriteManager::offerOutgoingAssignment(NetworkTableEntry* entry) {
 	{ 
-		NTSynchronized sync(transactionsLock);
-		((std::queue<NetworkTableEntry*>*)incomingAssignmentQueue)->push(entry);
-		
-		if(((std::queue<NetworkTableEntry*>*)incomingAssignmentQueue)->size()>=queueSize){
+		bool test_queue_overflow=false;
+		{
+			NTSynchronized sync(transactionsLock);
+			((std::queue<NetworkTableEntry*>*)incomingAssignmentQueue)->push(entry);
+
+			test_queue_overflow=(((std::queue<NetworkTableEntry*>*)incomingAssignmentQueue)->size()>=queueSize);
+		}
+		if (test_queue_overflow)
+		{
 			run();
 			writeWarning("assignment queue overflowed. decrease the rate at which you create new entries or increase the write buffer size");
 		}
@@ -67,9 +72,15 @@ void WriteManager::offerOutgoingAssignment(NetworkTableEntry* entry) {
 
 void WriteManager::offerOutgoingUpdate(NetworkTableEntry* entry) {
 	{ 
-		NTSynchronized sync(transactionsLock);
-		((std::queue<NetworkTableEntry*>*)incomingUpdateQueue)->push(entry);
-		if(((std::queue<NetworkTableEntry*>*)incomingUpdateQueue)->size()>=queueSize){
+		bool test_queue_overflow=false;
+		{
+			NTSynchronized sync(transactionsLock);
+			((std::queue<NetworkTableEntry*>*)incomingUpdateQueue)->push(entry);
+			test_queue_overflow=(((std::queue<NetworkTableEntry*>*)incomingUpdateQueue)->size()>=queueSize);
+
+		}
+		if (test_queue_overflow)
+		{
 			run();
 			writeWarning("update queue overflowed. decrease the rate at which you update entries or increase the write buffer size");
 		}
@@ -97,10 +108,17 @@ void WriteManager::run() {
 		entry = ((std::queue<NetworkTableEntry*>*)outgoingAssignmentQueue)->front();
 		((std::queue<NetworkTableEntry*>*)outgoingAssignmentQueue)->pop();
 		{
-			NTSynchronized sync(entryStore.LOCK);
-			entry->MakeClean();
-			wrote = true;
-			receiver.offerOutgoingAssignment(entry);
+			NetworkTableEntry * entryCopy;
+
+			{
+				NTSynchronized sync(entryStore.LOCK);
+				entry->MakeClean();
+				wrote = true;
+				entryCopy = new NetworkTableEntry(*entry);
+			}
+
+			receiver.offerOutgoingAssignment(entryCopy);
+			delete entryCopy;
 		}
 	}
 	
@@ -108,10 +126,17 @@ void WriteManager::run() {
 		entry = ((std::queue<NetworkTableEntry*>*)outgoingUpdateQueue)->front();
 		((std::queue<NetworkTableEntry*>*)outgoingUpdateQueue)->pop();
 		{ 
-			NTSynchronized sync(entryStore.LOCK);
-			entry->MakeClean();
-			wrote = true;
-			receiver.offerOutgoingUpdate(entry);
+			NetworkTableEntry * entryCopy;
+
+			{
+				NTSynchronized sync(entryStore.LOCK);
+				entry->MakeClean();
+				wrote = true;
+				entryCopy = new NetworkTableEntry(*entry);
+			}
+
+			receiver.offerOutgoingUpdate(entryCopy);
+			delete entryCopy;
 		}
 	}
 	

networktables/cpp/lib/share/networktables2/client/ClientNetworkTableEntryStore.cpp

@@ -17,7 +17,7 @@ ClientNetworkTableEntryStore::~ClientNetworkTableEntryStore(){}
 
 bool ClientNetworkTableEntryStore::addEntry(NetworkTableEntry* newEntry){
 	{
-		NTSynchronized sync(LOCK);
+		NTSynchronized sync(block_namedEntries);
 		NetworkTableEntry* entry = (NetworkTableEntry*)namedEntries[newEntry->name];
 
 		if(entry!=NULL){
@@ -28,7 +28,7 @@ bool ClientNetworkTableEntryStore::addEntry(NetworkTableEntry* newEntry){
 					idEntries[newEntry->GetId()] = entry;
 				}
 			}
-			
+
 			entry->ForcePut(newEntry->GetSequenceNumber(), newEntry->GetType(), newEntry->GetValue());
 		}
 		else{
@@ -41,7 +41,7 @@ bool ClientNetworkTableEntryStore::addEntry(NetworkTableEntry* newEntry){
 }
 
 bool ClientNetworkTableEntryStore::updateEntry(NetworkTableEntry* entry, SequenceNumber sequenceNumber, EntryValue value) {
-	{ 
+	{
 		NTSynchronized sync(LOCK);
 		entry->ForcePut(sequenceNumber, value);
 		if(entry->GetId()==NetworkTableEntry::UNKNOWN_ID){
@@ -57,7 +57,7 @@ bool ClientNetworkTableEntryStore::updateEntry(NetworkTableEntry* entry, Sequenc
  * @throws IOException
  */
 void ClientNetworkTableEntryStore::sendUnknownEntries(NetworkTableConnection& connection) {
-	{ 
+	{
 		NTSynchronized sync(LOCK);
 		std::map<std::string, NetworkTableEntry*>::iterator itr;
 		for(itr = namedEntries.begin(); itr != namedEntries.end(); itr++)

networktables/cpp/lib/share/networktables2/connection/NetworkTableConnection.cpp

@@ -1,6 +1,6 @@
 /**
  * An abstraction for the NetworkTable protocol
- * 
+ *
  * @author mwills
  *
  */
@@ -19,6 +19,7 @@ NetworkTableConnection::~NetworkTableConnection(){
 
 void NetworkTableConnection::SetIOStream(IOStream* stream)
 {
+	isValid=(stream!=NULL);
 	ioStream->SetIOStream(stream);  //just passing through
 }
 
@@ -102,7 +103,7 @@ void NetworkTableConnection::sendEntryUpdate(NetworkTableEntry& entry) {
 }
 
 void NetworkTableConnection::read(ConnectionAdapter& adapter) {
-	int messageType = ioStream->readByte();
+	int messageType = (isValid)?ioStream->readByte():(int)KEEP_ALIVE;
 	switch (messageType) {
 	case KEEP_ALIVE:
 		adapter.keepAlive();

networktables/cpp/lib/share/networktables2/server/NetworkTableServer.cpp

@@ -17,10 +17,10 @@ NetworkTableServer::NetworkTableServer(IOStreamProvider& _streamProvider, Networ
 		connectionList(&incomingStreamMonitor),
 		writeManager(connectionList, threadManager, GetEntryStore(), ULONG_MAX),
                 continuingReceiver(writeManager){
-	
+
 	GetEntryStore().SetIncomingReceiver(&continuingReceiver);
 	GetEntryStore().SetOutgoingReceiver(&continuingReceiver);
-	
+
 	incomingStreamMonitor.start();
 	writeManager.start();
 }
@@ -35,6 +35,9 @@ NetworkTableServer::~NetworkTableServer(){
 
 void NetworkTableServer::Close(){
 	try{
+		//Note: streamProvider must come before the incomingStreamMonitor so the that task can complete first for the thread to close
+		//  [9/1/2013 Terminator]
+		streamProvider.close();
 		incomingStreamMonitor.stop();
 		writeManager.stop();
 		connectionList.closeAll();

networktables/cpp/lib/share/networktables2/server/ServerConnectionAdapter.cpp

@@ -36,6 +36,9 @@ void ServerConnectionAdapter::badMessage(BadMessageException& e) {
 	gotoState(new ServerConnectionState_Error(e));
 	adapterListener.close(*this, true);
 	m_IsAdapterListenerClosed=true;
+	if (readThread) {
+ 		readThread->stop();
+ 	}
 }
 
 void ServerConnectionAdapter::ioException(IOException& e) {
@@ -46,6 +49,9 @@ void ServerConnectionAdapter::ioException(IOException& e) {
 	else
 		gotoState(new ServerConnectionState_Error(e));
 	adapterListener.close(*this, false);
+	if (readThread) {
+		readThread->stop();
+	}
 	m_IsAdapterListenerClosed=true;
 }
 

networktables/cpp/lib/share/networktables2/server/ServerIncomingStreamMonitor.cpp

@@ -7,6 +7,7 @@
 
 #include "networktables2/server/ServerIncomingStreamMonitor.h"
 #include "networktables2/stream/IOStream.h"
+#include "networktables2/util/System.h"
 
 ServerIncomingStreamMonitor::ServerIncomingStreamMonitor(IOStreamProvider& _streamProvider, ServerNetworkTableEntryStore& _entryStore,
 		ServerIncomingConnectionListener& _incomingListener, ServerAdapterManager& _adapterListener, NetworkTableEntryTypeManager& _typeManager,
@@ -69,6 +70,7 @@ void ServerIncomingStreamMonitor::run()
 				ServerConnectionAdapter* connectionAdapter = new ServerConnectionAdapter(newStream, entryStore, entryStore, adapterListener, typeManager, threadManager);
 				incomingListener.OnNewConnection(*connectionAdapter);
 			}
+			sleep_ms(100); //avoid busy wait
 		}
 	}
 	catch (IOException& e)

networktables/cpp/lib/share/networktables2/server/ServerNetworkTableEntryStore.cpp

@@ -18,9 +18,9 @@ ServerNetworkTableEntryStore::~ServerNetworkTableEntryStore()
 
 bool ServerNetworkTableEntryStore::addEntry(NetworkTableEntry* newEntry)
 {
-	NTSynchronized sync(LOCK);
+	NTSynchronized sync(block_namedEntries);
 	NetworkTableEntry* entry = namedEntries[newEntry->name];
-	
+
 	if (entry == NULL)
 	{
 		newEntry->SetId(nextId++);
@@ -44,13 +44,19 @@ bool ServerNetworkTableEntryStore::updateEntry(NetworkTableEntry* entry, Sequenc
  */
 void ServerNetworkTableEntryStore::sendServerHello(NetworkTableConnection& connection)
 {
-	NTSynchronized sync(LOCK);
-	std::map<std::string, NetworkTableEntry*>::iterator itr;
-	for (itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
+	std::vector<NetworkTableEntry *> entry_list;
 	{
-		NetworkTableEntry* entry = itr->second;
-		connection.sendEntryAssignment(*entry);
+		NTSynchronized sync(block_namedEntries);
+		std::map<std::string, NetworkTableEntry*>::iterator itr;
+		for (itr = namedEntries.begin(); itr != namedEntries.end(); itr++)
+		{
+			NetworkTableEntry* entry = itr->second;
+			entry_list.push_back(entry);
+		}
 	}
+
+	for (size_t i=0;i<entry_list.size();i++)
+					connection.sendEntryAssignment(*(entry_list[i]));
 	connection.sendServerHelloComplete();
 	connection.flush();
 }

ni-libraries/libniimaqdx.so.14

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libniimaqdx.so.14.0 )

ni-libraries/libniimaqdx.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libniimaqdx.so.14.0.0 )

ni-libraries/libnivision.so.14

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivision.so.14.0 )

ni-libraries/libnivision.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivision.so.14.0.0 )

ni-libraries/libnivissvc.so.14

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivissvc.so.14.0 )

ni-libraries/libnivissvc.so.14.0

@@ -0,0 +1,2 @@
+OUTPUT_FORMAT(elf32-littlearm)
+GROUP ( libnivissvc.so.14.0.0 )

simulation/frc_gazebo_plugins/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 .PHONY : all build copy-plugins clean docs clean-docs
 
 all: build copy-plugins
@@ -20,15 +25,15 @@ build:
 
 copy-plugins:
 	mkdir -p plugins
-	cp msgs/build/libgz_msgs.so plugins
-	cp dc_motor/build/libgz_dc_motor.so plugins
-	cp pneumatic_piston/build/libgz_pneumatic_piston.so plugins
-	cp potentiometer/build/libgz_potentiometer.so plugins
-	cp rangefinder/build/libgz_rangefinder.so plugins
-	cp encoder/build/libgz_encoder.so plugins
-	cp gyro/build/libgz_gyro.so plugins
-	cp limit_switch/build/libgz_limit_switch.so plugins
-	cp clock/build/libgz_clock.so plugins
+	cp msgs/build/libgz_msgs$(ext) plugins
+	cp dc_motor/build/libgz_dc_motor$(ext) plugins
+	cp pneumatic_piston/build/libgz_pneumatic_piston$(ext) plugins
+	cp potentiometer/build/libgz_potentiometer$(ext) plugins
+	cp rangefinder/build/libgz_rangefinder$(ext) plugins
+	cp encoder/build/libgz_encoder$(ext) plugins
+	cp gyro/build/libgz_gyro$(ext) plugins
+	cp limit_switch/build/libgz_limit_switch$(ext) plugins
+	cp clock/build/libgz_clock$(ext) plugins
 
 clean: clean-docs
 	cd msgs && make clean

simulation/frc_gazebo_plugins/clock/CMakeLists.txt

@@ -7,11 +7,12 @@ if (PKG_CONFIG_FOUND)
 endif()
 
 find_package(gazebo REQUIRED)
-find_library(GZ_MSGS libgz_msgs.so ../msgs/build)
+find_package(Boost COMPONENTS system REQUIRED)
+find_library(GZ_MSGS NAMES gz_msgs PATHS ../msgs/build)
 
 file(GLOB_RECURSE SRC_FILES src/*.cpp)
 include_directories(src ${Boost_INCLUDE_DIR} ${GAZEBO_INCLUDE_DIRS} ../msgs/src)
 add_library(${PROJECT_NAME} SHARED ${SRC_FILES})
 
 link_directories(${GAZEBO_LIBRARY_DIRS} ../msgs/build/)
-target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${GZ_MSGS} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

simulation/frc_gazebo_plugins/clock/Makefile

@@ -3,6 +3,11 @@ lib.dir = $(prefix)/lib
 plugin.dir = $(lib.dir)/frcsim/plugins
 build.dir = build
 
+ext = .so
+ifeq ($(shell uname), Darwin)
+	ext = .dylib
+endif
+
 all:
 	mkdir -p $(build.dir)
 	cd ${build.dir} && cmake .. && make
@@ -12,4 +17,4 @@ clean:
 
 install: all
 	mkdir -p $(DESTDIR)$(plugin.dir)
-	install $(build.dir)/libgz_clock.so $(DESTDIR)$(plugin.dir)
+	install $(build.dir)/libgz_clock$(ext) $(DESTDIR)$(plugin.dir)