remove/fix references to cRIO documentation.

Edited comments related to sidecar, breakout, 9472. Some references were
to unused methods in simulation that were removed.

Change-Id: I99b6fe9e8cb982831ffbf29177f84e2f9f71ef47

.gitignore

@@ -1,21 +1,82 @@
+# WPIlib Specific
+
 wpilibc/build/
 hal/build/
 networktables/cpp/build/
 build/
 networktables/OutlineViewer/nbproject/private
-*~
-target/
 dist/
 bin/
 .project
-.cproject
-.settings/
 .classpath
 **/dependency-reduced-pom.xml
 
-#Java File extentions
+# Created by the jenkins test script
+test-reports
+
+# Added by the users of vagrant
+jdk-7u45-linux-arm-vfp-sflt.gz
+
+
+
+
+# Created by http://www.gitignore.io
+
+### Linux ###
+*~
+
+# KDE directory preferences
+.directory
+
+
+### Windows ###
+# Windows image file caches
+Thumbs.db
+ehthumbs.db
+
+# Folder config file
+Desktop.ini
+
+# Recycle Bin used on file shares
+$RECYCLE.BIN/
+
+# Windows Installer files
+*.cab
+*.msi
+*.msm
+*.msp
+
+
+### OSX ###
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+
+# Thumbnails
+._*
+
+# Files that might appear on external disk
+.Spotlight-V100
+.Trashes
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+
+### Java ###
 *.class
 
+# Mobile Tools for Java (J2ME)
+.mtj.tmp/
+
 # Package Files #
 *.jar
 *.war
@@ -23,3 +84,90 @@ bin/
 
 # virtual machine crash logs, see http://www.java.com/en/download/help/error_hotspot.xml
 hs_err_pid*
+
+
+### C++ ###
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Compiled Dynamic libraries
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+
+### Maven ###
+target/
+pom.xml.tag
+pom.xml.releaseBackup
+pom.xml.versionsBackup
+pom.xml.next
+release.properties
+
+
+### CMake ###
+CMakeCache.txt
+CMakeFiles
+cmake_install.cmake
+install_manifest.txt
+
+
+### Gradle ###
+.gradle
+build/
+
+# Ignore Gradle GUI config
+gradle-app.setting
+
+
+### Vagrant ###
+.vagrant/
+
+
+### Eclipse ###
+*.pydevproject
+.metadata
+.gradle
+bin/
+tmp/
+*.tmp
+*.bak
+*.swp
+*~.nib
+local.properties
+.settings/
+.loadpath
+
+# External tool builders
+.externalToolBuilders/
+
+# Locally stored "Eclipse launch configurations"
+*.launch
+
+# CDT-specific
+.cproject
+
+# PDT-specific
+.buildpath
+
+# sbteclipse plugin 
+.target
+
+# TeXlipse plugin
+.texlipse

Vagrantfile

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

bootstrap.sh

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

cmake/run-cpp-tests.sh

@@ -1,18 +0,0 @@
-#!/usr/bin/env bash
-
-# Temporary method to deploy C++ integration tests to the RoboRIO
-
-if [ $(which sshpass) ]
-then
-	# Send stderr to /dev/null - the only thing printed to it is the login prompt
-	sshpass -p "" ssh admin@10.1.90.2 killall FRCUserProgram java 2> /dev/null
-	sshpass -p "" scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin 2> /dev/null
-	sshpass -p "" ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $* 2> /dev/null
-else
-	ssh admin@10.1.90.2 killall FRCUserProgram
-	scp target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram admin@10.1.90.2:/home/admin
-	ssh admin@10.1.90.2 ./FRCUserProgram --gtest_color=yes $*
-fi
-
-
-

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

@@ -35,7 +35,7 @@ public class NewProjectMainPage extends WizardPage {
 	private Text worldText;
 	private Button worldButton;
 
-	Button iterativeRobot, commandRobot;
+	Button iterativeRobot, commandRobot, sampleRobot;
 	private boolean showPackage;
 	private boolean showProjectTypes;
 	private TeamNumberPage teamNumberPage;
@@ -109,6 +109,12 @@ public class NewProjectMainPage extends WizardPage {
 			gd = new GridData(GridData.FILL_HORIZONTAL);
 			gd.widthHint = 300;
 			commandRobot.setLayoutData(gd);
+			
+			sampleRobot = new Button(projectTypeGroup, SWT.RADIO | SWT.WRAP);
+			sampleRobot.setText("Sample Robot: A robot project used for small sample programs or for highly advanced programs with more complete control over program flow");
+			gd = new GridData(GridData.FILL_HORIZONTAL);
+			gd.widthHint = 300;
+			sampleRobot.setLayoutData(gd);
 		}
 
 		label = new Label(container, SWT.NULL);
@@ -214,6 +220,7 @@ public class NewProjectMainPage extends WizardPage {
 	public ProjectType getProjectType() {
 		if (!showProjectTypes) return null;
 		else if (iterativeRobot.getSelection()) return types.get(ProjectType.ITERATIVE);
+		else if (sampleRobot.getSelection()) return types.get(ProjectType.SAMPLE);
 		else return types.get(ProjectType.COMMAND_BASED);
 	}
 

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

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

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

@@ -29,14 +29,14 @@
 								<option id="gnu.cpp.compiler.option.debugging.level.1682909384" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" value="gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
 							        <option id="gnu.cpp.compiler.option.include.paths.1597382905" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}}/src&quot;"/>
-								  <listOptionValue builtIn="false" value="$cpp-location/include"/>
+								  <listOptionValue builtIn="false" value="&quot;$cpp-location/include&quot;"/>
 							        </option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.963785380" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1367166630" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
 							<tool command="g++" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="org.eclipse.cdt.core.GLDErrorParser" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1568604896" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
 								<option id="gnu.cpp.link.option.paths.1928585110" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" valueType="libPaths">
-									<listOptionValue builtIn="false" value="$cpp-location/lib"/>
+									<listOptionValue builtIn="false" value="&quot;$cpp-location/lib&quot;"/>
 								</option>
 								<option id="gnu.cpp.link.option.libs.1072058280" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" valueType="libs">
 									<listOptionValue builtIn="false" value="WPILibAthena"/>

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

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

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

@@ -15,6 +15,26 @@
     <name>Simulation</name>
     <description>Examples that can be run in simulation.</description>
   </tagDescription>-->
+  <tagDescription>
+	<name>Getting Started with C++</name>
+	<description>Examples for getting started with FRC C++</description>
+  </tagDescription>
+  <example>
+	<name>Getting Started</name>
+	<description>An example program which demonstrates the simplest autonomous and
+	teleoperated routines.</description>
+	<tags>
+	  <tag>Getting Started with C++</tag>
+	</tags>
+	<packages>
+	  <package>src</package>
+	</packages>
+	<files>
+	  <file source="examples/GettingStarted/src/Robot.cpp"
+			destination="src/Robot.cpp"></file>
+	</files>
+  </example>
+	
   <tagDescription>
     <name>CommandBased Robot</name>
     <description>Examples for CommandBased robot programs.</description>

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

@@ -17,7 +17,7 @@ class Robot: public SampleRobot
 
 public:
 	Robot() :
-			myRobot(1, 2),	// these must be initialized in the same order
+			myRobot(0, 1),	// these must be initialized in the same order
 			stick(1)		// as they are declared above.
 	{
 		myRobot.SetExpiration(0.1);

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

@@ -111,6 +111,11 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 			// Debug deploys are done with the Eclipse Remote System Explorer,
 			// which lets it work with Eclipse's C++ debugger.
 			
+			// Kill running program before using RSE as RSE can't
+			WPILibCPPPlugin.logInfo("Running ant file: " + activeProj.getLocation().toOSString() + File.separator + "build.xml");
+			WPILibCPPPlugin.logInfo("Targets: kill-program, Mode: " + mode);
+			AntLauncher.runAntFile(new File (activeProj.getLocation().toOSString() + File.separator + "build.xml"), "kill-program", null, mode);
+			
 			// TODO: figure out UI issues. that's why this is undocumented
 			ILaunchConfigurationWorkingCopy config;
 			try {
@@ -139,21 +144,37 @@ public class DeployLaunchShortcut implements ILaunchShortcut
 		String remote_connection = RSEUtils.getTarget(teamNumber).getName();
 		
 		ILaunchConfigurationWorkingCopy config = type.newInstance(null, activeProj.getName());
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_COREFILE_PATH, "");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_REGISTER_BOOKKEEPING, false);
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ENABLE_VARIABLE_BOOKKEEPING, false);
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "org.eclipse.rse.remotecdt.RemoteGDBDebugger");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_REGISTER_GROUPS, "");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_START_MODE, "run");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_STOP_AT_MAIN, true);
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_STOP_AT_MAIN_SYMBOL, "main");
+		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_USE_TERMINAL, true);
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROJECT_NAME, activeProj.getName());
 		Collection<Executable> exes = ExecutablesManager.getExecutablesManager().getExecutablesForProject(activeProj);
 		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_PROGRAM_NAME,
 				exes.size() > 0 ? exes.toArray(new Executable[0])[0].getPath().makeRelativeTo(activeProj.getLocation()).toString():
 			 "Debug/FRCUserProgram");
+			 
+			 
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_PATH, "/home/admin/FRCUserProgram");
-		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUG_NAME, WPILibCPPPlugin.getDefault().getToolchain() + "/bin/arm-none-linux-gnueabi-gdb");
 		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_REMOTE_CONNECTION, remote_connection);
-		config.setAttribute(ICDTLaunchConfigurationConstants.ATTR_DEBUGGER_ID, "gdbserver");
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_SKIP_DOWNLOAD_TO_TARGET, false);
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_PORT, "2345");
+		config.setAttribute(IRemoteConnectionConfigurationConstants.ATTR_GDBSERVER_COMMAND, "gdbserver");
+		
+		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUG_NAME, WPILibCPPPlugin.getDefault().getToolchain() + "/bin/arm-none-linux-gnueabi-gdb");
 		List<String> solibs = new ArrayList<>();
 		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/lib");
 		solibs.add(WPILibCPPPlugin.getDefault().getToolchain() + "/arm-non-linux-gnueabi/libc/usr/lib");
 		solibs.add(WPILibCPPPlugin.getDefault().getCPPDir() + "/lib");
 		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_SOLIB_PATH, solibs);
-		
+		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_AUTO_SOLIB, true);
+		config.setAttribute(IMILaunchConfigurationConstants.ATTR_DEBUGGER_STOP_ON_SOLIB_EVENTS, false);
+		config.doSave();
 		return config;
 	}
 }

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

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

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

@@ -38,10 +38,18 @@ public class CPPProjectType implements ProjectType {
 			return files;
 		}
 	};
+	static ProjectType SAMPLE = new CPPProjectType() {
+		@Override public Map<String, String> getFiles(String packageName) {
+			Map<String, String> files = super.getFiles(packageName);
+			files.put("src/Robot.cpp", "sample/Robot.cpp");
+			return files;
+		}
+	};
 	@SuppressWarnings("serial")
 	static Map<String, ProjectType> TYPES = new HashMap<String, ProjectType>() {{
 		put(ProjectType.ITERATIVE, ITERATIVE);
 		put(ProjectType.COMMAND_BASED, COMMAND_BASED);
+		put(ProjectType.SAMPLE, SAMPLE);
 	}};
 
 	@Override

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

@@ -48,6 +48,14 @@
        trust="true"
        command="tail -F -s 0 -n 0 ${deploy.log.file}"/>
   </target>
+  
+  <target name="kill-program" depends="get-target-ip" description="Kill the currently running FRC program">
+	  <sshexec host="${target}"
+		   username="${username}"
+		   password="${password}"
+		   trust="true"
+		   command="/usr/local/frc/bin/frcKillRobot.sh"/>
+  </target>
 
   <target name="debug-deploy" depends="get-target-ip" description="Deploy the jar and start the program running in debug mode.">
     <echo>[athena-deploy] Killing running program</echo>

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

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

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

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

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

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

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

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

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

@@ -15,6 +15,25 @@
     <name>Simulation</name>
     <description>Examples that can be run in simulation.</description>
   </tagDescription>-->
+  <tagDescription>
+	<name>Getting Started with Java</name>
+	<description>Examples for getting started with FRC Java</description>
+  </tagDescription>
+  <example>
+	<name>Getting Started</name>
+	<description>An example program which demonstrates the simplest autonomous and
+	teleoperated routines.</description>
+	<tags>
+	  <tag>Getting Started with Java</tag>
+	</tags>
+	<packages>
+	  <package>src/$package-dir</package>
+	</packages>
+	<files>
+	  <file source="examples/GettingStarted/src/org/usfirst/frc/team190/robot/Robot.java"
+			destination="src/$package-dir/Robot.java"></file>
+	</files>
+  </example>
   <tagDescription>
     <name>CommandBased Robot</name>
     <description>Examples for CommandBased robot programs.</description>

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

@@ -3,6 +3,9 @@ package $package;
 
 
 import edu.wpi.first.wpilibj.SampleRobot;
+import edu.wpi.first.wpilibj.RobotDrive;
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.Timer;
 
 /**
  * This is a demo program showing the use of the RobotDrive class.
@@ -25,7 +28,7 @@ public class Robot extends SampleRobot {
     Joystick stick;
 
     public Robot() {
-        myRobot = new RobotDrive(1, 2);
+        myRobot = new RobotDrive(0, 1);
         myRobot.setExpiration(0.1);
         stick = new Joystick(1);
     }

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

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

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

@@ -2,9 +2,10 @@
 username=admin
 password=
 deploy.dir=/home/admin
-deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
-deploy.debug.command = /usr/local/frc/JRE/bin/java -XX:+UsePerfData -agentlib:jdwp=transport=dt_socket,address=8348,server=y,suspend=y -jar ${deploy.dir}/FRCUserProgram.jar
+deploy.kill.command=. /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t -r
 deploy.log.file=/var/local/natinst/log/FRC_UserProgram.log
+deploy.log.command=tail -F -s 0 -n 0 ${deploy.log.file}
+debug.flag.dir=/tmp/
 command.dir=/home/lvuser/
 
 # Libraries to use

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

@@ -32,9 +32,9 @@
      includeAntRuntime="no"
      includeJavaRuntime="no"
      classpath="${classpath}"
-     target="1.7"
-     source="1.7"
-     compiler="javac1.7"
+     target="${ant.java.version}"
+     source="${ant.java.version}"
+     compiler="javac${ant.java.version}"
      debug="true">
     </javac>
   </target>
@@ -76,25 +76,35 @@
        username="${username}"
        password="${password}"
        trust="true"
-       command=". /etc/profile.d/natinst-path.sh; ${deploy.kill.command};"/>
+       command="${deploy.kill.command};"/>
 
     <sshexec host="${target}"
        username="${username}"
        password="${password}"
        trust="true"
-       command="tail -F -s 0 -n 0 ${deploy.log.file}"/>
+       command="${deploy.log.command}"/>
   </target>
 
   <target name="debug-deploy" depends="get-target-ip,jar" description="Deploy the jar and start the program running.">
     <echo>[athena-deploy] Copying code over.</echo>
     <scp file="${dist.jar}" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
+  	<!-- The remoteDebugCommand file is used by /usr/local/frc/bin/frcRunRobot.sh on the roboRIO  -->
+    <scp file="${wpilib.ant.dir}/robotDebugCommand" todir="${username}@${target}:${command.dir}" password="${password}" trust="true"/>
+  	<!-- The frcdebug file is used as a flag for /usr/local/frc/bin/frcRunRobot.sh to run the robot program in debug mode -->
+  	<scp file="${wpilib.ant.dir}/frcdebug" todir="${username}@${target}:${debug.flag.dir}" password="${password}" trust="true"/>
 
-    <echo>[athena-deploy] Starting program.</echo>
+    <echo>[athena-deploy] Starting Debug program.</echo>
     <sshexec host="${target}"
-       username="${username}"
-       password="${password}"
-       trust="true"
-       command=". /etc/profile.d/natinst-path.sh; ${deploy.debug.command}"/>
+        username="${username}"
+        password="${password}"
+        trust="true"
+        command="${deploy.kill.command}"/>
+
+    <sshexec host="${target}"
+        username="${username}"
+        password="${password}"
+        trust="true"
+        command="${deploy.log.command}"/>
   </target>
 
   <!-- Simulate -->

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

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

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

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

hal/include/HAL/Interrupts.hpp

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

hal/lib/Athena/Interrupts.cpp

@@ -52,8 +52,10 @@ void enableInterrupts(void* interrupt_pointer, int32_t *status)
  */
 void disableInterrupts(void* interrupt_pointer, int32_t *status)
 {
+
 	Interrupt* anInterrupt = (Interrupt*)interrupt_pointer;
 	anInterrupt->manager->disable(status);
+
 }
 
 /**

hal/lib/Athena/ctre/CtreCanNode.h

@@ -88,6 +88,11 @@ private:
 			uint32_t arbId;
 			uint8_t toSend[8];
 			uint32_t periodMs;
+			txJob_t() : arbId(0),periodMs(0)
+			{
+				for(int i=0;i<sizeof(toSend);++i)
+					toSend[i] = 0;
+			}
 	};
 
 	class rxEvent_t{

hal/lib/Athena/ctre/PCM.cpp

@@ -101,8 +101,7 @@ PCM::PCM(UINT8 deviceNumber): CtreCanNode(deviceNumber)
 	RegisterRx(STATUS_DEBUG | deviceNumber );
 	RegisterTx(CONTROL_1 | deviceNumber, kCANPeriod);
 	/* enable close loop */
-	CtreCanNode::txTask<PcmControl_t> toFill = GetTx<PcmControl_t>(CONTROL_1 | GetDeviceNumber());
-	toFill->closedLoopEnable = 1;
+	SetClosedLoopControl(1);
 }
 /* PCM D'tor
  */
@@ -216,7 +215,7 @@ CTR_Code PCM::GetCompressorCurrent(float &status)
 	uint32_t temp =(rx->compressorCurrentTop6);
 	temp <<= 4;
 	temp |=  rx->compressorCurrentBtm4;
-	status = 20.1612903225806 * temp;
+	status = temp * 0.03125; /* 5.5 fixed pt value in Amps */
 	return rx.err;
 }
 
@@ -230,7 +229,7 @@ CTR_Code PCM::GetSolenoidVoltage(float &status)
 	uint32_t raw =(rx->solenoidVoltageTop8);
 	raw <<= 2;
 	raw |=  rx->solenoidVoltageBtm2;
-	status = (double) raw * 24.7800586510264 / 1000;
+	status = (double) raw * 0.03125; /* 5.5 fixed pt value in Volts */
 	return rx.err;
 }
 
@@ -297,7 +296,7 @@ CTR_Code PCM::GetSolenoidStickyFault(bool &status)
 CTR_Code PCM::GetBatteryVoltage(float &status)
 {
 	GET_PCM_STATUS();
-	status = (float)rx->battVoltage * ((59.0420332355816) / 1000.0);;
+	status = (float)rx->battVoltage * 0.05 + 4.0; /* 50mV per unit plus 4V. */
 	return rx.err;
 }
 /* Return status of module enable/disable

hal/lib/Athena/ctre/PDP.cpp

@@ -110,7 +110,7 @@ CTR_Code PDP::GetChannelCurrent(UINT8 idx, double &current)
 		}
 	}
 	/* convert to amps */
-	current = 0.06724511900000001*raw + 1.527114967;
+	current = (double)raw * 0.125;  /* 7.3 fixed pt value in Amps */
 	/* signal caller with success */
 	return retval;
 }
@@ -118,14 +118,14 @@ CTR_Code PDP::GetVoltage(double &voltage)
 {
 	GET_STATUS3();
 	uint32_t raw = rx->busVoltage;
-	voltage = 0.0554413328606877 * raw;
+	voltage = (double)raw * 0.05 + 4.0; /* 50mV per unit plus 4V. */;
 	return rx.err;
 }
 CTR_Code PDP::GetTemperature(double &tempC)
 {
 	GET_STATUS3();
 	uint32_t raw = rx->temp;
-	tempC =	((double)raw-67.8564500484966)*1.03250836957542;
+	tempC =	(double)raw * 1.03250836957542 - 67.8564500484966;
 	return rx.err;
 }
 //------------------ C interface --------------------------------------------//

networktables/OutlineViewer/build.gradle

@@ -0,0 +1,24 @@
+apply plugin: 'java'
+apply plugin: 'maven'
+
+group = "edu.wpi.frc.wpilib"
+version = "2.0"
+
+sourceCompatibility = 1.7
+
+sourceSets {
+	main {
+	     java {
+	     	  srcDirs = ["src"]
+	     }
+	}
+}
+
+repositories {
+       mavenCentral()
+       mavenLocal()
+}
+
+dependencies {
+	     compile project(":java")
+}

networktables/cpp/build.gradle

@@ -0,0 +1,19 @@
+apply plugin: 'cpp'
+
+libraries {
+  main {}
+}
+
+sources {
+  main {
+    cpp {
+      source {
+        srcDirs = ["lib/share", "lib/Athena"]
+        // includes = "**/*.cpp"
+      }
+      exportedHeaders {
+        srcDirs = ["include"]
+      }
+    }
+  }
+}

networktables/java-table-viewer/build.gradle

@@ -0,0 +1,24 @@
+apply plugin: 'java'
+apply plugin: 'maven'
+
+group = "edu.wpi.frc.wpilib"
+version = "2.0"
+
+sourceCompatibility = 1.7
+
+sourceSets {
+	main {
+	     java {
+	     	  srcDirs = ["src"]
+	     }
+	}
+}
+
+repositories {
+       mavenCentral()
+       mavenLocal()
+}
+
+dependencies {
+	     compile project(":java")
+}

networktables/java/build.gradle

@@ -0,0 +1,39 @@
+apply plugin: 'java'
+apply plugin: 'maven'
+
+group = "edu.wpi.frc.wpilib"
+version = "2.0"
+
+sourceSets {
+	main {
+	     java {
+	     	  srcDirs = ["src/main/java", "Athena/src/main/java"]
+	     }
+	}
+	test {
+	     java {
+		  srcDirs = ["Athena/src/test/java"]
+		  excludes = ["edu/wpi/first/wpilibj/networktables2/system/SystemTest.java"]
+	     }
+	}
+}
+
+repositories {
+       mavenCentral()
+       mavenLocal()
+}
+
+dependencies {
+       testCompile group: 'junit', name: 'junit', version: '4.+'
+       testCompile group: 'org.jmock', name: 'jmock-junit4', version: '2.6.0'
+       testCompile group: 'org.jmock', name: 'jmock-legacy', version: '2.6.0'
+}
+
+uploadArchives {
+    repositories {
+        mavenDeployer {
+            repository(url: "file://localhost/tmp/myRepo/")
+            pom.artifactId = 'networktables'
+	}
+    }
+}

networktables/settings.gradle

@@ -0,0 +1 @@
+include "java", "java-table-viewer"

simulation/debs/Makefile

@@ -16,42 +16,32 @@ libwpilibsim-package-version = $(libwpilibsim-version)-$(package-version)
 frcsim-version = 0.1
 frcsim-package-version = $(frcsim-version)-$(package-version)
 
-all: debs update-repository
+# Main Targets
+.PHONY: all jenkins allwpilib pull debs update-repository clean-repository clean install
 
-jenkins: download-models pull-eclipse-toolchain pull all
+all: update-repository
+
+jenkins: update-repository
 
 allwpilib:
 	cd $(allwpilib) && mvn -T 8 clean package -Dwith-eclipse-plugins -DskipTests -DskipIT
 
-orig: pre-orig-clean
-	cd frcsim-gazebo-plugins && tar --exclude="./debian" -czvf \
-		frcsim-gazebo-plugins_${gazebo-plugins-version}.orig.tar.gz frcsim-gazebo-plugins
-	cd frcsim-gazebo-models && tar --exclude="./debian" -czvf \
-		frcsim-gazebo-models_${gazebo-models-version}.orig.tar.gz frcsim-gazebo-models
-	cd frcsim-eclipse-plugins && tar --exclude="./debian" -czvf \
-		frcsim-eclipse-plugins_${eclipse-plugins-version}.orig.tar.gz frcsim-eclipse-plugins
-	cd frcsim-eclipse-toolchain-plugin && tar --exclude="./debian" -czvf \
-		frcsim-eclipse-toolchain-plugin_${eclipse-toolchain-version}.orig.tar.gz frcsim-eclipse-toolchain-plugin
-	cd frcsim-libwpilibsim-cpp && tar --exclude="./debian" -czvf \
-		frcsim-libwpilibsim-cpp_${libwpilibsim-version}.orig.tar.gz frcsim-libwpilibsim-cpp
-	cd frcsim && tar --exclude="./debian" -czvf \
-		frcsim_${frcsim-version}.orig.tar.gz frcsim
+orig: orig-frcsim-gazebo-plugins orig-frcsim-gazebo-models orig-frcsim-eclipse-plugins \
+	  orig-frcsim-eclipse-toolchain-plugin orig-frcsim-libwpilibsim-cpp orig-frcsim
 
-debs:
-	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild -us -uc -iamd64
-	cd frcsim-gazebo-models/frcsim-gazebo-models && debuild -us -uc
-	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild -us -uc
-	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild -us -uc
-	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild -us -uc
-	cd frcsim/frcsim && debuild -us -uc
+debs: debs-frcsim-gazebo-plugins debs-frcsim-gazebo-models debs-frcsim-eclipse-plugins \
+	  debs-frcsim-eclipse-toolchain-plugin debs-frcsim-libwpilibsim-cpp debs-frcsim
 
-update-repository: clean-repository
+update-repository: debs clean-repository 
 	cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
+	cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
+	cd repository && reprepro includedeb $(codename) ../frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
 	cd repository && reprepro includedeb $(codename) ../frcsim/frcsim_$(frcsim-package-version)_all.deb
+	echo Repository Updated
 
 clean-repository:
 	cd repository && reprepro remove $(codename) frcsim-gazebo-plugins
@@ -61,39 +51,53 @@ clean-repository:
 	cd repository && reprepro remove $(codename) frcsim-libwpilibsim-cpp
 	cd repository && reprepro remove $(codename) frcsim
 
-pre-orig-clean:
-	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild clean
-	cd frcsim-gazebo-models/frcsim-gazebo-models && debuild clean
-	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild clean
-	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild clean
-	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild clean
-	cd frcsim/frcsim && debuild clean
+clean:
+	-rm frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
+	-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
+	-rm frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
+	-rm frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
+	-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
+	-rm frcsim/frcsim_$(frcsim-version).orig.tar.gz
 
-	rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
-	rm -f frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
-	rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
-	rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
-	rm -f frcsim-libwpilib-cpp/frcsim-libwpilib-cpp_$(libwpilibsim-version).orig.tar.gz
-	rm -f frcsim/frcsim_$(frcsim-version).orig.tar.gz
+	-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
+	-rm frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
+	-rm frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
+	-rm frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
+	-rm frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
+	-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
+	-rm frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
+	-rm frcsim/frcsim_$(frcsim-package-version)_all.deb
 
-clean: pre-orig-clean
-	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
-	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
+install:
+	sudo dpkg -i frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb \
+	frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb \
+	frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb \
+	frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb \
+	frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb \
+	frcsim/frcsim_$(frcsim-package-version)_all.deb
 
-	rm -rf frcsim-gazebo-plugins/frcsim-gazebo-plugins/src
+# orig support (for faster parallel builds)
+.PHONY: orig-frcsim-gazebo-plugins orig-frcsim-gazebo-models orig-frcsim-eclipse-plugins \
+	  	orig-frcsim-eclipse-toolchain-plugin orig-frcsim-libwpilibsim-cpp orig-frcsim
+.PHONY:	pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp
 
-	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/src
-	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/include
-	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/Makefile
-	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/CMakeLists.txt
-	rm -rf frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/target
-
-pull: clean pull-gazebo-plugins pull-eclipse-plugins pull-libwpilibsim-cpp orig
+orig-frcsim-gazebo-models: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
+frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz:
+	cd frcsim-gazebo-models && \
+	    wget --no-check-certificate $(gazebo-models-orig-url) -O frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz && \
+	    tar xvf frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
 
+orig-frcsim-gazebo-plugins: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
 pull-gazebo-plugins:
 	cp -rf -t frcsim-gazebo-plugins/frcsim-gazebo-plugins/ $(allwpilib)/simulation/frc_gazebo_plugins/*
 	echo Increment version?
+frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz: pull-gazebo-plugins
+	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild clean
+	rm -f frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
+	cd frcsim-gazebo-plugins && tar --exclude="./debian" -czvf \
+		frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz frcsim-gazebo-plugins
 
+orig-frcsim-eclipse-plugins: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
 pull-eclipse-plugins:
 	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/plugins
 	rm -rf frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
@@ -106,7 +110,13 @@ pull-eclipse-plugins:
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.cpp.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.core.feature_* frcsim-eclipse-plugins/frcsim-eclipse-plugins/features
 	echo Increment version?
+frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz: pull-eclipse-plugins
+	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild clean
+	rm -f frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
+	cd frcsim-eclipse-plugins && tar --exclude="./debian" -czvf \
+		frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz frcsim-eclipse-plugins
 
+orig-frcsim-eclipse-toolchain-plugin: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
 pull-eclipse-toolchain:
 	rm -rf frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/plugins
 	rm -rf frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/features
@@ -115,24 +125,76 @@ pull-eclipse-toolchain:
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/plugins/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux_* frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/plugins/
 	cp $(allwpilib)/eclipse-plugins/edu.wpi.first.wpilib.plugins.updatesite/target/site/features/edu.wpi.first.wpilib.plugins.cpp.toolchains.linux.feature_* frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin/features/
 	echo Increment version?
+frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz: pull-eclipse-toolchain
+	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild clean
+	rm -f frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
+	cd frcsim-eclipse-toolchain-plugin && tar --exclude="./debian" -czvf \
+		frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz frcsim-eclipse-toolchain-plugin
 
+orig-frcsim-libwpilibsim-cpp: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
 pull-libwpilibsim-cpp:
 	cp -rf -t frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/ $(allwpilib)/wpilibc/wpilibC++Sim/*
+	mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
+	cp -rf $(allwpilib)/hal frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib
+	mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/networktables
+	cp -rf $(allwpilib)/networktables/cpp frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/networktables
+	mkdir -p frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/wpilibc
+	cp -r $(allwpilib)/wpilibc/wpilibC++ frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/allwpilib/wpilibc 
 	echo Increment version?
+frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz: pull-libwpilibsim-cpp
+	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild clean
+	rm -f frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
+	cd frcsim-libwpilibsim-cpp && tar --exclude="./debian" -czvf \
+		frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz frcsim-libwpilibsim-cpp
 
-download-models:
-	cd frcsim-gazebo-models && \
-	    wget --no-check-certificate $(gazebo-models-orig-url) -O frcsim-gazebo-models_${gazebo-models-version}.orig.tar.gz && \
-	    tar xvf frcsim-gazebo-models_${gazebo-models-version}.orig.tar.gz
+orig-frcsim: frcsim/frcsim_$(frcsim-version).orig.tar.gz
+frcsim/frcsim_$(frcsim-version).orig.tar.gz:
+	cd frcsim/frcsim && debuild clean
+	rm -f frcsim/frcsim_$(frcsim-version).orig.tar.gz
+	cd frcsim && tar --exclude="./debian" -czvf \
+		frcsim_$(frcsim-version).orig.tar.gz frcsim
 
-install:
-	sudo dpkg -i frcsim-gazebo-plugins/frcsim-gazebo-plugins_0.2-1_amd64.deb \
-                 frcsim-gazebo-models/frcsim-gazebo-models_0.2-1_all.deb \
-                 frcsim-eclipse-plugins/frcsim-eclipse-plugins_0.1-1_all.deb \
-                 frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_0.1-1_all.deb \
-                 frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_0.1-1_amd64.deb \
-                 frcsim/frcsim_0.1-1_all.deb
+# debs support (for faster parallel builds)
+.PHONY: debs-frcsim-gazebo-plugins debs-frcsim-gazebo-models debs-frcsim-eclipse-plugins \
+		debs-frcsim-eclipse-toolchain-plugin debs-frcsim-libwpilibsim-cpp debs-frcsim
 
-deploy:
-	rsync -r -v -C -p repository/ adhenning@ccc.wpi.edu:public_html/frcsim/
+debs-frcsim-gazebo-plugins: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb
+frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_i386.deb: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb
+	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && make clean
+	cd frcsim-gazebo-plugins && sbuild --arch=i386 -A -d trusty-i386 frcsim-gazebo-plugins_$(gazebo-plugins-package-version).dsc
+frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-package-version)_amd64.deb: frcsim-gazebo-plugins/frcsim-gazebo-plugins_$(gazebo-plugins-version).orig.tar.gz
+	cd frcsim-gazebo-plugins/frcsim-gazebo-plugins && debuild --no-lintian -us -uc -aamd64
 
+debs-frcsim-gazebo-models: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb
+frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-package-version)_all.deb: frcsim-gazebo-models/frcsim-gazebo-models_$(gazebo-models-version).orig.tar.gz
+	cd frcsim-gazebo-models/frcsim-gazebo-models && debuild --no-lintian -us -uc
+
+debs-frcsim-eclipse-plugins: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb
+frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-package-version)_all.deb: frcsim-eclipse-plugins/frcsim-eclipse-plugins_$(eclipse-plugins-version).orig.tar.gz
+	cd frcsim-eclipse-plugins/frcsim-eclipse-plugins && debuild --no-lintian -us -uc
+
+debs-frcsim-eclipse-toolchain-plugin: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb
+frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-package-version)_all.deb: frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin_$(eclipse-toolchain-version).orig.tar.gz
+	cd frcsim-eclipse-toolchain-plugin/frcsim-eclipse-toolchain-plugin && debuild --no-lintian -us -uc
+
+debs-frcsim-libwpilibsim-cpp: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb
+frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_i386.deb: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb
+	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && make clean
+	cd frcsim-libwpilibsim-cpp && sbuild --arch=i386 -A -d trusty-i386 frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version).dsc
+frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-package-version)_amd64.deb: frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp_$(libwpilibsim-version).orig.tar.gz
+	cd frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp && debuild --no-lintian -us -uc -aamd64
+
+debs-frcsim: frcsim/frcsim_$(frcsim-package-version)_all.deb
+frcsim/frcsim_$(frcsim-package-version)_all.deb: frcsim/frcsim_$(frcsim-version).orig.tar.gz
+	cd frcsim/frcsim && debuild --no-lintian -us -uc
+
+### SBUILD
+#
+# For building 32-bit builds on 64-bit machines
+#
+# $ mk-sbuild --arch i386 --personality=linux32 trusty
+# To CHANGE the golden image: sudo schroot -c source:trusty-i386 -u root
+# To ENTER an image snapshot: schroot -c trusty-i386
+# To BUILD within a snapshot: sbuild -A -d trusty-i386 PACKAGE*.dsc
+# 
+# sbuild --arch=i386 -A -d trusty-i386 frcsim-gazebo-plugins_0.2-1.dsc

simulation/debs/frcsim-gazebo-plugins/frcsim-gazebo-plugins/debian/rules

@@ -1,3 +1,6 @@
 #!/usr/bin/make -f
 %:
 	dh $@
+
+override_dh_strip:
+	strip --remove-section=.comment --remove-section=.note --strip-unneeded debian/frcsim-gazebo-plugins/usr/lib/frcsim/plugins/libgz_potentiometer.so

simulation/debs/frcsim-libwpilibsim-cpp/frcsim-libwpilibsim-cpp/debian/rules

@@ -3,7 +3,9 @@
 	dh $@
 
 override_dh_auto_build:
-	$(MAKE) allwpilib=../../../..
+	$(MAKE) allwpilib=allwpilib
 
 override_dh_auto_install:
-	$(MAKE) DESTDIR=$$(pwd)/debian/frcsim-libwpilibsim-cpp allwpilib=../../../.. install
+	$(MAKE) DESTDIR=$$(pwd)/debian/frcsim-libwpilibsim-cpp allwpilib=allwpilib install
+
+override_dh_strip:

simulation/debs/frcsim/frcsim/frcsim

@@ -1,4 +1,5 @@
 #!/bin/bash
 export GAZEBO_PLUGIN_PATH="${GAZEBO_PLUGIN_PATH}:/usr/lib/frcsim/plugins"
 export GAZEBO_MODEL_PATH="${GAZEBO_MODEL_PATH}:/usr/share/frcsim/models"
+export LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/usr/lib/frcsim/plugins"
 gazebo $@

simulation/debs/install.sh

@@ -104,15 +104,15 @@ function install-frcsim {
     fi
 
     # Add FRCSim Repository and Key
-    if ! echo "deb http://users.wpi.edu/~adhenning/frcsim `lsb_release -cs` main" > /etc/apt/sources.list.d/frcsim-latest.list
+    if ! echo "deb http://first.wpi.edu/FRC/roborio/release/linux `lsb_release -cs` main" > /etc/apt/sources.list.d/frcsim-latest.list
     then
         echo "*** Cannot add FRCSim repository!" 1>&2
         install-fail
     fi
-    if ! (wget users.wpi.edu/~adhenning/frcsim.key -O - | apt-key add -)
+    if ! (wget first.wpi.edu/FRC/roborio/wpilib.gpg.key -O - | apt-key add -)
     then
         echo "*** Cannot add FRCSim repository key!" 1>&2
-        if ! ping users.wpi.edu -c 1 >/dev/null; then
+        if ! ping first.wpi.edu -c 1 >/dev/null; then
             echo "*** The package host for FRCSim appears to be down. Try again later." 1>&2
         fi
         install-fail

test-scripts/.gitattributes

@@ -0,0 +1,4 @@
+# Set the default behavior, in case people don't have core.autocrlf set.
+* text=auto
+
+*.sh text eol=lf

test-scripts/README.html

@@ -0,0 +1,381 @@
+<!DOCTYPE html><html><head><meta charset="utf-8"><style>/* Fonts */
+@font-face{
+  font-family: octicons-anchor;
+  src: url(data:font/woff;charset=utf-8;base64,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) format('woff');
+}
+
+@font-face{
+  font-family: fontawesome-mini;
+  src: url(data:font/woff;charset=utf-8;base64,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) format('woff');
+}
+
+/* Body */
+html { font-size: 100%; overflow-y: scroll; -webkit-text-size-adjust: 100%; -ms-text-size-adjust: 100%; }
+
+body{
+  color:#4d4d4c;
+  font-family:Georgia, Palatino, 'Palatino Linotype', Times, 'Times New Roman',
+              "Hiragino Sans GB", "STXihei", "微软雅黑", serif;
+  font-size:12px;
+  line-height:1.5em;
+  background:#fefefe;
+  width: 45em;
+  margin: 10px auto;
+  padding: 30px;
+  border: 1px solid #ddd;
+  outline: 1300px solid #f8f8f8;
+}
+
+/* Links */
+a{ color: #06d; text-decoration:none; }
+a:hover{ color: #06e; text-decoration: underline; }
+a:active{ color:#faa700; }
+a:focus{ outline: thin dotted; }
+a:hover, a:active{ outline: 0; }
+
+::-moz-selection { background:#a8d1ff; color:#000 }
+::selection { background:#a8d1ff; color:#000 }
+
+a::-moz-selection { background:#a8d1ff; color:#0645ad }
+a::selection { background:#a8d1ff; color:#0645ad }
+
+/* Header Anchor Links*/
+.headeranchor-link {
+  color:#111;
+  border: 0;
+  margin-left: -20px;
+  padding-right: 6px;
+  cursor: pointer;
+  position: absolute;
+  display: block;
+  top: 0;
+  left: 0;
+  bottom: 0;
+}
+
+.headeranchor {
+  font: normal normal 16px octicons-anchor;
+  line-height: 1;
+  -moz-osx-font-smoothing: grayscale;
+  -webkit-user-select: none;
+  -moz-user-select: none;
+  -ms-user-select: none;
+  user-select: none;
+}
+
+.headeranchor-link:hover,
+.headeranchor-link:visited,
+.headeranchor-link:active
+{ text-decoration: none; color:#4d4d4c; }
+.headeranchor-link:hover .headeranchor:before,
+h1:hover .headeranchor:before,
+h2:hover .headeranchor:before,
+h3:hover .headeranchor:before,
+h4:hover .headeranchor:before,
+h5:hover .headeranchor:before,
+h6:hover .headeranchor:before
+{ content: '\f05c'; }
+
+abbr { cursor: pointer; }
+
+/* Paragraphs */
+p { margin:1em 0; }
+
+/* Images */
+img {
+  max-width:100%;
+  border: 0;
+  -ms-interpolation-mode: bicubic;
+  vertical-align: middle;
+}
+
+/* Headers */
+h1,h2,h3,h4,h5,h6 {
+  font-weight:normal;
+  color:#111;
+  line-height: 1.7;
+  position: relative;
+}
+h4,h5,h6{ font-weight: bold; }
+h1 { font-size:2.5em; border-bottom: 1px solid #ddd;}
+h2 { font-size:2em; border-bottom:1px solid #eee; padding-bottom: 5px; }
+h3 { font-size:1.5em; }
+h4 { font-size:1.2em; }
+h5 { font-size:1em; }
+h6 { font-size:0.9em; }
+
+/* Block Quotes */
+blockquote {
+  color:#666666;
+  margin:0;
+  padding-left: 3em;
+  border-left: 0.5em #EEE solid;
+}
+hr { display: block; height: 2px; border: 0; border-top: 1px solid #aaa;border-bottom: 1px solid #eee; margin: 1em 0; padding: 0; }
+
+/* Raw Blocks */
+pre, code, kbd, samp {
+  color: #000;
+  font-family: Consolas, "Liberation Mono", Menlo, Courier, monospace;
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  font-size: 0.88em;
+  background-color: #F8F8F8;
+  border: 1px solid #CCC;
+}
+
+pre {
+  padding: 10px;
+  overflow: auto;
+}
+
+code { padding: 0 3px 0 3px; }
+pre code { border: 0; padding: 0; }
+
+/* Admonition */
+.admonition {
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  font-size: 0.88em;
+  padding: 0.5em 1em 0.5em 1em;
+  margin: 10px auto;
+  color: #888888;
+  background-color: #F8F8F8;
+  border: 1px solid #888888;
+}
+
+.admonition p { padding: 0; margin: 0; }
+.admonition-title { font-weight: bold; margin: 0; }
+
+.admonition-icon {
+  font: normal normal 16px fontawesome-mini;
+  line-height: 1.5;
+  -moz-osx-font-smoothing: grayscale;
+  -webkit-user-select: none;
+  -moz-user-select: none;
+  -ms-user-select: none;
+  user-select: none;
+  float: left;
+}
+
+.admonition.attention { color: #4F8A10; background-color: #DFF2BF; border: 1px solid #4F8A10; }
+.admonition.caution { color: #D63301; background-color: #FFCCBA; border: 1px solid #D63301; }
+.admonition.hint { color: #00529B; background-color: #BDE5F8; border: 1px solid #00529B; }
+.admonition.danger { color: #D8000C; background-color: #FFBABA; border: 1px solid #D8000C; }
+.admonition.question { color: #00049b; background-color: #BDC8F8; border: 1px solid #00049b; }
+.admonition.note { color: #9F6000; background-color: #FEEFB3; border: 1px solid #9F6000; }
+
+.attention > .admonition-icon:before { content: "\f058\00a0"; }
+.caution > .admonition-icon:before { content: "\f06a\00a0"; }
+.hint > .admonition-icon:before { content: "\f05a\00a0"; }
+.danger > .admonition-icon:before { content: "\f056\00a0"; }
+.question > .admonition-icon:before { content: "\f059\00a0"; }
+.note > .admonition-icon:before { content: "\f040\00a0"; }
+
+/* progress bar*/
+.progress {
+  display: block;
+  width: 300px;
+  margin: 10px 0;
+  height: 24px;
+  border: 1px solid #ccc;
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  background-color: #F8F8F8;
+  position: relative;
+  box-shadow: inset -1px 1px 3px rgba(0, 0, 0, .1);
+}
+
+.progress-label {
+  position: absolute;
+  text-align: center;
+  font-weight: bold;
+  width: 100%; margin: 0;
+  line-height: 24px;
+  color: #333;
+  text-shadow:
+    1px 1px 0px #fefefe,
+    -1px -1px 0px #fefefe,
+    -1px 1px 0px #fefefe,
+    1px -1px 0px #fefefe,
+    0px 1px 0px #fefefe,
+    0px -1px 0px #fefefe,
+    1px 0px 0px #fefefe,
+    -1px 0px 0px #fefefe,
+    1px 1px 2px #000;
+  -webkit-font-smoothing: antialiased !important;
+  white-space: nowrap;
+  overflow: hidden;
+}
+
+.progress-bar {
+  height: 24px;
+  float: left;
+  border-right: 1px solid #ccc;
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  background-color: #34c2e3;
+  box-shadow: inset 0 1px 0px rgba(255, 255, 255, .5);
+  background-size: 30px 30px;
+  background-image: -webkit-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: -moz-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: -ms-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: -o-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+}
+
+.progress-100plus .progress-bar { background-color: #1ee038; }
+.progress-80plus .progress-bar { background-color: #86e01e; }
+.progress-60plus .progress-bar { background-color: #f2d31b; }
+.progress-40plus .progress-bar { background-color: #f2b01e; }
+.progress-20plus .progress-bar { background-color: #f27011; }
+.progress-0plus .progress-bar { background-color: #f63a0f; }
+
+.gloss .progress-bar {
+  box-shadow:
+    inset -1px 1px 0px rgba(255, 255, 255, .5),
+    inset 0 -4px 12px rgba(255, 255, 255, .7),
+    inset 0 4px 12px rgba(255, 255, 255, .7),
+    inset 0 -12px 0px rgba(0, 0, 0, .05),
+    inset 1px -1px 0px rgba(255, 255, 255, .2);
+}
+
+.candystripe-animate .progress-bar{
+  -webkit-animation: animate-stripes 3s linear infinite;
+  -moz-animation: animate-stripes 3s linear infinite;
+  animation: animate-stripes 3s linear infinite;
+}
+
+@-webkit-keyframes animate-stripes { 0% { background-position: 0 0; } 100% { background-position: 60px 0; } }
+@-moz-keyframes animate-stripes { 0% { background-position: 0 0; } 100% { background-position: 60px 0; } }
+@keyframes animate-stripes { 0% { background-position: 0 0; } 100% { background-position: 60px 0; } }
+
+/* Inlines */
+b, strong { font-weight: bold; }
+
+mark { background: #ff0; color: #000; font-style: italic; font-weight: bold; }
+
+sub, sup { font-size: 75%; line-height: 0; position: relative; vertical-align: baseline; }
+sup { top: -0.5em; }
+sub { bottom: -0.25em; }
+
+dfn { font-style: italic; }
+
+/* Lists */
+ul, ol { padding-left: 30px; }
+li p:last-child { margin:0 }
+.task-list-item { list-style-type: none; }
+.task-list-item input { float:left; margin-left: -20px; margin-top: 6px; }
+dt { font-weight: bold; font-style: italic;}
+dd { margin: 0 0 0 2em; }
+
+/* Tables */
+table { width: 100%; border-collapse: collapse; overflow-x: auto; overflow-y: hidden; display: block;}
+table tr { background-color: #fefefe; }
+table tr:nth-child(2n) { background-color: #f8f8f8; }
+td, th { border: 1px solid #ddd; padding: 6px 13px; }
+
+/* Codehilite Tables */
+.codehilitetable { border: 0; border-spacing: 0; }
+.linenos, .code, .codehilitetable td { border: 0; padding: 0; }
+td:not(.linenos) .linenodiv { padding: 0 !important; }
+.code { width: 100%; }
+.linenos div pre, .linenodiv pre {
+  border: 0;
+  border-top: 1px solid #CCC;
+  border-left: 1px solid #CCC;
+  border-right: 1px solid #CCC;
+  border-bottom: 1px solid #CCC;
+  -webkit-border-radius: 0;
+  -moz-border-radius: 0;
+  border-radius: 0;
+  -webkit-border-top-left-radius: 3px;
+  -webkit-border-bottom-left-radius: 3px;
+  -moz-border-radius-topleft: 3px;
+  -moz-border-radius-bottomleft: 3px;
+  border-top-left-radius: 3px;
+  border-bottom-left-radius: 3px;
+}
+
+.code div pre {
+  border: 0;
+  border-top: 1px solid #CCC;
+  border-right: 1px solid #CCC;
+  border-bottom: 1px solid #CCC;
+  -webkit-border-radius: 0;
+  -moz-border-radius: 0;
+  border-radius: 0;
+  -webkit-border-top-right-radius: 3px;
+  -webkit-border-bottom-right-radius: 3px;
+  -moz-border-radius-topright: 3px;
+  -moz-border-radius-bottomright: 3px;
+  border-top-right-radius: 3px;
+  border-bottom-right-radius: 3px;
+}
+
+/* Media */
+@media only screen and (min-width: 480px) {
+  body{ font-size:14px; }
+}
+
+@media only screen and (min-width: 768px) {
+  body{ font-size:16px; }
+}
+
+@media print {
+  * { background: transparent !important; color: black !important; filter:none !important; -ms-filter: none !important; }
+  body{ font-size:12pt; max-width:100%; outline:none; border: 0;}
+  a, a:visited { text-decoration: underline; }
+  .headeranchor-link { display: none; }
+  hr { height: 1px; border:0; border-bottom:1px solid black; }
+  a[href]:after { content: " (" attr(href) ")"; }
+  abbr[title]:after { content: " (" attr(title) ")"; }
+  .ir a:after, a[href^="javascript:"]:after, a[href^="#"]:after { content: ""; }
+  pre { white-space: pre; white-space: pre-wrap; word-wrap: break-word; }
+  pre, blockquote { border: 1px solid #999; padding-right: 1em; page-break-inside: avoid; }
+  .progress, .progress-bar { box-shadow: none; }
+  tr, img { page-break-inside: avoid; }
+  img { max-width: 100% !important; }
+  p, h2, h3 { orphans: 3; widows: 3; }
+  h2, h3 { page-break-after: avoid; }
+}
+</style><title>README</title></head><body><h1 id="wpilib-test-scripts"><a name="user-content-wpilib-test-scripts" href="#wpilib-test-scripts" class="headeranchor-link"  aria-hidden="true"><span class="headeranchor"></span></a>WPILIB TEST SCRIPTS</h1>
+<h2 id="overview"><a name="user-content-overview" href="#overview" class="headeranchor-link"  aria-hidden="true"><span class="headeranchor"></span></a>Overview</h2>
+<p>These test scripts are designed to allow the user of the WPILib test framework to quickly and easily deploy and run their tests on the WPI roboRIO.</p>
+<p>In order for the automated test system to work there is a driver station onboard the roboRIO that handles a queue of users waiting to use the driver station. All of the interaction with this queue is handled internally by test scripts contained within this file.</p>
+<h2 id="running-tests"><a name="user-content-running-tests" href="#running-tests" class="headeranchor-link"  aria-hidden="true"><span class="headeranchor"></span></a>Running Tests</h2>
+<p>See screen steps live: [TODO: Add link to screen steps live]</p></body></html>

test-scripts/README.md

@@ -0,0 +1,9 @@
+# WPILIB TEST SCRIPTS
+## Overview
+These test scripts are designed to allow the user of the WPILib test framework to quickly and easily deploy and run their tests on the WPI roboRIO.
+
+In order for the automated test system to work there is a driver station onboard the roboRIO that handles a queue of users waiting to use the driver station. All of the interaction with this queue is handled internally by test scripts contained within this file.
+
+## Running Tests
+
+See screen steps live: [TODO: Add link to screen steps live]

test-scripts/config.sh

@@ -0,0 +1,38 @@
+#!/usr/bin/env bash
+#*----------------------------------------------------------------------------*#
+#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
+#* Open Source Software - may be modified and shared by FRC teams. The code   *#
+#* must be accompanied by the FIRST BSD license file in the root directory of *#
+#* the project.															      *#
+#*----------------------------------------------------------------------------*#
+
+# If this is changed, update the .gitignore
+# so that test results are not commited to the repo
+DEFAULT_LOCAL_TEST_RESULTS_DIR=../test-reports
+
+
+ROBOT_ADDRESS=admin@roboRIO-190.local
+DEFAULT_LOCAL_RUN_TEST_SCRIPT="run-tests-on-robot.sh"
+
+DEFAULT_DESTINATION_DIR=/home/admin
+DEFAULT_TEST_SCP_DIR=${DEFAULT_DESTINATION_DIR}/deployedTests
+DEFAULT_DESTINATION_TEST_RESULTS_DIR=${DEFAULT_DESTINATION_DIR}/testResults
+
+# C++ test variables
+DEFAULT_CPP_TEST_NAME=FRCUserProgram
+DEFAULT_CPP_TEST_ARGS="--gtest_color=yes"
+DEFAULT_LOCAL_CPP_TEST_FILE=../cmake/target/cmake/wpilibc/wpilibC++IntegrationTests/FRCUserProgram
+CPP_REPORT=cppreport.xml
+DEFAULT_LOCAL_CPP_TEST_RESULT=${DEFAULT_LOCAL_TEST_RESULTS_DIR}/${CPP_REPORT}
+DEFAULT_DESTINATION_CPP_TEST_RESULTS=${DEFAULT_DESTINATION_TEST_RESULTS_DIR}/${CPP_REPORT}
+
+# Java test variables
+DEFAULT_JAVA_TEST_NAME=FRCUserProgram.jar
+DEFAULT_JAVA_TEST_ARGS=""
+DEFAULT_LOCAL_JAVA_TEST_FILE=../wpilibj/wpilibJavaIntegrationTests/target/wpilibJavaIntegrationTests-0.1.0-SNAPSHOT.jar
+JAVA_REPORT=javareport.xml
+DEFAULT_LOCAL_JAVA_TEST_RESULT=${DEFAULT_LOCAL_TEST_RESULTS_DIR}/${JAVA_REPORT}
+DEFAULT_DESTINATION_JAVA_TEST_RESULTS=${DEFAULT_DESTINATION_TEST_RESULTS_DIR}/AntReports/TEST-edu.wpi.first.wpilibj.test.TestSuite.xml
+
+
+

test-scripts/deploy-and-run-test-on-robot.sh

@@ -0,0 +1,82 @@
+#!/usr/bin/env bash
+#*----------------------------------------------------------------------------*#
+#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
+#* Open Source Software - may be modified and shared by FRC teams. The code   *#
+#* must be accompanied by the FIRST BSD license file in the root directory of *#
+#* the project.															      *#
+#*----------------------------------------------------------------------------*#
+
+# Configurable variables
+source config.sh
+
+# Java variables
+DEFAULT_DESTINATION_JAVA_TEST_FILE=${DEFAULT_TEST_SCP_DIR}/${DEFAULT_JAVA_TEST_NAME}
+
+# C++ Variables
+DEFAULT_DESTINATION_CPP_TEST_FILE=${DEFAULT_TEST_SCP_DIR}/${DEFAULT_CPP_TEST_NAME}
+
+DEFAULT_DESTINATION_RUN_TEST_SCRIPT=${DEFAULT_DESTINATION_DIR}/${DEFAULT_LOCAL_RUN_TEST_SCRIPT}
+
+usage="$(basename "$0") [-h] (java|cpp) [-A] [arg] [arg]...
+A script designed to run the integration tests.
+This script should only be run on the roborio.
+Where:
+    -h    Show this help text.
+    -A    Disable language recomended arguments.
+    arg   Additional arguments to be passed to test."
+
+
+# These variables are set when the language is selected
+LANGUAGE=none
+LOCAL_TEST_FILE=none
+DESTINATION_TEST_FILE=none
+TEST_RUN_ARGS=""
+
+# Begin searching for options from the third paramater on
+PARAM_ARGS=${@:2}
+
+if [[ "$1" = java ]]; then
+	LANGUAGE=$1
+	LOCAL_TEST_FILE=$DEFAULT_LOCAL_JAVA_TEST_FILE
+	DESTINATION_TEST_FILE=$DEFAULT_DESTINATION_JAVA_TEST_FILE
+elif [[ "$1" = cpp ]]; then
+	LANGUAGE=$1
+	LOCAL_TEST_FILE=$DEFAULT_LOCAL_CPP_TEST_FILE
+	DESTINATION_TEST_FILE=$DEFAULT_DESTINATION_CPP_TEST_FILE
+elif [[ "$1" = "-h" ]]; then
+	printf "Usage:\n"
+	echo "$usage"
+	exit
+else
+	printf "Invalid language selection: %s\n\n" "$1" >&2
+	echo "$usage" >&2
+	exit 1
+fi
+
+# Check if the test file to upload exists
+if [[ ! -e ${LOCAL_TEST_FILE} ]]; then
+	printf "The test file does not exist: %s\nAre you sure that you compiled the tests??\n\n" "${LOCAL_TEST_FILE}" >&2
+	echo "$usage" >&2
+	exit 1
+fi
+
+TEST_RUN_ARGS="${@:2}"
+
+shopt -s huponexit
+
+SCP_TEST_SCRIPT="scp config.sh ${DEFAULT_LOCAL_RUN_TEST_SCRIPT} ${ROBOT_ADDRESS}:/${DEFAULT_DESTINATION_DIR}"
+SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR="ssh -t ${ROBOT_ADDRESS} chmod a+x ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT}; mkdir ${DEFAULT_TEST_SCP_DIR} 2>/dev/null"
+SCP_TEST_PROGRAM="scp ${LOCAL_TEST_FILE} ${ROBOT_ADDRESS}:/${DESTINATION_TEST_FILE}"
+SSH_RUN_TESTS="ssh -t ${ROBOT_ADDRESS} ${DEFAULT_DESTINATION_RUN_TEST_SCRIPT} ${LANGUAGE} $(whoami) -d ${DEFAULT_TEST_SCP_DIR} ${TEST_RUN_ARGS}"
+
+if [ $(which sshpass) ]; then
+	sshpass -p "" ${SCP_TEST_SCRIPT}
+	sshpass -p "" ${SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR}
+	sshpass -p "" ${SCP_TEST_PROGRAM}
+	sshpass -p "" ${SSH_RUN_TESTS}
+else
+	eval ${SCP_TEST_SCRIPT}
+	eval ${SSH_CHMOD_AND_MAKE_TEMP_TEST_DIR}
+	eval ${SCP_TEST_PROGRAM}
+	eval ${SSH_RUN_TESTS}
+fi

test-scripts/jenkins-run-tests-get-results.sh

@@ -0,0 +1,50 @@
+#!/usr/bin/env bash
+#*----------------------------------------------------------------------------*#
+#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
+#* Open Source Software - may be modified and shared by FRC teams. The code   *#
+#* must be accompanied by the FIRST BSD license file in the root directory of *#
+#* the project.															      *#
+#*----------------------------------------------------------------------------*#
+
+# Configurable variables
+source config.sh
+
+# If there are already test results in the repository then remove them
+if [[ -e ${DEFAULT_LOCAL_TEST_RESULTS_DIR} ]]; then
+	rm -R ${DEFAULT_LOCAL_TEST_RESULTS_DIR}
+fi
+
+# Make the directory where the tests should live
+mkdir ${DEFAULT_LOCAL_TEST_RESULTS_DIR} 2>/dev/null
+
+# Remove the preivous test results from the the robot
+SSH_REMOVE_OLD_TEST_RESULTS="ssh -t ${ROBOT_ADDRESS} rm -R ${DEFAULT_DESTINATION_TEST_RESULTS_DIR}; mkdir ${DEFAULT_DESTINATION_TEST_RESULTS_DIR}"
+if [ $(which sshpass) ]; then
+	sshpass -p "" ${SSH_REMOVE_OLD_TEST_RESULTS}
+else
+	eval ${SSH_REMOVE_OLD_TEST_RESULTS}
+fi
+
+printf "Running cpp test\n"
+
+# Run the C++ Tests
+./deploy-and-run-test-on-robot.sh cpp -A "--gtest_output=xml:${DEFAULT_DESTINATION_CPP_TEST_RESULTS}"
+
+# Retrive the C++ Test Results
+SCP_GET_CPP_TEST_RESULT="scp ${ROBOT_ADDRESS}:${DEFAULT_DESTINATION_CPP_TEST_RESULTS} ${DEFAULT_LOCAL_CPP_TEST_RESULT}"
+if [ $(which sshpass) ]; then
+	sshpass -p "" ${SCP_GET_CPP_TEST_RESULT}
+else
+	eval ${SCP_GET_CPP_TEST_RESULT}
+fi
+
+# Run the Java Tests
+./deploy-and-run-test-on-robot.sh java
+
+# Retrive the Java Test Results
+SCP_GET_JAVA_TEST_RESULT="scp ${ROBOT_ADDRESS}:${DEFAULT_DESTINATION_JAVA_TEST_RESULTS} ${DEFAULT_LOCAL_JAVA_TEST_RESULT}"
+if [ $(which sshpass) ]; then
+	sshpass -p "" ${SCP_GET_JAVA_TEST_RESULT}
+else
+	eval ${SCP_GET_JAVA_TEST_RESULT}
+fi

test-scripts/run-tests-on-robot.sh

@@ -0,0 +1,166 @@
+#!/usr/bin/env bash
+#*----------------------------------------------------------------------------*#
+#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
+#* Open Source Software - may be modified and shared by FRC teams. The code   *#
+#* must be accompanied by the FIRST BSD license file in the root directory of *#
+#* the project.															      *#
+#*----------------------------------------------------------------------------*#
+
+# This file is intended to be run in the DEFAULT_TEST_DIR on the roboRIO.
+# Do not attempt to run this file on your local system.
+# There is one file (delploy-and-run-test-on-robot.sh) that is designed to
+# deploy this file allong with the compiled tests for you.
+
+# Configurable variables
+source config.sh
+
+DEFAULT_TEST_DIR=${DEFAULT_DESTINATION_DIR}
+DEFAULT_PATH_TO_JRE=/usr/local/frc/JRE/bin/java
+
+usage="$(basename "$0") [-h] (java|cpp) name [-d test_dir] [-A] [arg] [arg]...
+A script designed to run the integration tests.
+This script should only be run on the roborio.
+Where:
+    -h    Show this help text
+    name  The name of the user trying to run the tests (used for driver station)
+    -d    The directory where the tests have been placed.
+          This is done to prevent overwriting an already running program
+          in the case where another user already has the driver station mutex.
+          This scrip will automatically move the test into the ${DEFAULT_TEST_DIR}
+          directory when the driver station mutex is released.
+          Default: Assumes the test is in the same directory as this scrip.
+    -A    Do not use the default arguments for the given language.
+    arg   The arguments to be passed to test."
+
+mutexTaken=false
+# This function should run even if the script exits abnormally
+function finish {
+	if [ "$mutexTaken" == true ]; then
+		/usr/local/frc/bin/teststand ds --name="${NAME}" disable
+		/usr/local/frc/bin/teststand give --name="${NAME}"
+		mutexTaken=false
+	fi
+}
+trap finish EXIT SIGINT
+
+# This function should be run asynchronysly to enable the tests 10
+# seconds after they have been run.
+function enableIn10Seconds {
+	sleep 10
+	/usr/local/frc/bin/teststand ds --name="${NAME}" enable
+}
+
+# Are you trying to run this program on a platform other than the roboRIO?
+if [[ ! -e "${DEFAULT_TEST_DIR}" ]]; then
+	printf "Failed to find %s\nAre you trying to run this file on your local computer?\n" "${DEFAULT_TEST_DIR}"
+	printf "This script should only be run on the roboRIO.\n\n"
+	echo "$usage"
+	exit 1
+fi
+
+LANGUAGE=none
+TEST_FILE=none
+NAME=$2
+TEST_DIR="$DEFAULT_TEST_DIR"
+# Begin searching for options from the third paramater on
+PARAM_ARGS=${@:3}
+# Where the test arguments start
+TEST_RUN_ARGS=${@:3}
+RUN_WITH_DEFAULT_ARGS=true
+DEFAULT_ARGS=""
+
+# Determine the language that we are attempting to run
+if [[ "$1" = java ]]; then
+	LANGUAGE=$1
+	TEST_FILE=$DEFAULT_JAVA_TEST_NAME
+	DEFAULT_ARGS=$DEFAULT_JAVA_TEST_ARGS
+elif [[ "$1" = cpp ]]; then
+	LANGUAGE=$1
+	TEST_FILE=$DEFAULT_CPP_TEST_NAME
+	DEFAULT_ARGS=$DEFAULT_CPP_TEST_ARGS
+elif [[ "$1" = "-h" ]]; then
+	#If the first argument is the help option
+	#Allow it to be searhced for in getopts
+	PARAM_ARGS=${@}
+else
+	printf "Invalid language selection: %s\n\n" "$1" >&2
+	echo "$usage" >&2
+	exit 1
+fi
+
+PARAM_COUNTER=2
+printf "Param Args ${PARAM_ARGS}\n"
+
+# Check for optional paramaters
+while  getopts ':hd:A' option $PARAM_ARGS ; do
+	case "$option" in
+	h)
+		# Print the help message
+		printf "Usage:\n"
+		echo "$usage"
+		exit
+		;;
+	A)
+		# Remove the default arguments
+		RUN_WITH_DEFAULT_ARGS=false
+		PARAM_COUNTER=$[$PARAM_COUNTER +1]
+		;;
+	d)
+		TEST_DIR=$OPTARG
+		# Since we are selecting the directory the run args start from the 5th argument
+		PARAM_COUNTER=$[$PARAM_COUNTER +2]
+		;;
+	?)
+		# When an unknown param is found then we are done so break
+		break
+		;;
+	esac
+done
+
+TEST_RUN_ARGS=${@:$[$PARAM_COUNTER +1]}
+
+if [[ "$RUN_WITH_DEFAULT_ARGS" == true ]]; then
+	TEST_RUN_ARGS="${DEFAULT_ARGS} ${TEST_RUN_ARGS}"
+fi
+
+# Make sure at least two paramaters are passed or four if running with -d option
+if [[ $# -lt $PARAM_COUNTER ]]; then
+	printf "Invalid arg count. Should be %s, was %s.\n" "${PARAM_COUNTER}" "$#"
+	echo "$usage"
+	exit 1
+fi
+
+# Attempt to take the mutex for the driver station
+mutexTaken=true
+/usr/local/frc/bin/teststand take --name="${NAME}"
+
+# Kill all running robot programs
+killall java FRCUserProgram
+
+# Once we have the mutex no other tests are running
+# If we are running with the -d argument move the test to the DEFAULT_TEST_DIR
+if [[ ! -e "${TEST_DIR}/${TEST_FILE}" ]]; then
+	printf "Failed to find %s.\nDid you copy the test file correctly?\n" "${TEST_DIR}/${TEST_FILE}"
+	echo "$usage"
+	exit 1
+elif [[ $TEST_DIR != "$DEFAULT_TEST_DIR" ]]; then
+	mv "${TEST_DIR}/${TEST_FILE}" "${DEFAULT_TEST_DIR}"
+fi
+
+# Make sure the excecutable file has permission to run
+
+# Setup the driver station to enable automatically in 10 seconds without waiting for the function to excecute.
+enableIn10Seconds&
+
+# Store the run command for the language
+RUN_COMMAND=none
+if [[ ${LANGUAGE} = java ]]; then
+	chmod a+x ${DEFAULT_JAVA_TEST_NAME}
+	RUN_COMMAND="${DEFAULT_PATH_TO_JRE} -ea -jar ${DEFAULT_JAVA_TEST_NAME} ${TEST_RUN_ARGS}"
+elif [[ ${LANGUAGE} = cpp ]]; then
+	chmod a+x ${DEFAULT_CPP_TEST_NAME}
+	RUN_COMMAND="./${DEFAULT_CPP_TEST_NAME} ${TEST_RUN_ARGS}"
+fi
+
+printf "Running: %s\n\n" "${RUN_COMMAND}"
+eval ${RUN_COMMAND}

test-scripts/spawn_driver_station.sh

@@ -0,0 +1,41 @@
+#!/usr/bin/env bash
+#*----------------------------------------------------------------------------*#
+#* Copyright (c) FIRST 2014. All Rights Reserved.							  *#
+#* Open Source Software - may be modified and shared by FRC teams. The code   *#
+#* must be accompanied by the FIRST BSD license file in the root directory of *#
+#* the project.															      *#
+#*----------------------------------------------------------------------------*#
+
+source config.sh
+
+TESTSTAND_SERVE_COMMAND=".scratch/teststand serve"
+
+#Checks to see if the mutex driver station is running. If it isn't then start it.
+
+SSH_CHECK_FOR_TESTSTAND="ssh -qn ${ROBOT_ADDRESS} 'pidof ${TESTSTAND_SERVE_COMMAND}' &>/dev/null"
+
+if [ $(which sshpass) ]; then
+	SSH_CHECK_FOR_TESTSTAND="sshpass -p '' ${SSH_CHECK_FOR_TESTSTAND}"
+fi
+
+echo $SSH_CHECK_FOR_TESTSTAND
+
+if  $(eval $SSH_CHECK_FOR_TESTSTAND); then
+	echo "Driver Station is already running";
+	exit 0;
+fi
+
+echo "Starting Driver Station";
+
+function startDS {
+	SSH_START_TESTSTAND_DRIVER_STATION="ssh ${ROBOT_ADDRESS} ${TESTSTAND_SERVE_COMMAND}"
+	if [ $(which sshpass) ]; then
+		sshpass -p "" ${SSH_START_TESTSTAND_DRIVER_STATION}
+	else
+		eval ${SSH_START_TESTSTAND_DRIVER_STATION}
+	fi
+}
+
+startDS&
+
+sleep 1

wpilibc/wpilibC++Devices/include/CounterBase.h

@@ -5,6 +5,8 @@
 /*----------------------------------------------------------------------------*/
 #pragma once
 
+#include <stdint.h>
+
 /**
  * Interface for counting the number of ticks on a digital input channel.
  * Encoders, Gear tooth sensors, and counters should all subclass this so it can

wpilibc/wpilibC++Devices/include/DoubleSolenoid.h

@@ -11,7 +11,7 @@
 
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
- * (9472 module).
+ * (PCM).
  *
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.

wpilibc/wpilibC++Devices/include/Solenoid.h

@@ -10,10 +10,10 @@
 #include "tables/ITableListener.h"
 
 /**
- * Solenoid class for running high voltage Digital Output (9472 module).
+ * Solenoid class for running high voltage Digital Output (PCM).
  * 
  * The Solenoid class is typically used for pneumatics solenoids, but could be used
- * for any device within the current spec of the 9472 module.
+ * for any device within the current spec of the PCM.
  */
 class Solenoid : public SolenoidBase, public LiveWindowSendable, public ITableListener
 {

wpilibc/wpilibC++Devices/src/RobotBase.cpp

@@ -50,6 +50,8 @@ RobotBase::RobotBase()
 	, m_ds (NULL)
 {
 	m_ds = DriverStation::GetInstance();
+	RobotState::SetImplementation(DriverStation::GetInstance()); \
+	HLUsageReporting::SetImplementation(new HardwareHLReporting()); \
 }
 
 /**
@@ -152,9 +154,6 @@ void RobotBase::startRobotTask(FUNCPTR factory)
 	printf("WPILib was compiled without -D'SVN_REV=nnnn'\n");
 #endif
 
-    RobotState::SetImplementation(DriverStation::GetInstance());
-    HLUsageReporting::SetImplementation(new HardwareHLReporting());
-
 #ifdef __vxworks
 	// Check for startup code already running
 	int32_t oldId = taskNameToId(const_cast<char*>("FRC_RobotTask"));

wpilibc/wpilibC++Devices/src/RobotDrive.cpp

@@ -9,7 +9,7 @@
 #include "CANJaguar.h"
 #include "GenericHID.h"
 #include "Joystick.h"
-#include "Jaguar.h"
+#include "Talon.h"
 //#include "NetworkCommunication/UsageReporting.h"
 #include "Utility.h"
 #include "WPIErrors.h"
@@ -46,15 +46,15 @@ void RobotDrive::InitRobotDrive() {
 /** Constructor for RobotDrive with 2 motors specified with channel numbers.
  * Set up parameters for a two wheel drive system where the
  * left and right motor pwm channels are specified in the call.
- * This call assumes Jaguars for controlling the motors.
+ * This call assumes Talons for controlling the motors.
  * @param leftMotorChannel The PWM channel number that drives the left motor.
  * @param rightMotorChannel The PWM channel number that drives the right motor.
  */
 RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
 {
 	InitRobotDrive();
-	m_rearLeftMotor = new Jaguar(leftMotorChannel);
-	m_rearRightMotor = new Jaguar(rightMotorChannel);
+	m_rearLeftMotor = new Talon(leftMotorChannel);
+	m_rearRightMotor = new Talon(rightMotorChannel);
 	for (int32_t i=0; i < kMaxNumberOfMotors; i++)
 	{
 		m_invertedMotors[i] = 1;
@@ -67,7 +67,7 @@ RobotDrive::RobotDrive(uint32_t leftMotorChannel, uint32_t rightMotorChannel)
  * Constructor for RobotDrive with 4 motors specified with channel numbers.
  * Set up parameters for a four wheel drive system where all four motor
  * pwm channels are specified in the call.
- * This call assumes Jaguars for controlling the motors.
+ * This call assumes Talons for controlling the motors.
  * @param frontLeftMotor Front left motor channel number
  * @param rearLeftMotor Rear Left motor channel number
  * @param frontRightMotor Front right motor channel number
@@ -77,10 +77,10 @@ RobotDrive::RobotDrive(uint32_t frontLeftMotor, uint32_t rearLeftMotor,
 		uint32_t frontRightMotor, uint32_t rearRightMotor)
 {
 	InitRobotDrive();
-	m_rearLeftMotor = new Jaguar(rearLeftMotor);
-	m_rearRightMotor = new Jaguar(rearRightMotor);
-	m_frontLeftMotor = new Jaguar(frontLeftMotor);
-	m_frontRightMotor = new Jaguar(frontRightMotor);
+	m_rearLeftMotor = new Talon(rearLeftMotor);
+	m_rearRightMotor = new Talon(rearRightMotor);
+	m_frontLeftMotor = new Talon(frontLeftMotor);
+	m_frontRightMotor = new Talon(frontRightMotor);
 	for (int32_t i=0; i < kMaxNumberOfMotors; i++)
 	{
 		m_invertedMotors[i] = 1;

wpilibc/wpilibC++IntegrationTests/src/CANJaguarTest.cpp

@@ -142,6 +142,8 @@ TEST_F(CANJaguarTest, Disable) {
 	m_jaguar->EnableControl();
 	m_jaguar->DisableControl();
 
+	Wait(kEncoderSettlingTime);
+
 	double initialPosition = m_jaguar->GetPosition();
 
 	SetJaguar(kMotorTime, 1.0f);

wpilibc/wpilibC++IntegrationTests/src/DIOLoopTest.cpp

@@ -9,6 +9,8 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
+static const double kCounterTime = 0.001;
+
 static const double kDelayTime = 0.1;
 
 static const double kSynchronousInterruptTime = 2.0;
@@ -70,11 +72,11 @@ TEST_F(DIOLoopTest, FakeCounter) {
 	/* Count 100 ticks.  The counter value should be 100 after this loop. */
 	for(int i = 0; i < 100; i++) {
 		m_output->Set(true);
+		Wait(kCounterTime);
 		m_output->Set(false);
+		Wait(kCounterTime);
 	}
 
-	Wait(kDelayTime);
-
 	EXPECT_EQ(100, counter.Get()) << "Counter did not count up to 100.";
 }
 

wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp

@@ -9,7 +9,7 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-static const double kDelayTime = 0.001;
+static const double kDelayTime = 0.01;
 
 class FakeEncoderTest : public testing::Test {
 protected:
@@ -42,6 +42,10 @@ TEST_F(FakeEncoderTest, TestDefaultState) {
  * Test the encoder by setting the digital outputs and reading the value.
  */
 TEST_F(FakeEncoderTest, TestCountUp) {
+	m_outputA->Set(false);
+	m_outputB->Set(false);
+	m_encoder->Reset();
+
 	//Sets the outputs such that the encoder moves in the positive direction
 	for(int i = 0; i < 100; i++) {
 		m_outputA->Set(true);

wpilibc/wpilibC++IntegrationTests/src/MotorEncoderTest.cpp

@@ -17,7 +17,7 @@ std::ostream &operator<<(std::ostream &os, MotorEncoderTestType const &type) {
 	case TEST_JAGUAR: os << "Jaguar"; break;
 	case TEST_TALON: os << "Talon"; break;
 	}
-	
+
 	return os;
 }
 
@@ -32,7 +32,7 @@ class MotorEncoderTest : public testing::TestWithParam<MotorEncoderTestType> {
 protected:
 	SpeedController *m_speedController;
 	Encoder *m_encoder;
-	
+
 	virtual void SetUp() {
 		switch(GetParam()) {
 		case TEST_VICTOR:
@@ -40,27 +40,27 @@ protected:
 			m_encoder = new Encoder(TestBench::kVictorEncoderChannelA,
 				TestBench::kVictorEncoderChannelB);
 			break;
-		
+
 		case TEST_JAGUAR:
 			m_speedController = new Jaguar(TestBench::kJaguarChannel);
 			m_encoder = new Encoder(TestBench::kJaguarEncoderChannelA,
 				TestBench::kJaguarEncoderChannelB);
 			break;
-		
+
 		case TEST_TALON:
 			m_speedController = new Talon(TestBench::kTalonChannel);
 			m_encoder = new Encoder(TestBench::kTalonEncoderChannelA,
 				TestBench::kTalonEncoderChannelB);
 			break;
 		}
-		
+
 	}
-	
+
 	virtual void TearDown() {
 		delete m_speedController;
 		delete m_encoder;
 	}
-	
+
 	void Reset() {
 		m_speedController->Set(0.0f);
 		m_encoder->Reset();
@@ -73,12 +73,12 @@ protected:
  */
 TEST_P(MotorEncoderTest, Increment) {
 	Reset();
-	
+
 	/* Drive the speed controller briefly to move the encoder */
 	m_speedController->Set(1.0);
 	Wait(kMotorTime);
 	m_speedController->Set(0.0);
-	
+
 	/* The encoder should be positive now */
 	EXPECT_GT(m_encoder->Get(), 0)
 		<< "Encoder should have incremented after the motor moved";
@@ -90,12 +90,12 @@ TEST_P(MotorEncoderTest, Increment) {
  */
 TEST_P(MotorEncoderTest, Decrement) {
 	Reset();
-	
+
 	/* Drive the speed controller briefly to move the encoder */
 	m_speedController->Set(-1.0f);
 	Wait(kMotorTime);
 	m_speedController->Set(0.0f);
-	
+
 	/* The encoder should be positive now */
 	EXPECT_LT(m_encoder->Get(), 0.0f)
 		<< "Encoder should have decremented after the motor moved";
@@ -106,15 +106,15 @@ TEST_P(MotorEncoderTest, Decrement) {
  */
 TEST_P(MotorEncoderTest, ClampSpeed) {
 	Reset();
-	
+
 	m_speedController->Set(2.0f);
 	Wait(kMotorTime);
-	
+
 	EXPECT_FLOAT_EQ(1.0f, m_speedController->Get());
-	
+
 	m_speedController->Set(-2.0f);
 	Wait(kMotorTime);
-	
+
 	EXPECT_FLOAT_EQ(-1.0f, m_speedController->Get());
 }
 
@@ -123,19 +123,19 @@ TEST_P(MotorEncoderTest, ClampSpeed) {
  */
 TEST_P(MotorEncoderTest, PIDController) {
 	Reset();
-	
+
 	PIDController pid(0.003f, 0.001f, 0.0f, m_encoder, m_speedController);
 	pid.SetAbsoluteTolerance(20.0f);
 	pid.SetOutputRange(-0.2f, 0.2f);
 	pid.SetSetpoint(2500);
-	
-	/* 5 seconds should be plenty time to get to the setpoint */
+
+	/* 10 seconds should be plenty time to get to the setpoint */
 	pid.Enable();
-	Wait(5.0);
+	Wait(10.0);
 	pid.Disable();
-	
-	RecordProperty("PID Error", pid.GetError());
-	
+
+	RecordProperty("PIDError", pid.GetError());
+
 	EXPECT_TRUE(pid.OnTarget()) << "PID loop did not converge within 5 seconds.";
 }
 
@@ -144,10 +144,9 @@ TEST_P(MotorEncoderTest, PIDController) {
  */
 TEST_P(MotorEncoderTest, Reset) {
 	Reset();
-	
+
 	EXPECT_EQ(0, m_encoder->Get()) << "Encoder did not reset to 0";
 }
 
 INSTANTIATE_TEST_CASE_P(Test, MotorEncoderTest,
 	testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));
-

wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp

@@ -9,12 +9,12 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-/* The PCM switches the compressor up to 2 seconds after the pressure switch
-	changes. */
-static const double kCompressorDelayTime = 2.0;
+/* The PCM switches the compressor up to a couple seconds after the pressure
+	switch changes. */
+static const double kCompressorDelayTime = 3.0;
 
 /* Solenoids should change much more quickly */
-static const double kSolenoidDelayTime = 0.1;
+static const double kSolenoidDelayTime = 0.5;
 
 /* The voltage divider on the test bench should bring the compressor output
 	to around these values. */
@@ -56,7 +56,7 @@ protected:
 /**
  * Test if the compressor turns on and off when the pressure switch is toggled
  */
-TEST_F(PCMTest, PressureSwitch) {
+TEST_F(PCMTest, DISABLED_PressureSwitch) {
 	Reset();
 
 	m_compressor->SetClosedLoopControl(true);
@@ -77,7 +77,7 @@ TEST_F(PCMTest, PressureSwitch) {
 /**
  * Test if the correct solenoids turn on and off when they should
  */
-TEST_F(PCMTest, Solenoid) {
+TEST_F(PCMTest, DISABLED_Solenoid) {
 	Reset();
 	Solenoid solenoid1(TestBench::kSolenoidChannel1);
 	Solenoid solenoid2(TestBench::kSolenoidChannel2);
@@ -115,7 +115,7 @@ TEST_F(PCMTest, Solenoid) {
  * Test if the correct solenoids turn on and off when they should when used
  * with the DoubleSolenoid class.
  */
-TEST_F(PCMTest, DoubleSolenoid) {
+TEST_F(PCMTest, DISABLED_DoubleSolenoid) {
 	DoubleSolenoid solenoid(TestBench::kSolenoidChannel1, TestBench::kSolenoidChannel2);
 
 	solenoid.Set(DoubleSolenoid::kOff);

wpilibc/wpilibC++IntegrationTests/src/PowerDistributionPanelTest.cpp

@@ -9,92 +9,83 @@
 #include "gtest/gtest.h"
 #include "TestBench.h"
 
-/* The current returned when the motor is not being driven */
-static const double kLowCurrent =  1.52;
-static const double kCurrentTolerance =  0.1;
+static const double kMotorTime = 0.25;
 
 class PowerDistributionPanelTest : public testing::Test {
 protected:
-  PowerDistributionPanel *m_pdp;
-  Talon *m_talon;
-  Victor *m_victor;
-  Jaguar *m_jaguar;
+	PowerDistributionPanel *m_pdp;
+	Talon *m_talon;
+	Victor *m_victor;
+	Jaguar *m_jaguar;
 
-  virtual void SetUp() {
-    m_pdp = new PowerDistributionPanel();
-    m_talon = new Talon(TestBench::kTalonChannel);
-    m_victor = new Victor(TestBench::kVictorChannel);
-    m_jaguar = new Jaguar(TestBench::kJaguarChannel);
-  }
+	virtual void SetUp() {
+		m_pdp = new PowerDistributionPanel();
+		m_talon = new Talon(TestBench::kTalonChannel);
+		m_victor = new Victor(TestBench::kVictorChannel);
+		m_jaguar = new Jaguar(TestBench::kJaguarChannel);
+	}
 
-  virtual void TearDown() {
-    delete m_pdp;
-    delete m_talon;
-    delete m_victor;
-    delete m_jaguar;
-  }
-
-  void Reset() {
-    /* Reset all speed controllers to 0.0 */
-    m_talon->Set(0.0f);
-    m_victor->Set(0.0f);
-    m_jaguar->Set(0.0f);
-  }
+	virtual void TearDown() {
+		delete m_pdp;
+		delete m_talon;
+		delete m_victor;
+		delete m_jaguar;
+	}
 };
 
 /**
  * Test if the current changes when the motor is driven using a talon
  */
-TEST_F(PowerDistributionPanelTest, CheckCurrentTalon) {
-  Reset();
+TEST_F(PowerDistributionPanelTest,  CheckCurrentTalon) {
+	Wait(kMotorTime);
 
-  /* The Current should be kLowCurrent */
-  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kCurrentTolerance)
-    << "The low current was not within the expected range.";
+	/* The Current should be 0 */
+	EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kTalonPDPChannel))
+		<< "The Talon current was non-zero";
 
-  /* Set the motor to full forward */
-  m_talon->Set(1.0);
-  Wait(0.02);
+	/* Set the motor to full forward */
+	m_talon->Set(1.0);
+	Wait(kMotorTime);
 
-  /* The current should now be greater than the low current */
-  ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), kLowCurrent)
-    << "The driven current is not greater than the resting current.";
+	/* The current should now be positive */
+	ASSERT_GT(m_pdp->GetCurrent(TestBench::kTalonPDPChannel), 0)
+		<< "The Talon current was not positive";
 }
 
 /**
  * Test if the current changes when the motor is driven using a victor
  */
-TEST_F(PowerDistributionPanelTest,CheckCurrentVictor) {
-  Reset();
+TEST_F(PowerDistributionPanelTest, CheckCurrentVictor) {
+	Wait(kMotorTime);
 
-  /* The Current should be kLowCurrent */
-  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kCurrentTolerance)
-    << "The low current was not within the expected range.";
+	/* The Current should be 0 */
+	EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kVictorPDPChannel))
+		<< "The Victor current was non-zero";
 
-  /* Set the motor to full forward */
-  m_victor->Set(1.0);
-  Wait(0.02);
+	/* Set the motor to full forward */
+	m_victor->Set(1.0);
+	Wait(kMotorTime);
 
-  /* The current should now be greater than the low current */
-  ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), kLowCurrent)
-    << "The driven current is not greater than the resting current.";
+	/* The current should now be positive */
+	ASSERT_GT(m_pdp->GetCurrent(TestBench::kVictorPDPChannel), 0)
+		<< "The Victor current was not positive";
 }
 
 /**
  * Test if the current changes when the motor is driven using a jaguar
  */
-TEST_F(PowerDistributionPanelTest, CheckCurrentJaguar) {
-  Reset();
+TEST_F(PowerDistributionPanelTest,  CheckCurrentJaguar) {
+	Wait(kMotorTime);
 
-  /* The Current should be kLowCurrent */
-  EXPECT_NEAR(kLowCurrent, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kCurrentTolerance)
-    << "The low current was not within the expected range.";
+	/* The Current should be 0 */
+	EXPECT_FLOAT_EQ(0, m_pdp->GetCurrent(TestBench::kJaguarPDPChannel))
+		<< "The Jaguar current was non-zero";
 
-  /* Set the motor to full forward */
-  m_jaguar->Set(1.0);
-  Wait(0.02);
+	/* Set the motor to full forward */
+	m_jaguar->Set(1.0);
+	Wait(kMotorTime);
 
-  /* The current should now be greater than the low current */
-  ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), kLowCurrent)
-    << "The driven current is not greater than the resting current.";
+	/* The current should now be positive */
+	ASSERT_GT(m_pdp->GetCurrent(TestBench::kJaguarPDPChannel), 0)
+		<< "The Jaguar current was not positive";
 }

wpilibc/wpilibC++IntegrationTests/src/RelayTest.cpp

@@ -10,6 +10,8 @@
 #include "TestBench.h"
 #include "Relay.h"
 
+static const double kDelayTime = 0.01;
+
 class RelayTest : public testing::Test {
 protected:
 	Relay *m_relay;
@@ -41,6 +43,7 @@ protected:
 
 		//set the relay to forward
 		m_relay->Set(Relay::kForward);
+		Wait(kDelayTime);
 		EXPECT_TRUE(m_forward->Get())
 		<<"Relay did not set forward";
 		EXPECT_FALSE(m_reverse->Get())
@@ -49,6 +52,7 @@ protected:
 
 		//set the relay to reverse
 		m_relay->Set(Relay::kReverse);
+		Wait(kDelayTime);
 		EXPECT_TRUE(m_reverse->Get())
 		<<"Relay did not set reverse";
 		EXPECT_FALSE(m_forward->Get())
@@ -56,6 +60,7 @@ protected:
 
 		//set the relay to off
 		m_relay->Set(Relay::kOff);
+		Wait(kDelayTime);
 		EXPECT_FALSE(m_forward->Get())
 		<<"Relay did not set off";
 		EXPECT_FALSE(m_reverse->Get())
@@ -64,6 +69,7 @@ protected:
 
 		//set the relay to on
 		m_relay->Set(Relay::kOn);
+		Wait(kDelayTime);
 		EXPECT_TRUE(m_forward->Get())
 		<<"Relay did not set on";
 		EXPECT_TRUE(m_reverse->Get())

wpilibc/wpilibC++Sim/include/DoubleSolenoid.h

@@ -11,7 +11,7 @@
 
 /**
  * DoubleSolenoid class for running 2 channels of high voltage Digital Output
- * (9472 module).
+ * (PCM).
  * 
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.

wpilibc/wpilibC++Sim/include/Solenoid.h

@@ -10,10 +10,10 @@
 #include "tables/ITableListener.h"
 
 /**
- * Solenoid class for running high voltage Digital Output (9472 module).
+ * Solenoid class for running high voltage Digital Output (PCM).
  * 
  * The Solenoid class is typically used for pneumatics solenoids, but could be used
- * for any device within the current spec of the 9472 module.
+ * for any device within the current spec of the PCM.
  */
 class Solenoid : public LiveWindowSendable, public ITableListener
 {

wpilibc/wpilibC++Sim/src/DriverStation.cpp

@@ -88,10 +88,7 @@ DriverStation* DriverStation::GetInstance()
 }
 
 /**
- * Read the battery voltage from the specified AnalogInput.
- *
- * This accessor assumes that the battery voltage is being measured
- * through the voltage divider on an analog breakout.
+ * Read the battery voltage. Hardcoded to 12 volts for Simulation.
  *
  * @return The battery voltage.
  */

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogTriggerOutput.java

@@ -92,6 +92,7 @@ public class AnalogTriggerOutput extends DigitalSource {
 
 	@Override
 	public void free() {
+		
 	}
 
 	/**
@@ -113,8 +114,8 @@ public class AnalogTriggerOutput extends DigitalSource {
 	}
 
 	@Override
-	public int getModuleForRouting() {
-		return m_trigger.m_index >> 2;
+	public byte getModuleForRouting() {
+		return (byte) (m_trigger.m_index >> 2);
 	}
 
 	@Override
@@ -122,27 +123,6 @@ public class AnalogTriggerOutput extends DigitalSource {
 		return true;
 	}
 
-	/**
-	 * Request interrupts asynchronously on this digital input.
-	 *
-	 * @param handler
-	 *            the interrupt service routine
-	 * @param param
-	 *            a parameter for the ISR
-	 */
-	// public void requestInterrupts(/*tInterruptHandler*/Object handler, Object
-	// param) {
-	// TODO: add interrupt support
-	// TODO: throw exception
-	// }
-
-	/**
-	 * Request interrupts synchronously on this digital input.
-	 */
-	// public void requestInterrupts() {
-	// TODO: throw exception
-	// }
-	
 	/**
 	 * Defines the state in which the AnalogTrigger triggers
 	 * @author jonathanleitschuh

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalInput.java

@@ -12,14 +12,10 @@ import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
-import edu.wpi.first.wpilibj.hal.InterruptJNI;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
-import edu.wpi.first.wpilibj.hal.InterruptJNI.InterruptHandlerFunction;
 import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
-import edu.wpi.first.wpilibj.util.AllocationException;
-import edu.wpi.first.wpilibj.util.CheckedAllocationException;
 
 /**
  * Class to read a digital input. This class will read digital inputs and return
@@ -67,97 +63,15 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 		return m_channel;
 	}
 
+	@Override
 	public boolean getAnalogTriggerForRouting() {
 		return false;
 	}
 
-	/**
-	 * Request interrupts asynchronously on this digital input.
-	 *
-	 * @param handler
-	 *            The address of the interrupt handler function of type
-	 *            tInterruptHandler that will be called whenever there is an
-	 *            interrupt on the digitial input port. Request interrupts in
-	 *            synchronus mode where the user program interrupt handler will
-	 *            be called when an interrupt occurs. The default is interrupt
-	 *            on rising edges only.
-	 */
-	public void requestInterrupts(InterruptHandlerFunction handler) {
-		// TODO: add interrupt support
-
-		try {
-			m_interruptIndex = interrupts.allocate();
-		} catch (CheckedAllocationException e) {
-			throw new AllocationException(
-					"No interrupts are left to be allocated");
-		}
-
-		allocateInterrupts(false);
-
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		// set the byte order
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.requestInterrupts(m_interrupt, (byte) getModuleForRouting(),
-				getChannelForRouting(),
-				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
-		setUpSourceEdge(true, false);
-		InterruptJNI.attachInterruptHandler(m_interrupt, handler, null, status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-	}
-
-	/**
-	 * Request interrupts synchronously on this digital input. Request
-	 * interrupts in synchronus mode where the user program will have to
-	 * explicitly wait for the interrupt to occur. The default is interrupt on
-	 * rising edges only.
-	 */
-	public void requestInterrupts() {
-		try {
-			m_interruptIndex = interrupts.allocate();
-		} catch (CheckedAllocationException e) {
-			throw new AllocationException(
-					"No interrupts are left to be allocated");
-		}
-
-		allocateInterrupts(true);
-
-		ByteBuffer status = ByteBuffer.allocateDirect(4);
-		// set the byte order
-		status.order(ByteOrder.LITTLE_ENDIAN);
-		InterruptJNI.requestInterrupts(m_interrupt, (byte) getModuleForRouting(),
-				getChannelForRouting(),
-				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
-		HALUtil.checkStatus(status.asIntBuffer());
-		setUpSourceEdge(true, false);
-
-	}
-
-	/**
-	 * Set which edge to trigger interrupts on
-	 *
-	 * @param risingEdge
-	 *            true to interrupt on rising edge
-	 * @param fallingEdge
-	 *            true to interrupt on falling edge
-	 */
-	public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
-		if (m_interrupt != null) {
-			ByteBuffer status = ByteBuffer.allocateDirect(4);
-			// set the byte order
-			status.order(ByteOrder.LITTLE_ENDIAN);
-			InterruptJNI.setInterruptUpSourceEdge(m_interrupt,
-					(byte) (risingEdge ? 1 : 0), (byte) (fallingEdge ? 1 : 0),
-					status.asIntBuffer());
-			HALUtil.checkStatus(status.asIntBuffer());
-		} else {
-			throw new IllegalArgumentException(
-					"You must call RequestInterrupts before setUpSourceEdge");
-		}
-	}
-
 	/*
 	 * Live Window code, only does anything if live window is activated.
 	 */
+	@Override
 	public String getSmartDashboardType() {
 		return "Digital Input";
 	}
@@ -167,6 +81,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void initTable(ITable subtable) {
 		m_table = subtable;
 		updateTable();
@@ -175,6 +90,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void updateTable() {
 		if (m_table != null) {
 			m_table.putBoolean("Value", get());
@@ -184,6 +100,7 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public ITable getTable() {
 		return m_table;
 	}
@@ -191,12 +108,14 @@ public class DigitalInput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void startLiveWindowMode() {
 	}
 
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void stopLiveWindowMode() {
 	}
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalOutput.java

@@ -7,24 +7,21 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteOrder;
-import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
-//import com.sun.jna.Pointer;
-
-
-import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 import edu.wpi.first.wpilibj.communication.UsageReporting;
 import edu.wpi.first.wpilibj.hal.DIOJNI;
-import edu.wpi.first.wpilibj.hal.PWMJNI;
 import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.hal.PWMJNI;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
 import edu.wpi.first.wpilibj.tables.ITableListener;
+//import com.sun.jna.Pointer;
+import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
 
 /**
- * Class to write digital outputs. This class will wrtie digital outputs. Other
+ * Class to write digital outputs. This class will write digital outputs. Other
  * devices that are implemented elsewhere will automatically allocate digital
  * inputs and outputs as required.
  */
@@ -48,6 +45,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * Free the resources associated with a digital output.
 	 */
+	@Override
 	public void free() {
 		// disable the pwm only if we have allocated it
 		if (m_pwmGenerator != null) {
@@ -104,6 +102,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	 * @param pulseLength
 	 *            The length of the pulse.
 	 */
+	@Deprecated
 	public void pulse(final int channel, final int pulseLength) {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		// set the byte order
@@ -212,6 +211,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/*
 	 * Live Window code, only does anything if live window is activated.
 	 */
+	@Override
 	public String getSmartDashboardType() {
 		return "Digital Output";
 	}
@@ -222,6 +222,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void initTable(ITable subtable) {
 		m_table = subtable;
 		updateTable();
@@ -230,6 +231,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public ITable getTable() {
 		return m_table;
 	}
@@ -237,6 +239,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void updateTable() {
 		// TODO: Put current value.
 	}
@@ -244,8 +247,10 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void startLiveWindowMode() {
 		m_table_listener = new ITableListener() {
+			@Override
 			public void valueChanged(ITable itable, String key, Object value,
 					boolean bln) {
 				set(((Boolean) value).booleanValue());
@@ -257,6 +262,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
 	/**
 	 * {@inheritDoc}
 	 */
+	@Override
 	public void stopLiveWindowMode() {
 		// TODO: Broken, should only remove the listener from "Value" only.
 		m_table.removeTableListener(m_table_listener);

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DigitalSource.java

@@ -7,9 +7,8 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.ByteOrder;
-import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
 import edu.wpi.first.wpilibj.hal.DIOJNI;
 import edu.wpi.first.wpilibj.hal.HALUtil;
@@ -54,6 +53,7 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
+	@Override
 	public void free() {
 		channels.free(m_channel);
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
@@ -69,6 +69,7 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 	 *
 	 * @return channel routing number
 	 */
+	@Override
 	public int getChannelForRouting() {
 		return m_channel;
 	}
@@ -78,15 +79,16 @@ public abstract class DigitalSource extends InterruptableSensorBase {
 	 *
 	 * @return 0
 	 */
-	public int getModuleForRouting() {
+	@Override
+	public byte getModuleForRouting() {
 		return 0;
 	}
 
 	/**
 	 * Is this an analog trigger
-	 *
 	 * @return true if this is an analog trigger
 	 */
+	@Override
 	public boolean getAnalogTriggerForRouting() {
 		return false;
 	}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java

@@ -16,8 +16,7 @@ import edu.wpi.first.wpilibj.util.AllocationException;
 import edu.wpi.first.wpilibj.util.CheckedAllocationException;
 
 /**
- * DoubleSolenoid class for running 2 channels of high voltage Digital Output
- * (9472 module).
+ * DoubleSolenoid class for running 2 channels of high voltage Digital Output.
  *
  * The DoubleSolenoid class is typically used for pneumatics solenoids that
  * have two positions controlled by two separate channels.
@@ -50,28 +49,28 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
      * Common function to implement constructor behavior.
      */
     private synchronized void initSolenoid() {
-//        checkSolenoidModule(m_moduleNumber);
-//        checkSolenoidChannel(m_forwardChannel);
-//        checkSolenoidChannel(m_reverseChannel);
-//
-//        try {
-//            m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
-//        } catch (CheckedAllocationException e) {
-//            throw new AllocationException(
-//                "Solenoid channel " + m_forwardChannel + " on module " + m_moduleNumber + " is already allocated");
-//        }
-//        try {
-//            m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
-//        } catch (CheckedAllocationException e) {
-//            throw new AllocationException(
-//                "Solenoid channel " + m_reverseChannel + " on module " + m_moduleNumber + " is already allocated");
-//        }
-//        m_forwardMask = (byte) (1 << (m_forwardChannel - 1));
-//        m_reverseMask = (byte) (1 << (m_reverseChannel - 1));
-//
-//        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber-1);
-//        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber-1);
-//        LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
+        checkSolenoidModule(m_moduleNumber);
+        checkSolenoidChannel(m_forwardChannel);
+        checkSolenoidChannel(m_reverseChannel);
+
+        try {
+            m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
+        } catch (CheckedAllocationException e) {
+            throw new AllocationException(
+                "Solenoid channel " + m_forwardChannel + " on module " + m_moduleNumber + " is already allocated");
+        }
+        try {
+            m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
+        } catch (CheckedAllocationException e) {
+            throw new AllocationException(
+                "Solenoid channel " + m_reverseChannel + " on module " + m_moduleNumber + " is already allocated");
+        }
+        m_forwardMask = (byte) (1 << m_forwardChannel);
+        m_reverseMask = (byte) (1 << m_reverseChannel);
+
+        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_forwardChannel, m_moduleNumber);
+        UsageReporting.report(tResourceType.kResourceType_Solenoid, m_reverseChannel, m_moduleNumber);
+        LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
     }
 
     /**
@@ -105,8 +104,8 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
      * Destructor.
      */
     public synchronized void free() {
-//        m_allocated.free((m_moduleNumber - 1) * kSolenoidChannels + m_forwardChannel - 1);
-//        m_allocated.free((m_moduleNumber - 1) * kSolenoidChannels + m_reverseChannel - 1);
+        m_allocated.free(m_moduleNumber * kSolenoidChannels + m_forwardChannel);
+        m_allocated.free(m_moduleNumber * kSolenoidChannels + m_reverseChannel);
     }
 
     /**

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptHandlerFunction.java

@@ -0,0 +1,57 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.wpilibj.hal.InterruptJNI.InterruptJNIHandlerFunction;
+
+
+/**
+ * It is recommended that you use this class in conjunction with classes from 
+ * {@link java.util.concurrent.atomic} as these objects are all thread safe.
+ * 
+ * @author Jonathan Leitschuh
+ *
+ * @param <T> The type of the parameter that should be returned to the the
+ *  method {@link #interruptFired(int, Object)}
+ */
+public abstract class InterruptHandlerFunction<T>{
+	/**
+	 * The entry point for the interrupt. When the interrupt fires the
+	 * {@link #apply(int, Object)} method is called.
+	 * The outer class is provided as an interface to allow the implementer to
+	 * pass a generic object to the interrupt fired method.
+	 * @author Jonathan Leitschuh
+	 */
+	private class Function implements InterruptJNIHandlerFunction{
+		@SuppressWarnings("unchecked")
+		@Override
+		public void apply(int interruptAssertedMask, Object param) {
+			interruptFired(interruptAssertedMask, (T)param);
+		}
+	}
+	final Function function = new Function();
+	
+	/**
+	 * This method is run every time an interrupt is fired.
+	 * @param interruptAssertedMask
+	 * @param param The parameter provided by overriding the {@link #overridableParamater()}
+	 * method. 
+	 */
+	abstract void interruptFired(int interruptAssertedMask, T param);
+	
+	
+	/**
+	 * Override this method if you would like to pass a specific
+	 * parameter to the {@link #interruptFired(int, Object)} when it is fired by the interrupt.
+	 * This method is called once when {@link InterruptableSensorBase#requestInterrupts(InterruptHandlerFunction)}
+	 * is run.
+	 * @return The object that should be passed to the interrupt when it runs
+	 */
+	public T overridableParamater(){
+		return null;
+	}
+}

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/InterruptableSensorBase.java

@@ -7,26 +7,40 @@
 
 package edu.wpi.first.wpilibj;
 
-import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
+import java.nio.ByteOrder;
 
-import edu.wpi.first.wpilibj.hal.InterruptJNI;
-import edu.wpi.first.wpilibj.hal.InterruptJNI.InterruptHandlerFunction;
 import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.hal.InterruptJNI;
+import edu.wpi.first.wpilibj.util.AllocationException;
+import edu.wpi.first.wpilibj.util.CheckedAllocationException;
 
 /**
  * Base for sensors to be used with interrupts
  */
 public abstract class InterruptableSensorBase extends SensorBase {
+	/** 
+	 * This is done to store the JVM variable in the InterruptJNI
+	 * This is done because the HAL must have access to the JVM variable
+	 * in order to attach the newly spawned thread when an interrupt is fired.
+	 */
+	static{
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.initializeInterruptJVM(status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+	}
 
 	/**
 	 * The interrupt resource
 	 */
-	protected ByteBuffer m_interrupt;
+	protected ByteBuffer m_interrupt = null;
+	
 	/**
-	 * The interrupt manager resource
+	 * Flags if the interrupt being allocated is synchronous
 	 */
-	protected InterruptHandlerFunction m_manager;
+	protected boolean m_isSynchronousInterrupt = false;
+	
 	/**
 	 * The index of the interrupt
 	 */
@@ -40,25 +54,102 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * Create a new InterrupatableSensorBase
 	 */
 	public InterruptableSensorBase() {
-		m_manager = null;
 		m_interrupt = null;
 	}
+	
+	/**
+	 * @return
+	 */
+	abstract boolean getAnalogTriggerForRouting();
+
+	/**
+	 * @return
+	 */
+	abstract int getChannelForRouting();
+
+	/**
+	 * @return
+	 */
+	abstract byte getModuleForRouting();
+	
+	/**
+	 * Request interrupts asynchronously on this digital input.
+	 *
+	 * @param handler
+	 *            The {@link #InterruptHandlerFunction} that contains the method
+	 *            {@link InterruptHandlerFunction#interruptFired(int, Object)} that
+	 *            will be called whenever there is an interrupt on this device.
+	 *            Request interrupts in synchronus mode where the user program
+	 *            interrupt handler will be called when an interrupt occurs. The 
+	 *            default is interrupt on rising edges only.
+	 */
+	public void requestInterrupts(InterruptHandlerFunction<?> handler) {
+		if(m_interrupt != null){
+			throw new AllocationException("The interrupt has already been allocated");
+		}
+		
+		allocateInterrupts(false);
+		
+		assert (m_interrupt != null);
+
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		// set the byte order
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(),
+				getChannelForRouting(),
+				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		setUpSourceEdge(true, false);
+		InterruptJNI.attachInterruptHandler(m_interrupt, handler.function, handler.overridableParamater(), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+	}
+
+	/**
+	 * Request interrupts synchronously on this digital input. Request
+	 * interrupts in synchronous mode where the user program will have to
+	 * explicitly wait for the interrupt to occur. The default is interrupt on
+	 * rising edges only.
+	 */
+	public void requestInterrupts() {
+		if(m_interrupt != null){
+			throw new AllocationException("The interrupt has already been allocated");
+		}
+		
+		allocateInterrupts(true);
+
+		assert (m_interrupt != null);
+
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		// set the byte order
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.requestInterrupts(m_interrupt, getModuleForRouting(),
+				getChannelForRouting(),
+				(byte) (getAnalogTriggerForRouting() ? 1 : 0), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		setUpSourceEdge(true, false);
+
+	}
 
 	/**
 	 * Allocate the interrupt
 	 * 
-	 * @param watcher
+	 * @param watcher true if the interrupt should be in synchronous mode where the user
+	 * program will have to explicitly wait for the interrupt to occur.
 	 */
-	public void allocateInterrupts(boolean watcher) {
-		if (!watcher) {
-			throw new IllegalArgumentException(
-					"Interrupt callbacks not yet supported");
+	protected void allocateInterrupts(boolean watcher) {
+		try {
+			m_interruptIndex = interrupts.allocate();
+		} catch (CheckedAllocationException e) {
+			throw new AllocationException(
+					"No interrupts are left to be allocated");
 		}
-		// Expects the calling leaf class to allocate an interrupt index.
-		IntBuffer status = IntBuffer.allocate(1);
+		m_isSynchronousInterrupt = watcher;
+
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
 		m_interrupt = InterruptJNI.initializeInterrupts(m_interruptIndex,
-				(byte) (watcher ? 1 : 0), status);
-		HALUtil.checkStatus(status);
+				(byte) (watcher ? 1 : 0), status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -66,13 +157,15 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * structures and disables any interrupts.
 	 */
 	public void cancelInterrupts() {
-		if (m_interrupt == null || m_manager == null) {
-			throw new IllegalStateException();
+		if (m_interrupt == null) {
+			throw new IllegalStateException("The interrupt is not allocated.");
 		}
-		IntBuffer status = IntBuffer.allocate(1);
-		InterruptJNI.cleanInterrupts(m_interrupt, status);
-		HALUtil.checkStatus(status);
-		
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.cleanInterrupts(m_interrupt, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
+		m_interrupt = null;
+		interrupts.free(m_interruptIndex);
 	}
 
 	/**
@@ -82,12 +175,13 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 *            Timeout in seconds
 	 */
 	public void waitForInterrupt(double timeout) {
-		if (m_interrupt == null || m_manager == null) {
-			throw new IllegalStateException();
+		if (m_interrupt == null) {
+			throw new IllegalStateException("The interrupt is not allocated.");
 		}
-		IntBuffer status = IntBuffer.allocate(1);
-		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, status);
-		HALUtil.checkStatus(status);
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.waitForInterrupt(m_interrupt, (float) timeout, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -96,24 +190,32 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * other options before starting to field interrupts.
 	 */
 	public void enableInterrupts() {
-		if (m_interrupt == null || m_manager == null) {
-			throw new IllegalStateException();
+		if (m_interrupt == null) {
+			throw new IllegalStateException("The interrupt is not allocated.");
 		}
-		IntBuffer status = IntBuffer.allocate(1);
-		InterruptJNI.enableInterrupts(m_interrupt, status);
-		HALUtil.checkStatus(status);
+		if(m_isSynchronousInterrupt){
+			throw new IllegalStateException("You do not need to enable synchronous interrupts");
+		}
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.enableInterrupts(m_interrupt, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
 	 * Disable Interrupts without without deallocating structures.
 	 */
 	public void disableInterrupts() {
-		if (m_interrupt == null || m_manager == null) {
-			throw new IllegalStateException();
+		if (m_interrupt == null) {
+			throw new IllegalStateException("The interrupt is not allocated.");
 		}
-		IntBuffer status = IntBuffer.allocate(1);
-		InterruptJNI.disableInterrupts(m_interrupt, status);
-		HALUtil.checkStatus(status);
+		if(m_isSynchronousInterrupt){
+			throw new IllegalStateException("You can not disable synchronous interrupts");
+		}
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		InterruptJNI.disableInterrupts(m_interrupt, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
 	/**
@@ -123,12 +225,36 @@ public abstract class InterruptableSensorBase extends SensorBase {
 	 * @return Timestamp in seconds since boot.
 	 */
 	public double readInterruptTimestamp() {
-		if (m_interrupt == null || m_manager == null) {
-			throw new IllegalStateException();
+		if (m_interrupt == null) {
+			throw new IllegalStateException("The interrupt is not allocated.");
 		}
-		IntBuffer status = IntBuffer.allocate(1);
-		double timestamp = InterruptJNI.readInterruptTimestamp(m_interrupt, status);
-		HALUtil.checkStatus(status);
+		ByteBuffer status = ByteBuffer.allocateDirect(4);
+		status.order(ByteOrder.LITTLE_ENDIAN);
+		double timestamp = InterruptJNI.readInterruptTimestamp(m_interrupt, status.asIntBuffer());
+		HALUtil.checkStatus(status.asIntBuffer());
 		return timestamp;
 	}
+	
+	/**
+	 * Set which edge to trigger interrupts on
+	 *
+	 * @param risingEdge
+	 *            true to interrupt on rising edge
+	 * @param fallingEdge
+	 *            true to interrupt on falling edge
+	 */
+	public void setUpSourceEdge(boolean risingEdge, boolean fallingEdge) {
+		if (m_interrupt != null) {
+			ByteBuffer status = ByteBuffer.allocateDirect(4);
+			// set the byte order
+			status.order(ByteOrder.LITTLE_ENDIAN);
+			InterruptJNI.setInterruptUpSourceEdge(m_interrupt,
+					(byte) (risingEdge ? 1 : 0), (byte) (fallingEdge ? 1 : 0),
+					status.asIntBuffer());
+			HALUtil.checkStatus(status.asIntBuffer());
+		} else {
+			throw new IllegalArgumentException(
+					"You must call RequestInterrupts before setUpSourceEdge");
+		}
+	}
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/RobotDrive.java

@@ -79,7 +79,7 @@ public class RobotDrive implements MotorSafety {
     /** Constructor for RobotDrive with 2 motors specified with channel numbers.
      * Set up parameters for a two wheel drive system where the
      * left and right motor pwm channels are specified in the call.
-     * This call assumes Jaguars for controlling the motors.
+     * This call assumes Talons for controlling the motors.
      * @param leftMotorChannel The PWM channel number that drives the left motor.
      * @param rightMotorChannel The PWM channel number that drives the right motor.
      */
@@ -87,9 +87,9 @@ public class RobotDrive implements MotorSafety {
         m_sensitivity = kDefaultSensitivity;
         m_maxOutput = kDefaultMaxOutput;
         m_frontLeftMotor = null;
-        m_rearLeftMotor = new Jaguar(leftMotorChannel);
+        m_rearLeftMotor = new Talon(leftMotorChannel);
         m_frontRightMotor = null;
-        m_rearRightMotor = new Jaguar(rightMotorChannel);
+        m_rearRightMotor = new Talon(rightMotorChannel);
         for (int i = 0; i < kMaxNumberOfMotors; i++) {
             m_invertedMotors[i] = 1;
         }
@@ -102,7 +102,7 @@ public class RobotDrive implements MotorSafety {
      * Constructor for RobotDrive with 4 motors specified with channel numbers.
      * Set up parameters for a four wheel drive system where all four motor
      * pwm channels are specified in the call.
-     * This call assumes Jaguars for controlling the motors.
+     * This call assumes Talons for controlling the motors.
      * @param frontLeftMotor Front left motor channel number
      * @param rearLeftMotor Rear Left motor channel number
      * @param frontRightMotor Front right motor channel number
@@ -112,10 +112,10 @@ public class RobotDrive implements MotorSafety {
                       final int frontRightMotor, final int rearRightMotor) {
         m_sensitivity = kDefaultSensitivity;
         m_maxOutput = kDefaultMaxOutput;
-        m_rearLeftMotor = new Jaguar(rearLeftMotor);
-        m_rearRightMotor = new Jaguar(rearRightMotor);
-        m_frontLeftMotor = new Jaguar(frontLeftMotor);
-        m_frontRightMotor = new Jaguar(frontRightMotor);
+        m_rearLeftMotor = new Talon(rearLeftMotor);
+        m_rearRightMotor = new Talon(rearRightMotor);
+        m_frontLeftMotor = new Talon(frontLeftMotor);
+        m_frontRightMotor = new Talon(frontRightMotor);
         for (int i = 0; i < kMaxNumberOfMotors; i++) {
             m_invertedMotors[i] = 1;
         }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SensorBase.java

@@ -24,7 +24,7 @@ public abstract class SensorBase { // TODO: Refactor
      */
     public static final int kSystemClockTicksPerMicrosecond = 40;
     /**
-     * Number of digital channels per digital sidecar
+     * Number of digital channels per roboRIO
      */
     public static final int kDigitalChannels = 26;
     /**
@@ -44,11 +44,11 @@ public abstract class SensorBase { // TODO: Refactor
      */
     public static final int kSolenoidModules = 2;
     /**
-     * Number of PWM channels per sidecar
+     * Number of PWM channels per roboRIO
      */
     public static final int kPwmChannels = 20;
     /**
-     * Number of relay channels per sidecar
+     * Number of relay channels per roboRIO
      */
     public static final int kRelayChannels = 4;
     /**
@@ -179,7 +179,7 @@ public abstract class SensorBase { // TODO: Refactor
     /**
      * Get the number of the default solenoid module.
      *
-     * @return The number of the default analog module.
+     * @return The number of the default solenoid module.
      */
     public static int getDefaultSolenoidModule() {
         return SensorBase.m_defaultSolenoidModule;

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Solenoid.java

@@ -86,10 +86,10 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
      * @param on Turn the solenoid output off or on.
      */
     public void set(boolean on) {
-    	ByteBuffer status = ByteBuffer.allocateDirect(4);
-		status.order(ByteOrder.LITTLE_ENDIAN);
-    	SolenoidJNI.setSolenoid(m_solenoid_port, (byte) (on ? 1 : 0), status.asIntBuffer());
-    	HALUtil.checkStatus(status.asIntBuffer());
+        byte value = (byte) (on ? 0xFF : 0x00);
+        byte mask = (byte) (1 << m_channel);
+
+    	set(value, mask);
     }
 
     /**
@@ -98,11 +98,8 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
      * @return The current value of the solenoid.
      */
     public boolean get() {
-    	ByteBuffer status = ByteBuffer.allocateDirect(4);
-    	status.order(ByteOrder.LITTLE_ENDIAN);
-    	boolean value = SolenoidJNI.getSolenoid(m_solenoid_port, status.asIntBuffer()) != 0;
-    	HALUtil.checkStatus(status.asIntBuffer());
-    	return value;
+        int value = getAll() & ( 1 << m_channel);
+        return (value != 0);
     }
 
     /*

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/SolenoidBase.java

@@ -11,6 +11,7 @@ import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
 
 import edu.wpi.first.wpilibj.hal.HALUtil;
+import edu.wpi.first.wpilibj.hal.SolenoidJNI;
 
 /**
  * SolenoidBase class is the common base class for the Solenoid and
@@ -20,8 +21,7 @@ public abstract class SolenoidBase extends SensorBase {
 
     private ByteBuffer[] m_ports;
     protected int m_moduleNumber; ///< The number of the solenoid module being used.
-    // XXX: Move this to be both HAL calls
-    //protected Resource m_allocated = new Resource(SolenoidJNI.getModuleCount() * SensorBase.kSolenoidChannels);
+    protected Resource m_allocated = new Resource(63* SensorBase.kSolenoidChannels);
 
     /**
      * Constructor.
@@ -30,13 +30,13 @@ public abstract class SolenoidBase extends SensorBase {
      */
     public SolenoidBase(final int moduleNumber) {
         m_moduleNumber = moduleNumber;
-//        m_ports = new ByteBuffer[SensorBase.kSolenoidChannels];
-//        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-//            ByteBuffer port = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) (i+1));
-//            IntBuffer status = IntBuffer.allocate(1);
-//            m_ports[i] = SolenoidJNI.initializeSolenoidPort(port, status);
-//            HALUtil.checkStatus(status);
-//        }
+        m_ports = new ByteBuffer[SensorBase.kSolenoidChannels];
+        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
+            ByteBuffer port = SolenoidJNI.getPortWithModule((byte) moduleNumber, (byte) i);
+            IntBuffer status = IntBuffer.allocate(1);
+            m_ports[i] = SolenoidJNI.initializeSolenoidPort(port, status);
+            HALUtil.checkStatus(status);
+        }
     }
 
     /**
@@ -46,13 +46,13 @@ public abstract class SolenoidBase extends SensorBase {
      * @param mask The channels you want to be affected.
      */
     protected synchronized void set(int value, int mask) {
-//        IntBuffer status = IntBuffer.allocate(1);
-//        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-//            int local_mask = 1 << i;
-//            if ((mask & local_mask) != 0)
-//                SolenoidJNI.setSolenoid(m_ports[i], (byte) (value & local_mask), status);
-//        }
-//        HALUtil.checkStatus(status);
+        IntBuffer status = IntBuffer.allocate(1);
+        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
+            int local_mask = 1 << i;
+            if ((mask & local_mask) != 0)
+                SolenoidJNI.setSolenoid(m_ports[i], (byte) (value & local_mask), status);
+        }
+        HALUtil.checkStatus(status);
     }
 
     /**
@@ -62,32 +62,11 @@ public abstract class SolenoidBase extends SensorBase {
      */
     public byte getAll() {
         byte value = 0;
-//        IntBuffer status = IntBuffer.allocate(1);
-//        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
-//            value |= SolenoidJNI.getSolenoid(m_ports[i], status) << i;
-//        }
-//        HALUtil.checkStatus(status);
+        IntBuffer status = IntBuffer.allocate(1);
+        for (int i = 0; i < SensorBase.kSolenoidChannels; i++) {
+            value |= SolenoidJNI.getSolenoid(m_ports[i], status) << i;
+        }
+        HALUtil.checkStatus(status);
         return value;
     }
-
-    /**
-     * Read all 8 solenoids in the default solenoid module as a single byte
-     *
-     * @return The current value of all 8 solenoids on the default module.
-     */
-    public static byte getAllFromDefaultModule() {
-        return getAllFromModule(getDefaultSolenoidModule());
-    }
-
-    /**
-     * Read all 8 solenoids in the specified solenoid module as a single byte
-     *
-     * @return The current value of all 8 solenoids on the specified module.
-     */
-    public static byte getAllFromModule(int moduleNumber) {
-    	byte value = 0;
-//        checkSolenoidModule(moduleNumber);
-//        throw new RuntimeException("Not supported right now.");
-    	return value;
-    }
 }

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/communication/FRCNetworkCommunicationsLibrary.java

@@ -435,11 +435,11 @@ public class FRCNetworkCommunicationsLibrary extends JNIWrapper {
 	public static native void FRCNetworkCommunicationGetVersionString(ByteBuffer version);
 	public static native void FRCNetworkCommunicationObserveUserProgramStarting();
 	public static native void FRCNetworkCommunicationObserveUserProgramDisabled();
+	public static native void FRCNetworkCommunicationObserveUserProgramAutonomous();
 	public static native void FRCNetworkCommunicationObserveUserProgramTeleop();
 	public static native void FRCNetworkCommunicationObserveUserProgramTest();
 	public static native void FRCNetworkCommunicationReserve();
-	public static native void FRCNetworkCommunicationReserve();
-
+
 	private static native int NativeHALGetControlWord();
 	public static HALControlWord HALGetControlWord() {
 		int word = NativeHALGetControlWord();

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/HALUtil.java

@@ -1,7 +1,7 @@
 package edu.wpi.first.wpilibj.hal;
 
-import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
+import java.nio.IntBuffer;
 
 public class HALUtil extends JNIWrapper {
 	public static final int NULL_PARAMETER = -5;
@@ -28,6 +28,12 @@ public class HALUtil extends JNIWrapper {
 	public static native boolean getFPGAButton(IntBuffer status);
 
 	public static native String getHALErrorMessage(int code);
+	
+	public static native int getHALErrno();
+	public static native String getHALstrerror(int errno);
+	public static String getHALstrerror(){
+		return getHALstrerror(getHALErrno());
+	}
 
 	public static void checkStatus(IntBuffer status)
 	{

wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/hal/InterruptJNI.java

@@ -1,12 +1,13 @@
 package edu.wpi.first.wpilibj.hal;
 
-import java.nio.IntBuffer;
 import java.nio.ByteBuffer;
+import java.nio.IntBuffer;
 
 public class InterruptJNI extends JNIWrapper {
-	public interface InterruptHandlerFunction {
-		void apply(int interruptAssertedMask, ByteBuffer param);
+	public interface InterruptJNIHandlerFunction {
+		void apply(int interruptAssertedMask, Object param);
 	};
+	public static native void initializeInterruptJVM(IntBuffer status);
 	public static native ByteBuffer initializeInterrupts(int interruptIndex, byte watcher, IntBuffer status);
 	public static native void cleanInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
 	public static native void waitForInterrupt(ByteBuffer interrupt_pointer, double timeout, IntBuffer status);
@@ -14,6 +15,6 @@ public class InterruptJNI extends JNIWrapper {
 	public static native void disableInterrupts(ByteBuffer interrupt_pointer, IntBuffer status);
 	public static native double readInterruptTimestamp(ByteBuffer interrupt_pointer, IntBuffer status);
 	public static native void requestInterrupts(ByteBuffer interrupt_pointer, byte routing_module, int routing_pin, byte routing_analog_trigger, IntBuffer status);
-	public static native void attachInterruptHandler(ByteBuffer interrupt_pointer, InterruptHandlerFunction handler, ByteBuffer param, IntBuffer status);
+	public static native void attachInterruptHandler(ByteBuffer interrupt_pointer, InterruptJNIHandlerFunction handler, Object param, IntBuffer status);
 	public static native void setInterruptUpSourceEdge(ByteBuffer interrupt_pointer, byte risingEdge, byte fallingEdge, IntBuffer status);
 }

wpilibj/wpilibJavaIntegrationTests/README.html

@@ -0,0 +1,377 @@
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+}
+
+.headeranchor-link:hover,
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+{ text-decoration: none; color:#4d4d4c; }
+.headeranchor-link:hover .headeranchor:before,
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+h6:hover .headeranchor:before
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+abbr { cursor: pointer; }
+
+/* Paragraphs */
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+
+/* Images */
+img {
+  max-width:100%;
+  border: 0;
+  -ms-interpolation-mode: bicubic;
+  vertical-align: middle;
+}
+
+/* Headers */
+h1,h2,h3,h4,h5,h6 {
+  font-weight:normal;
+  color:#111;
+  line-height: 1.7;
+  position: relative;
+}
+h4,h5,h6{ font-weight: bold; }
+h1 { font-size:2.5em; border-bottom: 1px solid #ddd;}
+h2 { font-size:2em; border-bottom:1px solid #eee; padding-bottom: 5px; }
+h3 { font-size:1.5em; }
+h4 { font-size:1.2em; }
+h5 { font-size:1em; }
+h6 { font-size:0.9em; }
+
+/* Block Quotes */
+blockquote {
+  color:#666666;
+  margin:0;
+  padding-left: 3em;
+  border-left: 0.5em #EEE solid;
+}
+hr { display: block; height: 2px; border: 0; border-top: 1px solid #aaa;border-bottom: 1px solid #eee; margin: 1em 0; padding: 0; }
+
+/* Raw Blocks */
+pre, code, kbd, samp {
+  color: #000;
+  font-family: Consolas, "Liberation Mono", Menlo, Courier, monospace;
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  font-size: 0.88em;
+  background-color: #F8F8F8;
+  border: 1px solid #CCC;
+}
+
+pre {
+  padding: 10px;
+  overflow: auto;
+}
+
+code { padding: 0 3px 0 3px; }
+pre code { border: 0; padding: 0; }
+
+/* Admonition */
+.admonition {
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  font-size: 0.88em;
+  padding: 0.5em 1em 0.5em 1em;
+  margin: 10px auto;
+  color: #888888;
+  background-color: #F8F8F8;
+  border: 1px solid #888888;
+}
+
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+.admonition-title { font-weight: bold; margin: 0; }
+
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+  font: normal normal 16px fontawesome-mini;
+  line-height: 1.5;
+  -moz-osx-font-smoothing: grayscale;
+  -webkit-user-select: none;
+  -moz-user-select: none;
+  -ms-user-select: none;
+  user-select: none;
+  float: left;
+}
+
+.admonition.attention { color: #4F8A10; background-color: #DFF2BF; border: 1px solid #4F8A10; }
+.admonition.caution { color: #D63301; background-color: #FFCCBA; border: 1px solid #D63301; }
+.admonition.hint { color: #00529B; background-color: #BDE5F8; border: 1px solid #00529B; }
+.admonition.danger { color: #D8000C; background-color: #FFBABA; border: 1px solid #D8000C; }
+.admonition.question { color: #00049b; background-color: #BDC8F8; border: 1px solid #00049b; }
+.admonition.note { color: #9F6000; background-color: #FEEFB3; border: 1px solid #9F6000; }
+
+.attention > .admonition-icon:before { content: "\f058\00a0"; }
+.caution > .admonition-icon:before { content: "\f06a\00a0"; }
+.hint > .admonition-icon:before { content: "\f05a\00a0"; }
+.danger > .admonition-icon:before { content: "\f056\00a0"; }
+.question > .admonition-icon:before { content: "\f059\00a0"; }
+.note > .admonition-icon:before { content: "\f040\00a0"; }
+
+/* progress bar*/
+.progress {
+  display: block;
+  width: 300px;
+  margin: 10px 0;
+  height: 24px;
+  border: 1px solid #ccc;
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  background-color: #F8F8F8;
+  position: relative;
+  box-shadow: inset -1px 1px 3px rgba(0, 0, 0, .1);
+}
+
+.progress-label {
+  position: absolute;
+  text-align: center;
+  font-weight: bold;
+  width: 100%; margin: 0;
+  line-height: 24px;
+  color: #333;
+  text-shadow:
+    1px 1px 0px #fefefe,
+    -1px -1px 0px #fefefe,
+    -1px 1px 0px #fefefe,
+    1px -1px 0px #fefefe,
+    0px 1px 0px #fefefe,
+    0px -1px 0px #fefefe,
+    1px 0px 0px #fefefe,
+    -1px 0px 0px #fefefe,
+    1px 1px 2px #000;
+  -webkit-font-smoothing: antialiased !important;
+  white-space: nowrap;
+  overflow: hidden;
+}
+
+.progress-bar {
+  height: 24px;
+  float: left;
+  border-right: 1px solid #ccc;
+  -webkit-border-radius: 3px;
+  -moz-border-radius: 3px;
+  border-radius: 3px;
+  background-color: #34c2e3;
+  box-shadow: inset 0 1px 0px rgba(255, 255, 255, .5);
+  background-size: 30px 30px;
+  background-image: -webkit-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: -moz-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: -ms-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: -o-linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+  background-image: linear-gradient(
+    135deg,
+    rgba(255, 255, 255, .4) 27%, transparent 27%,
+    transparent 53%, rgba(255, 255, 255, .4) 53%,
+    rgba(255, 255, 255, .4) 77%, transparent 77%,
+    transparent
+  );
+}
+
+.progress-100plus .progress-bar { background-color: #1ee038; }
+.progress-80plus .progress-bar { background-color: #86e01e; }
+.progress-60plus .progress-bar { background-color: #f2d31b; }
+.progress-40plus .progress-bar { background-color: #f2b01e; }
+.progress-20plus .progress-bar { background-color: #f27011; }
+.progress-0plus .progress-bar { background-color: #f63a0f; }
+
+.gloss .progress-bar {
+  box-shadow:
+    inset -1px 1px 0px rgba(255, 255, 255, .5),
+    inset 0 -4px 12px rgba(255, 255, 255, .7),
+    inset 0 4px 12px rgba(255, 255, 255, .7),
+    inset 0 -12px 0px rgba(0, 0, 0, .05),
+    inset 1px -1px 0px rgba(255, 255, 255, .2);
+}
+
+.candystripe-animate .progress-bar{
+  -webkit-animation: animate-stripes 3s linear infinite;
+  -moz-animation: animate-stripes 3s linear infinite;
+  animation: animate-stripes 3s linear infinite;
+}
+
+@-webkit-keyframes animate-stripes { 0% { background-position: 0 0; } 100% { background-position: 60px 0; } }
+@-moz-keyframes animate-stripes { 0% { background-position: 0 0; } 100% { background-position: 60px 0; } }
+@keyframes animate-stripes { 0% { background-position: 0 0; } 100% { background-position: 60px 0; } }
+
+/* Inlines */
+b, strong { font-weight: bold; }
+
+mark { background: #ff0; color: #000; font-style: italic; font-weight: bold; }
+
+sub, sup { font-size: 75%; line-height: 0; position: relative; vertical-align: baseline; }
+sup { top: -0.5em; }
+sub { bottom: -0.25em; }
+
+dfn { font-style: italic; }
+
+/* Lists */
+ul, ol { padding-left: 30px; }
+li p:last-child { margin:0 }
+.task-list-item { list-style-type: none; }
+.task-list-item input { float:left; margin-left: -20px; margin-top: 6px; }
+dt { font-weight: bold; font-style: italic;}
+dd { margin: 0 0 0 2em; }
+
+/* Tables */
+table { width: 100%; border-collapse: collapse; overflow-x: auto; overflow-y: hidden; display: block;}
+table tr { background-color: #fefefe; }
+table tr:nth-child(2n) { background-color: #f8f8f8; }
+td, th { border: 1px solid #ddd; padding: 6px 13px; }
+
+/* Codehilite Tables */
+.codehilitetable { border: 0; border-spacing: 0; }
+.linenos, .code, .codehilitetable td { border: 0; padding: 0; }
+td:not(.linenos) .linenodiv { padding: 0 !important; }
+.code { width: 100%; }
+.linenos div pre, .linenodiv pre {
+  border: 0;
+  border-top: 1px solid #CCC;
+  border-left: 1px solid #CCC;
+  border-right: 1px solid #CCC;
+  border-bottom: 1px solid #CCC;
+  -webkit-border-radius: 0;
+  -moz-border-radius: 0;
+  border-radius: 0;
+  -webkit-border-top-left-radius: 3px;
+  -webkit-border-bottom-left-radius: 3px;
+  -moz-border-radius-topleft: 3px;
+  -moz-border-radius-bottomleft: 3px;
+  border-top-left-radius: 3px;
+  border-bottom-left-radius: 3px;
+}
+
+.code div pre {
+  border: 0;
+  border-top: 1px solid #CCC;
+  border-right: 1px solid #CCC;
+  border-bottom: 1px solid #CCC;
+  -webkit-border-radius: 0;
+  -moz-border-radius: 0;
+  border-radius: 0;
+  -webkit-border-top-right-radius: 3px;
+  -webkit-border-bottom-right-radius: 3px;
+  -moz-border-radius-topright: 3px;
+  -moz-border-radius-bottomright: 3px;
+  border-top-right-radius: 3px;
+  border-bottom-right-radius: 3px;
+}
+
+/* Media */
+@media only screen and (min-width: 480px) {
+  body{ font-size:14px; }
+}
+
+@media only screen and (min-width: 768px) {
+  body{ font-size:16px; }
+}
+
+@media print {
+  * { background: transparent !important; color: black !important; filter:none !important; -ms-filter: none !important; }
+  body{ font-size:12pt; max-width:100%; outline:none; border: 0;}
+  a, a:visited { text-decoration: underline; }
+  .headeranchor-link { display: none; }
+  hr { height: 1px; border:0; border-bottom:1px solid black; }
+  a[href]:after { content: " (" attr(href) ")"; }
+  abbr[title]:after { content: " (" attr(title) ")"; }
+  .ir a:after, a[href^="javascript:"]:after, a[href^="#"]:after { content: ""; }
+  pre { white-space: pre; white-space: pre-wrap; word-wrap: break-word; }
+  pre, blockquote { border: 1px solid #999; padding-right: 1em; page-break-inside: avoid; }
+  .progress, .progress-bar { box-shadow: none; }
+  tr, img { page-break-inside: avoid; }
+  img { max-width: 100% !important; }
+  p, h2, h3 { orphans: 3; widows: 3; }
+  h2, h3 { page-break-after: avoid; }
+}
+</style><title>README</title></head><body><h2 id="to-load-run-integration-tests"><a name="user-content-to-load-run-integration-tests" href="#to-load-run-integration-tests" class="headeranchor-link"  aria-hidden="true"><span class="headeranchor"></span></a>TO LOAD &amp; RUN INTEGRATION TESTS</h2>
+<p>See: allwpilib/test-scripts</p></body></html>

wpilibj/wpilibJavaIntegrationTests/README.md

@@ -1,7 +1,3 @@
-TO LOAD & RUN INTEGRATION TESTS
+## TO LOAD & RUN INTEGRATION TESTS
 
-1. Run `mvn clean package` from this directory
-2. Run `scp target/wpilibJavaIntegrationTests-0.1.0-SNAPSHOT.jar admin@10.1.90.2:/home/admin` and enter the password on the RoboRio
-3. ssh into the RoboRio using `ssh admin@10.1.90.2`
-4. Run the integration tests on the roborio using `./runintegrationjavaprogram`
-5. Enable the robot using a driver station (this will be automatic eventually)
+See: allwpilib/test-scripts

wpilibj/wpilibJavaIntegrationTests/pom.xml

@@ -34,6 +34,16 @@
 			<artifactId>junit-toolbox</artifactId>
 			<version>2.0</version>
 		</dependency>
+		<dependency>
+			<groupId>org.apache.ant</groupId>
+			<artifactId>ant</artifactId>
+			<version>1.9.4</version>
+		</dependency>
+		<dependency>
+			<groupId>org.apache.ant</groupId>
+			<artifactId>ant-junit</artifactId>
+			<version>1.9.4</version>
+		</dependency>
 	</dependencies>
 
 	<profiles>
@@ -120,6 +130,18 @@
 									<version>2.0</version>
 									<type>jar</type>
 								</artifactItem>
+								<artifactItem>
+									<groupId>org.apache.ant</groupId>
+									<artifactId>ant</artifactId>
+									<version>1.9.4</version>
+									<type>jar</type>
+								</artifactItem>
+								<artifactItem>
+									<groupId>org.apache.ant</groupId>
+									<artifactId>ant-junit</artifactId>
+									<version>1.9.4</version>
+									<type>jar</type>
+								</artifactItem>
 							</artifactItems>
 							<outputDirectory>${project.build.directory}/classes</outputDirectory>
 						</configuration>
@@ -148,7 +170,7 @@
 					<archive>
 						<manifest>
 							<addClasspath>true</addClasspath>
-							<mainClass>edu.wpi.first.wpilibj.test.TestSuite</mainClass>
+							<mainClass>edu.wpi.first.wpilibj.test.AntJunitLanucher</mainClass>
 						</manifest>
 					</archive>
 				</configuration>

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AbstractInterruptTest.java

@@ -0,0 +1,239 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj;
+
+import static org.hamcrest.Matchers.both;
+import static org.hamcrest.Matchers.greaterThan;
+import static org.hamcrest.Matchers.lessThan;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertSame;
+import static org.junit.Assert.assertThat;
+
+import java.util.concurrent.atomic.AtomicBoolean;
+import java.util.concurrent.atomic.AtomicInteger;
+import java.util.concurrent.atomic.AtomicLong;
+
+import org.junit.After;
+import org.junit.Test;
+
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
+
+/**
+ * This class should not be run as a test explicitly. Instead it should be extended by tests that use the InterruptableSensorBase
+ * 
+ * @author jonathanleitschuh
+ *
+ */
+public abstract class AbstractInterruptTest extends AbstractComsSetup {
+	private InterruptableSensorBase interruptable = null;
+	
+	private InterruptableSensorBase getInterruptable(){
+		if(interruptable == null){
+			interruptable = giveInterruptableSensorBase();
+		}
+		return interruptable;
+	}
+
+
+	@After
+	public void interruptTeardown(){
+		if(interruptable != null){
+			freeInterruptableSensorBase();
+			interruptable = null;
+		}
+	}
+	
+	/**
+	 * Give the interruptible sensor base that interrupts can be attached to.
+	 * @return
+	 */
+	abstract InterruptableSensorBase giveInterruptableSensorBase();
+	/**
+	 * Cleans up the interruptible sensor base. This is only called if {@link #giveInterruptableSensorBase()} is called.
+	 */
+	abstract void freeInterruptableSensorBase();
+	/**
+	 * Perform whatever action is required to set the interrupt high.
+	 */
+	abstract void setInterruptHigh();
+	/**
+	 * Perform whatever action is required to set the interrupt low.
+	 */
+	abstract void setInterruptLow();
+	
+	
+	private class InterruptCounter{
+		private final AtomicInteger count  = new AtomicInteger();
+		void increment(){
+			count.addAndGet(1);
+		}
+		
+		int getCount(){
+			return count.get();
+		}
+	};
+	
+	private class TestInterruptHandlerFunction extends InterruptHandlerFunction<InterruptCounter>{
+		protected final AtomicBoolean exceptionThrown = new AtomicBoolean(false);
+		/** Stores the time that the interrupt fires */
+		final AtomicLong interruptFireTime = new AtomicLong();
+		/** Stores if the interrupt has completed at least once */
+		final AtomicBoolean interruptComplete = new AtomicBoolean(false);
+		protected Exception ex;
+		final InterruptCounter counter;
+		
+		TestInterruptHandlerFunction(InterruptCounter counter){
+			this.counter = counter;
+		}
+		
+		@Override
+		void interruptFired(int interruptAssertedMask, InterruptCounter param) {
+			interruptFireTime.set(Utility.getFPGATime());
+			counter.increment();
+			try{
+				//This won't cause the test to fail
+				assertSame(counter, param);
+			} catch (Exception ex){
+				//So we must throw the exception within the test
+				exceptionThrown.set(true);
+				this.ex = ex;
+			}
+			interruptComplete.set(true);
+		};
+		
+		@Override
+		public InterruptCounter overridableParamater(){
+			return counter;
+		}
+	};
+	
+	@Test(timeout = 1000)
+	public void testSingleInterruptsTriggering() throws Exception{
+		//Given
+		final InterruptCounter counter = new InterruptCounter();
+		TestInterruptHandlerFunction function = new TestInterruptHandlerFunction(counter);
+		
+		//When
+		getInterruptable().requestInterrupts(function);
+		getInterruptable().enableInterrupts();
+		
+		setInterruptLow();
+		Timer.delay(0.01);
+		//Note: Utility.getFPGATime() is used because double values can turn over after the robot has been running for a long time
+		final long interruptTriggerTime = Utility.getFPGATime();
+		setInterruptHigh();
+		
+		//Delay until the interrupt is complete
+		while(!function.interruptComplete.get()){
+			Timer.delay(.005);
+		}
+		
+		
+		//Then
+		assertEquals("The interrupt did not fire the expected number of times", 1, counter.getCount());
+		//If the test within the interrupt failed
+		if(function.exceptionThrown.get()){
+			throw function.ex;
+		}
+		final long range = 10000; //in microseconds 
+		assertThat("The interrupt did not fire within the expected time period (values in milliseconds)",
+		           function.interruptFireTime.get(), both(greaterThan(interruptTriggerTime - range))
+		                                             .and(lessThan(interruptTriggerTime + range)));
+		assertThat("The readInterruptTimestamp() did not return the correct value (values in seconds)",
+		           getInterruptable().readInterruptTimestamp(), both(greaterThan((interruptTriggerTime - range)/1e6))
+		                                                    .and(lessThan((interruptTriggerTime + range)/1e6)));
+	}
+	
+	@Test(timeout = 1000)
+	public void testMultipleInterruptsTriggering() throws Exception{
+		//Given
+		final InterruptCounter counter = new InterruptCounter();
+		TestInterruptHandlerFunction function = new TestInterruptHandlerFunction(counter);
+		
+		//When
+		getInterruptable().requestInterrupts(function);
+		getInterruptable().enableInterrupts();
+		
+		final int fireCount = 50;
+		for(int i = 0; i < fireCount; i ++){
+			setInterruptLow();
+			setInterruptHigh();
+			//Wait for the interrupt to complete before moving on
+			while(!function.interruptComplete.getAndSet(false)){
+				Timer.delay(.005);
+			}
+		}
+		//Then
+		assertEquals("The interrupt did not fire the expected number of times", fireCount, counter.getCount());
+	}
+	
+	/** The timeout length for this test in seconds */
+	private static final int synchronousTimeout = 5;
+	@Test(timeout = (long)(synchronousTimeout*1e3))
+	public void testSynchronousInterruptsTriggering(){
+		//Given
+		getInterruptable().requestInterrupts();
+		
+		final double synchronousDelay = synchronousTimeout/2.;
+		Runnable r = new Runnable(){
+			@Override
+			public void run() {
+				Timer.delay(synchronousDelay);
+				setInterruptLow();
+				setInterruptHigh();
+			}
+		};
+		
+		//When
+		
+		//Note: the long time value is used because doubles can flip if the robot is left running for long enough
+		final long startTimeStamp = Utility.getFPGATime();
+		new Thread(r).start();
+		//Delay for twice as long as the timeout so the test should fail first
+		getInterruptable().waitForInterrupt(synchronousTimeout * 2);
+		final long stopTimeStamp = Utility.getFPGATime();
+		
+		//Then
+		//The test will not have timed out and:
+		final double interruptRunTime = (stopTimeStamp - startTimeStamp)*1e-6;
+		assertEquals("The interrupt did not run for the expected amount of time (units in seconds)", synchronousDelay, interruptRunTime, .1);
+	}
+	
+	
+	@Test(timeout = 2000)
+	public void testDisableStopsInterruptFiring(){
+		final InterruptCounter counter = new InterruptCounter();
+		TestInterruptHandlerFunction function = new TestInterruptHandlerFunction(counter);
+		
+		//When
+		getInterruptable().requestInterrupts(function);
+		getInterruptable().enableInterrupts();
+		
+		final int fireCount = 50;
+		for(int i = 0; i < fireCount; i ++){
+			setInterruptLow();
+			setInterruptHigh();
+			//Wait for the interrupt to complete before moving on
+			while(!function.interruptComplete.getAndSet(false)){
+				Timer.delay(.005);
+			}
+		}
+		getInterruptable().disableInterrupts();
+		//TestBench.out().println("Finished disabling the robot");
+		
+		for(int i = 0; i < fireCount; i ++){
+			setInterruptLow();
+			setInterruptHigh();
+			//Just wait because the interrupt should not fire
+			Timer.delay(.005);
+		}
+		
+		//Then
+		assertEquals("The interrupt did not fire the expected number of times", fireCount, counter.getCount());
+	}
+	
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogCrossConnectTest.java

@@ -6,7 +6,9 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
 
 import java.util.logging.Logger;
 
@@ -16,15 +18,15 @@ import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Test;
 
+import edu.wpi.first.wpilibj.AnalogTriggerOutput.AnalogTriggerType;
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 
 /**
  * @author jonathanleitschuh
  *
  */
-public class AnalogCrossConnectTest extends AbstractComsSetup {
+public class AnalogCrossConnectTest extends AbstractInterruptTest {
 	private static final Logger logger = Logger.getLogger(AnalogCrossConnectTest.class.getName());
 
 	private static AnalogCrossConnectFixture analogIO;
@@ -51,6 +53,7 @@ public class AnalogCrossConnectTest extends AbstractComsSetup {
 	@AfterClass
 	public static void tearDownAfterClass() throws Exception {
 		analogIO.teardown();
+		analogIO=null;
 	}
 
 	/**
@@ -133,7 +136,6 @@ public class AnalogCrossConnectTest extends AbstractComsSetup {
 		// Given
 		AnalogTrigger trigger = new AnalogTrigger(analogIO.getInput());
 		trigger.setLimitsVoltage(2.0f, 3.0f);
-
 		Counter counter = new Counter(trigger);
 
 		// When the analog output is turned low and high 50 times
@@ -152,4 +154,48 @@ public class AnalogCrossConnectTest extends AbstractComsSetup {
 	public void testRuntimeExceptionOnInvalidAccumulatorPort(){
 		analogIO.getInput().getAccumulatorCount();
 	}
+
+	private AnalogTrigger interruptTrigger;
+	private AnalogTriggerOutput interruptTriggerOutput;
+	
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#giveInterruptableSensorBase()
+	 */
+	@Override
+	InterruptableSensorBase giveInterruptableSensorBase() {
+		interruptTrigger = new AnalogTrigger(analogIO.getInput());
+		interruptTrigger.setLimitsVoltage(2.0f, 3.0f);
+		interruptTriggerOutput = new AnalogTriggerOutput(interruptTrigger, AnalogTriggerType.STATE);
+		return interruptTriggerOutput;
+	}
+
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#freeInterruptableSensorBase()
+	 */
+	@Override
+	void freeInterruptableSensorBase() {
+		interruptTriggerOutput.cancelInterrupts();
+		interruptTriggerOutput.free();
+		interruptTriggerOutput = null;
+		interruptTrigger.free();
+		interruptTrigger = null;
+	}
+
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptHigh()
+	 */
+	@Override
+	void setInterruptHigh() {
+		analogIO.getOutput().setVoltage(4.0);
+	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptLow()
+	 */
+	@Override
+	void setInterruptLow() {
+		analogIO.getOutput().setVoltage(1.0);
+	}
 }

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometerTest.java

@@ -6,14 +6,12 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertEquals;
 
 import java.util.logging.Logger;
 
 import org.junit.After;
-import org.junit.AfterClass;
 import org.junit.Before;
-import org.junit.BeforeClass;
 import org.junit.Test;
 
 import edu.wpi.first.wpilibj.fixtures.AnalogCrossConnectFixture;
@@ -68,8 +66,8 @@ public class AnalogPotentiometerTest extends AbstractComsSetup {
 	public void testRangeValues(){
 		for(double i = 0.0; i < 360.0; i = i+1.0){
 			potSource.setAngle(i);
-			assertEquals(i, pot.get(), DOUBLE_COMPARISON_DELTA);
 			Timer.delay(.02);
+			assertEquals(i, pot.get(), DOUBLE_COMPARISON_DELTA);
 		}
 	}
 

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/BuiltInAccelerometerTest.java

@@ -12,7 +12,6 @@ import java.util.Arrays;
 import java.util.Collection;
 import java.util.logging.Logger;
 
-import org.junit.Before;
 import org.junit.BeforeClass;
 import org.junit.Test;
 import org.junit.runner.RunWith;
@@ -20,14 +19,13 @@ import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
 import edu.wpi.first.wpilibj.interfaces.Accelerometer;
-import edu.wpi.first.wpilibj.BuiltInAccelerometer;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 
 @RunWith(Parameterized.class)
 public class BuiltInAccelerometerTest extends AbstractComsSetup {
-	private static final Logger logger = Logger.getLogger(PIDTest.class.getName());
+	private static final Logger logger = Logger.getLogger(BuiltInAccelerometerTest.class.getName());
 	private static final double kAccelerationTolerance = 0.1;
-	private BuiltInAccelerometer m_accelerometer;
+	private final BuiltInAccelerometer m_accelerometer;
 
 	public BuiltInAccelerometerTest(Accelerometer.Range range) {
 		m_accelerometer = new BuiltInAccelerometer(range);

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/CounterTest.java

@@ -37,6 +37,7 @@ public class CounterTest extends AbstractComsSetup {
 	Integer input;
 	Integer output;
 	
+	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
@@ -87,6 +88,7 @@ public class CounterTest extends AbstractComsSetup {
 	@AfterClass
 	public static void tearDownAfterClass() throws Exception {
 		counter.teardown();
+		counter=null;
 	}
 
 	/**

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/DIOCrossConnectTest.java

@@ -14,16 +14,12 @@ import java.util.logging.Logger;
 
 import org.junit.After;
 import org.junit.AfterClass;
-import org.junit.Before;
-import org.junit.BeforeClass;
-import org.junit.Ignore;
 import org.junit.Test;
 import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
 import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
-import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
 
 /**
@@ -31,11 +27,12 @@ import edu.wpi.first.wpilibj.test.TestBench;
  * @author jonathanleitschuh
  */
 @RunWith(Parameterized.class)
-public class DIOCrossConnectTest extends AbstractComsSetup {
+public class DIOCrossConnectTest extends AbstractInterruptTest {
 	private static final Logger logger = Logger.getLogger(DIOCrossConnectTest.class.getName());
 
 	private static DIOCrossConnectFixture dio = null;
 	
+	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
@@ -65,7 +62,7 @@ public class DIOCrossConnectTest extends AbstractComsSetup {
 	 * Array in the Collection, each array element corresponds to a parameter
 	 * in the constructor.
 	 */
-	@Parameters
+	@Parameters(name= "{index}: Input Port: {0} Output Port: {1}")
 	public static Collection<Integer[]> generateData() {
 		// In this example, the parameter generator returns a List of
 		// arrays. Each array has two elements: { Digital input port, Digital output port}.
@@ -74,24 +71,15 @@ public class DIOCrossConnectTest extends AbstractComsSetup {
 		return TestBench.getInstance().getDIOCrossConnectCollection();
 	}
 
-	@BeforeClass
-	public static void setUpBeforeClass() throws Exception {
-
-	}
-
 	@AfterClass
 	public static void tearDownAfterClass() throws Exception {
 		dio.teardown();
-	}
-
-	@Before
-	public void setUp() throws Exception {
-		dio.reset();
-
+		dio=null;
 	}
 
 	@After
 	public void tearDown() throws Exception {
+		dio.reset();
 	}
 
 	/**
@@ -115,4 +103,38 @@ public class DIOCrossConnectTest extends AbstractComsSetup {
 		Timer.delay(.02);
 		assertFalse("DIO Not Low after .05s delay", dio.getInput().get());
 	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#giveInterruptableSensorBase()
+	 */
+	@Override
+	InterruptableSensorBase giveInterruptableSensorBase() {
+		return dio.getInput();
+	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#freeInterruptableSensorBase()
+	 */
+	@Override
+	void freeInterruptableSensorBase() {
+		// Handled in the fixture
+	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptHigh()
+	 */
+	@Override
+	void setInterruptHigh() {
+		dio.getOutput().set(true);
+	}
+
+	/* (non-Javadoc)
+	 * @see edu.wpi.first.wpilibj.AbstractInterruptTest#setInterruptLow()
+	 */
+	@Override
+	void setInterruptLow() {
+		dio.getOutput().set(false);
+		
+	}
+	
 }

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/EncoderTest.java

@@ -6,7 +6,7 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertTrue;
 
 import java.util.Collection;
 import java.util.logging.Logger;
@@ -14,13 +14,11 @@ import java.util.logging.Logger;
 import org.junit.After;
 import org.junit.AfterClass;
 import org.junit.Before;
-import org.junit.BeforeClass;
 import org.junit.Test;
 import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.fixtures.DIOCrossConnectFixture;
 import edu.wpi.first.wpilibj.fixtures.FakeEncoderFixture;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 import edu.wpi.first.wpilibj.test.TestBench;
@@ -43,6 +41,7 @@ public class EncoderTest extends AbstractComsSetup {
 	private final int outputA;
 	private final int outputB;
 	
+	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
@@ -78,19 +77,13 @@ public class EncoderTest extends AbstractComsSetup {
 		encoder = new FakeEncoderFixture(inputA, outputA, inputB, outputB);
 	}
 
-	/**
-	 * @throws java.lang.Exception
-	 */
-	@BeforeClass
-	public static void setUpBeforeClass() throws Exception {
-	}
-
 	/**
 	 * @throws java.lang.Exception
 	 */
 	@AfterClass
 	public static void tearDownAfterClass() throws Exception {
 		encoder.teardown();
+		encoder=null;
 	}
 
 	/**

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/MotorEncoderTest.java

@@ -6,6 +6,7 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
+import static org.junit.Assert.assertEquals;
 import static org.junit.Assert.assertFalse;
 import static org.junit.Assert.assertTrue;
 
@@ -69,12 +70,14 @@ public class MotorEncoderTest extends AbstractComsSetup {
 	@After
 	public void tearDown() throws Exception {
 		me.reset();
+		encodersResetCheck(me);
 	}
 
 	@AfterClass
 	public static void tearDownAfterClass() {
 		// Clean up the fixture after the test
 		me.teardown();
+		me=null;
 	}
 
 	/**
@@ -104,8 +107,7 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		assertTrue(me.getType() + " Encoder not incremented: start: "
 				+ startValue + "; current: " + currentValue,
 				startValue < currentValue);
-		me.reset();
-		encodersResetCheck(me);
+		
 	}
 
 	/**
@@ -121,8 +123,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		assertTrue(me.getType() + " Encoder not decremented: start: "
 				+ startValue + "; current: " + currentValue,
 				startValue > currentValue);
-		me.reset();
-		encodersResetCheck(me);
 	}
 
 	/**
@@ -155,7 +155,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		me.getMotor().set(15);
 		assertTrue(me.getType() + " Motor speed was not close to 1.0, was: "
 				+ me.getMotor().get(), me.isMotorSpeedWithinRange(1.0, 0.001));
-		me.reset();
 	}
 
 	/**
@@ -166,7 +165,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
 		me.getMotor().set(-15);
 		assertTrue(me.getType() + " Motor speed was not close to 1.0, was: "
 				+ me.getMotor().get(), me.isMotorSpeedWithinRange(-1.0, 0.001));
-		me.reset();
 	}
 
 
@@ -186,7 +184,6 @@ public class MotorEncoderTest extends AbstractComsSetup {
 				pid.onTarget());
 
 		pid.free();
-		me.reset();
 	}
 
 
@@ -195,18 +192,11 @@ public class MotorEncoderTest extends AbstractComsSetup {
 	 * @param me The MotorEncoderFixture under test
 	 */
 	private void encodersResetCheck(MotorEncoderFixture<?> me){
-		int encoderVal =  me.getEncoder().get();
-		int counterVal[] = new int[2];
-		for(int i = 0; i < 2; i++){
-			counterVal[i] = me.getCounters()[i].get();
-		}
-		double motorVal = me.getMotor().get();
-		assertTrue(me.getType() + " Encoder value: " + encoderVal + " when it should be 0", encoderVal == 0);
-		assertTrue(me.getType() + " Motor value: " + motorVal + " when it should be 0", motorVal == 0);
-		assertTrue(me.getType() + " Counter value " + counterVal[0] + " when is should be 0", counterVal[0] == 0);
-		assertTrue(me.getType() + " Counter value " + counterVal[1] + " when is should be 0", counterVal[1] == 0);
-		Timer.delay(.2);
-		assertTrue(me.getType() + " Encoder.getStopped() returned false", me.getEncoder().getStopped());
+		assertEquals(me.getType() + " Encoder value was incorrect after reset.", me.getEncoder().get(), 0);
+		assertEquals(me.getType() + " Motor value was incorrect after reset.", me.getMotor().get(), 0, 0);
+		assertEquals(me.getType() + " Counter1 value was incorrect after reset.", me.getCounters()[0].get(),  0);
+		assertEquals(me.getType() + " Counter2 value was incorrect after reset.", me.getCounters()[1].get(),  0);
+		assertTrue(me.getType() + " Encoder.getStopped() returned false after the motor was reset.", me.getEncoder().getStopped());
 	}
 
 }

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PCMTest.java

@@ -32,7 +32,7 @@ public class PCMTest extends AbstractComsSetup {
 	protected static final double kCompressorDelayTime = 2.0;
 
 	/* Solenoids should change much more quickly */
-	protected static final double kSolenoidDelayTime = 0.1;
+	protected static final double kSolenoidDelayTime = 1.0;
 
 	/* The voltage divider on the test bench should bring the compressor output
 	to around these values. */
@@ -44,7 +44,6 @@ public class PCMTest extends AbstractComsSetup {
 	private static  DigitalOutput fakePressureSwitch;
 	private static AnalogInput fakeCompressor;
 
-	private static  Solenoid solenoid1, solenoid2;
 	private static  DigitalInput fakeSolenoid1, fakeSolenoid2;
 
 	@BeforeClass
@@ -54,9 +53,6 @@ public class PCMTest extends AbstractComsSetup {
 	    fakePressureSwitch = new DigitalOutput(11);
 	    fakeCompressor = new AnalogInput(1);
 
-	    solenoid1 = new Solenoid(7);
-	    solenoid2 = new Solenoid(6);
-
 	    fakeSolenoid1 = new DigitalInput(12);
 	    fakeSolenoid2 = new DigitalInput(13);
 	}
@@ -68,9 +64,6 @@ public class PCMTest extends AbstractComsSetup {
 		fakePressureSwitch.free();
 		fakeCompressor.free();
 
-		solenoid1.free();
-		solenoid2.free();
-
 		fakeSolenoid1.free();
 		fakeSolenoid2.free();
 	}
@@ -83,8 +76,6 @@ public class PCMTest extends AbstractComsSetup {
 	public void reset() throws Exception {
 		compressor.stop();
 	    fakePressureSwitch.set(false);
-	    solenoid1.set(false);
-	    solenoid2.set(false);
 	}
 
 	@After
@@ -120,6 +111,9 @@ public class PCMTest extends AbstractComsSetup {
 	public void testSolenoid() throws Exception {
 		reset();
 
+		Solenoid solenoid1 = new Solenoid(0);
+		Solenoid solenoid2 = new Solenoid(1);
+
 		solenoid1.set(false);
 		solenoid2.set(false);
 		Timer.delay(kSolenoidDelayTime);
@@ -146,6 +140,35 @@ public class PCMTest extends AbstractComsSetup {
 		Timer.delay(kSolenoidDelayTime);
 		assertFalse("Solenoid #1 did not turn on",fakeSolenoid1.get());
 		assertFalse("Solenoid #2 did not turn on",fakeSolenoid2.get());
+
+		solenoid1.free();
+		solenoid2.free();
+	}
+
+	/**
+	* Test if the correct solenoids turn on and off when they should when used
+	* with the DoubleSolenoid class.
+	*/
+	@Test
+	public void doubleSolenoid() {
+		DoubleSolenoid solenoid = new DoubleSolenoid(0, 1);
+
+		solenoid.set(DoubleSolenoid.Value.kOff);
+		Timer.delay(kSolenoidDelayTime);
+		assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
+		assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
+
+		solenoid.set(DoubleSolenoid.Value.kForward);
+		Timer.delay(kSolenoidDelayTime);
+		assertFalse("Solenoid #1 did not turn on", fakeSolenoid1.get());
+		assertTrue("Solenoid #2 did not turn off", fakeSolenoid2.get());
+
+		solenoid.set(DoubleSolenoid.Value.kReverse);
+		Timer.delay(kSolenoidDelayTime);
+		assertTrue("Solenoid #1 did not turn off", fakeSolenoid1.get());
+		assertFalse("Solenoid #2 did not turn on", fakeSolenoid2.get());
+
+		solenoid.free();
 	}
 
 	protected Logger getClassLogger(){

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PDPTest.java

@@ -25,40 +25,41 @@ import edu.wpi.first.wpilibj.test.TestBench;
 @RunWith(Parameterized.class)
 public class PDPTest extends AbstractComsSetup {
 	private static final Logger logger = Logger.getLogger(PCMTest.class.getName());
-	/* The current returned when the motor is not being driven */
-	protected static final double  kLowCurrent =  1.52;
-
-	protected static final double  kCurrentTolerance =  0.1;
 
 	private static PowerDistributionPanel pdp;
 	private static MotorEncoderFixture<?> me;
+	private final double expectedStoppedCurrentDraw; 
 
 	@BeforeClass
 	public static void setUpBeforeClass() throws Exception {
 		pdp = new PowerDistributionPanel();
 	}
-	
+
 	@AfterClass
 	public static void tearDownAfterClass() throws Exception {
 		pdp.free();
+		pdp=null;
 		me.teardown();
+		me=null;
 	}
 
-	
-	public PDPTest(MotorEncoderFixture<?> mef){
+
+	public PDPTest(MotorEncoderFixture<?> mef, Double expectedCurrentDraw){
 		logger.fine("Constructor with: " + mef.getType());
 		if(me != null && !me.equals(mef)) me.teardown();
 		me = mef;
 		me.setup();
+		
+		this.expectedStoppedCurrentDraw = expectedCurrentDraw;
 	}
-	
-	@Parameters(name= "{index}: {0}")
-	public static Collection<MotorEncoderFixture<?>[]> generateData(){
+
+	@Parameters(name= "{index}: {0}, Expected Stopped Current Draw: {1}")
+	public static Collection<Object[]> generateData(){
 		//logger.fine("Loading the MotorList");
-		return Arrays.asList(new MotorEncoderFixture<?>[][]{
-				 {TestBench.getInstance().getTalonPair()},
-				 {TestBench.getInstance().getVictorPair()},
-				 {TestBench.getInstance().getJaguarPair()}
+		return Arrays.asList(new Object[][]{
+				 {TestBench.getInstance().getTalonPair(), new Double(0.0)},
+				 {TestBench.getInstance().getVictorPair(), new Double(0.0)},
+				 {TestBench.getInstance().getJaguarPair(), new Double(0.0)}
 		});
 	}
 
@@ -66,19 +67,21 @@ public class PDPTest extends AbstractComsSetup {
 	public void tearDown() throws Exception {
 		me.reset();
 	}
-	
-	
+
+
 
 	/**
 	 * Test if the current changes when the motor is driven using a talon
 	 */
 	@Test
 	public void CheckStoppedCurrentForSpeedController() throws CANMessageNotFoundException{
-		/* The Current should be kLowCurrent */
+		Timer.delay(0.25);
+
+		/* The Current should be 0 */
 		assertEquals("The low current was not within the expected range.",
-				kLowCurrent, pdp.getCurrent(me.getPDPChannel()), kCurrentTolerance);
+				expectedStoppedCurrentDraw, pdp.getCurrent(me.getPDPChannel()), 0.001);
 	}
-	
+
 	/**
 	 * Test if the current changes when the motor is driven using a talon
 	 */
@@ -87,10 +90,11 @@ public class PDPTest extends AbstractComsSetup {
 
 		/* Set the motor to full forward */
 		me.getMotor().set(1.0);
-		Timer.delay(0.02);
+		Timer.delay(0.25);
+
 		/* The current should now be greater than the low current */
 		assertThat("The driven current is not greater than the resting current.",
-				pdp.getCurrent(me.getPDPChannel()), is(greaterThan(kLowCurrent)));
+				pdp.getCurrent(me.getPDPChannel()), is(greaterThan(expectedStoppedCurrentDraw)));
 	}
 
 	@Override

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PIDTest.java

@@ -6,8 +6,12 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
-import static org.junit.Assert.*;
-import static org.hamcrest.CoreMatchers.*;
+import static org.hamcrest.CoreMatchers.is;
+import static org.hamcrest.CoreMatchers.not;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertThat;
+import static org.junit.Assert.assertTrue;
 
 import java.util.ArrayList;
 import java.util.Arrays;
@@ -18,16 +22,11 @@ import org.junit.After;
 import org.junit.AfterClass;
 import org.junit.Before;
 import org.junit.BeforeClass;
-import org.junit.Ignore;
-import org.junit.Rule;
 import org.junit.Test;
-import org.junit.rules.TestWatcher;
-import org.junit.runner.Description;
 import org.junit.runner.RunWith;
 import org.junit.runners.Parameterized;
 import org.junit.runners.Parameterized.Parameters;
 
-import edu.wpi.first.wpilibj.PIDSource.PIDSourceParameter;
 import edu.wpi.first.wpilibj.fixtures.MotorEncoderFixture;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
 import edu.wpi.first.wpilibj.test.AbstractComsSetup;
@@ -54,6 +53,7 @@ public class PIDTest extends AbstractComsSetup {
 	
 	private final Double k_p, k_i, k_d;
 	
+	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
@@ -99,6 +99,7 @@ public class PIDTest extends AbstractComsSetup {
 	public static void tearDownAfterClass() throws Exception {
 		logger.fine("TearDownAfterClass: " + me.getType());
 		me.teardown();
+		me=null;
 	}
 
 	/**

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/PrefrencesTest.java

@@ -6,7 +6,9 @@
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
 
 import java.io.File;
 import java.io.FileOutputStream;
@@ -14,43 +16,28 @@ import java.io.IOException;
 import java.io.OutputStream;
 import java.util.logging.Logger;
 
-import org.junit.After;
-import org.junit.AfterClass;
 import org.junit.Before;
-import org.junit.BeforeClass;
 import org.junit.Test;
 
-import edu.wpi.first.wpilibj.command.AbstractCommandTest;
 import edu.wpi.first.wpilibj.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.test.AbstractComsSetup;
 
 /**
  * @author jonathanleitschuh
  *
  */
-public class PrefrencesTest extends AbstractCommandTest {
+public class PrefrencesTest extends AbstractComsSetup {
 	private static final Logger logger = Logger.getLogger(PrefrencesTest.class.getName());
 	
 	private NetworkTable prefTable;
 	private Preferences pref;
 	private long check;
 
+	@Override
 	protected Logger getClassLogger(){
 		return logger;
 	}
-	
-	/**
-	 * @throws java.lang.Exception
-	 */
-	@BeforeClass
-	public static void setUpBeforeClass() throws Exception {
-	}
 
-	/**
-	 * @throws java.lang.Exception
-	 */
-	@AfterClass
-	public static void tearDownAfterClass() throws Exception {
-	}
 
 	/**
 	 * @throws java.lang.Exception
@@ -77,13 +64,7 @@ public class PrefrencesTest extends AbstractCommandTest {
 		check = System.currentTimeMillis();
 	}
 
-	/**
-	 * @throws java.lang.Exception
-	 */
-	@After
-	public void tearDown() throws Exception {
-	}
-	
+
 	public void remove() {
 		pref.remove("checkedValueLong");
 		pref.remove("checkedValueDouble");
@@ -101,7 +82,7 @@ public class PrefrencesTest extends AbstractCommandTest {
 		pref.putFloat("checkedValueFloat", 1);
 		pref.putBoolean("checkedValueBoolean", true);
 	}
-	
+
 	@Test
 	public void testAddRemoveSave() {
 		assertEquals(pref.getLong("checkedValueLong", 0), 172L);

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/WpiLibJTestSuite.java

@@ -13,26 +13,26 @@ import org.junit.runners.Suite.SuiteClasses;
 import edu.wpi.first.wpilibj.test.AbstractTestSuite;
 
 /**
- * @author jonathanleitschuh
- * Holds all of the tests in the roor wpilibj directory
+ * @author Jonathan Leitschuh
+ * Holds all of the tests in the root wpilibj directory
  * Please list alphabetically so that it is easy to determine if a test is missing from the list
  */
 @RunWith(Suite.class)
 @SuiteClasses({
-				BuiltInAccelerometerTest.class,
 				AnalogCrossConnectTest.class,
 				AnalogPotentiometerTest.class,
+				BuiltInAccelerometerTest.class,
 				CounterTest.class,
 				DIOCrossConnectTest.class,
 				EncoderTest.class,
+				GyroTest.class,
 				MotorEncoderTest.class,
 				PCMTest.class,
-				PIDTest.class,
 				PDPTest.class,
+				PIDTest.class,
 				PrefrencesTest.class,
 				RelayCrossConnectTest.class,
 				SampleTest.class,
-				GyroTest.class,
 				TimerTest.class
 				})
 public class WpiLibJTestSuite extends AbstractTestSuite {

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/fixtures/DIOCrossConnectFixture.java

@@ -52,6 +52,11 @@ public class DIOCrossConnectFixture implements ITestFixture {
 
 	@Override
 	public boolean reset() {
+		try{
+			input.cancelInterrupts();
+		} catch(IllegalStateException e) {
+			//This will happen if the interrupt has not been allocated for this test.
+		}
 		output.set(false);
 		return true;
 	}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AbstractTestSuite.java

@@ -1,8 +1,8 @@
 /*----------------------------------------------------------------------------*/
-/* Copyright (c) FIRST 2008-2014. All Rights Reserved.                        */
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.						*/
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
 /* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
+/* the project.															   */
 /*----------------------------------------------------------------------------*/
 package edu.wpi.first.wpilibj.test;
 
@@ -27,7 +27,6 @@ import org.junit.runners.model.InitializationError;
 public abstract class AbstractTestSuite {
 	private static final Logger logger = Logger.getLogger(AbstractTestSuite.class.getName());
 	
-	
 	/**
 	 * Gets all of the classes listed within the SuiteClasses annotation. To use it, annotate a class
 	 * with <code>@RunWith(Suite.class)</code> and <code>@SuiteClasses({TestClass1.class, ...})</code>.
@@ -38,13 +37,13 @@ public abstract class AbstractTestSuite {
 	protected List<Class<?>> getAnnotatedTestClasses(){
 		SuiteClasses annotation = getClass().getAnnotation(SuiteClasses.class);
 		List<Class<?>> classes = new Vector<Class<?>>();
-        if (annotation == null) {
-            throw new RuntimeException(String.format("class '%s' must have a SuiteClasses annotation",  getClass().getName()));
-        }
-        for(Class<?> c : annotation.value()){
-        	classes.add(c);
-        }
-        return classes;
+		if (annotation == null) {
+			throw new RuntimeException(String.format("class '%s' must have a SuiteClasses annotation",  getClass().getName()));
+		}
+		for(Class<?> c : annotation.value()){
+			classes.add(c);
+		}
+		return classes;
 	}
 	
 	/**
@@ -135,7 +134,7 @@ public abstract class AbstractTestSuite {
 	 * Gets all of the test classes listed in this suite. Does not include any of the test suites. All of these classes contain tests.
 	 * @return The list of base test classes.
 	 */
-	protected List<Class<?>> getAllContainedBaseTests(){
+	public List<Class<?>> getAllContainedBaseTests(){
 		List<Class<?>> runningBaseTests = new Vector <Class<?>>();
 		return getAllContainedBaseTests(runningBaseTests);
 	}
@@ -161,7 +160,7 @@ public abstract class AbstractTestSuite {
 	 * @param regex the text pattern to retrieve.
 	 * @return The list of classes matching the regex pattern
 	 */
-	protected List<Class<?>> getAllClassMatching(final String regex){
+	public List<Class<?>> getAllClassMatching(final String regex){
 		final List<Class<?>> matchingClasses = new Vector<Class<?>>();
 		return getAllClassMatching(regex, matchingClasses);
 	}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/AntJunitLanucher.java

@@ -0,0 +1,89 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2014. All Rights Reserved.						*/
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.															   */
+/*----------------------------------------------------------------------------*/
+package edu.wpi.first.wpilibj.test;
+
+import java.io.File;
+
+import org.apache.tools.ant.BuildLogger;
+import org.apache.tools.ant.DefaultLogger;
+import org.apache.tools.ant.Project;
+import org.apache.tools.ant.taskdefs.optional.junit.FormatterElement;
+import org.apache.tools.ant.taskdefs.optional.junit.JUnitTask;
+import org.apache.tools.ant.taskdefs.optional.junit.JUnitTest;
+
+/**
+ * Provides an entry point for tests to run with ANT. This allows ant to output
+ * JUnit XML test results for Jenkins.
+ * 
+ * @author jonathanleitschuh
+ *
+ */
+public class AntJunitLanucher {
+
+	public static void main(String... args) {
+		if (args.length == 0) {
+			String path = String.format("%s/%s",
+					System.getProperty("user.dir"), "/testResults/AntReports");
+			String pathToReports = path;
+			Project project = new Project();
+
+			try {
+				// Create the file to store the test output
+				new File(pathToReports).mkdirs();
+				JUnitTask task = new JUnitTask();
+
+				project.setProperty("java.io.tmpdir", pathToReports);
+
+				/* Output to screen */
+				FormatterElement.TypeAttribute typeScreen = new FormatterElement.TypeAttribute();
+				typeScreen.setValue("plain");
+				FormatterElement formatToScreen = new FormatterElement();
+				formatToScreen.setType(typeScreen);
+				formatToScreen.setUseFile(false);
+				formatToScreen.setOutput(System.out);
+				task.addFormatter(formatToScreen);
+
+				// add a build listener to the project
+				BuildLogger logger = new DefaultLogger();
+				logger.setOutputPrintStream(System.out);
+				logger.setErrorPrintStream(System.err);
+				logger.setMessageOutputLevel(Project.MSG_INFO);
+				logger.setEmacsMode(true);
+				project.addBuildListener(logger);
+
+				task.setProject(project);
+
+				// Set the output to the XML file
+				FormatterElement.TypeAttribute type = new FormatterElement.TypeAttribute();
+				type.setValue("xml");
+
+				FormatterElement formater = new FormatterElement();
+				formater.setType(type);
+				task.addFormatter(formater);
+
+				// Create the JUnitTest
+				JUnitTest test = new JUnitTest(TestSuite.class.getName());
+				test.setTodir(new File(pathToReports));
+				task.addTest(test);
+
+				TestBench.out().println("Beginning Test Execution With ANT");
+				task.execute();
+			} catch (Exception e) {
+				e.printStackTrace();
+			}
+		} else {
+			TestBench.out().println(
+					"Run will not output XML for Jenkins because "
+							+ "tests are not being run with ANT");
+			// This should never return as it makes its own call to
+			// System.exit();
+			TestSuite.main(args);
+		}
+		System.exit(0);
+	}
+
+}

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java

@@ -46,7 +46,7 @@ public final class TestBench {
 	 * The time that it takes to have a motor go from rotating at full speed to
 	 * completely stopped
 	 */
-	public static final double MOTOR_STOP_TIME = 0.20;
+	public static final double MOTOR_STOP_TIME = 0.25;
 
 	public static final int kTalonChannel = 10;
 	public static final int kVictorChannel = 1;

wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestSuite.java

@@ -16,6 +16,7 @@ import java.util.logging.LogManager;
 import java.util.logging.Logger;
 import java.util.regex.Pattern;
 
+import junit.framework.JUnit4TestAdapter;
 import junit.runner.Version;
 
 import org.junit.runner.JUnitCore;
@@ -73,6 +74,20 @@ public class TestSuite extends AbstractTestSuite {
 	private static final String METHOD_REPEAT_FILTER = "--repeat=";
 	private static final String CLASS_NAME_FILTER = "--filter=";
 	
+	private static TestSuite instance = null;
+	
+	public static TestSuite getInstance(){
+		if(instance == null){
+			instance = new TestSuite();
+		}
+		return instance;
+	}
+
+	/**
+	 * This has to be public so that the JUnit4
+	 */
+	public TestSuite(){}
+
 	/**
 	 * Displays a help message for the user when they use the --help flag at runtime.
 	 */
@@ -180,50 +195,50 @@ public class TestSuite extends AbstractTestSuite {
 			return JUnitCore.runClasses(QUICK_TEST);
 		}
 		
+		/**
+		 * Stores the data from multiple {@link Result}s in one class that can be returned to display the results.
+		 */
+		class MultipleResult extends Result{
+			private static final long serialVersionUID = 1L;
+			private final List<Failure> failures = new Vector<Failure>();
+			private int runCount = 0;
+			private int ignoreCount = 0;
+			private long runTime = 0;
+			
+		    @Override
+			public int getRunCount() {
+		        return runCount;
+		    }
+		    @Override
+			public int getFailureCount() {
+		        return failures.size();
+		    }
+		    @Override
+			public long getRunTime() {
+		        return runTime;
+		    }
+		    @Override
+			public List<Failure> getFailures() {
+		        return failures;
+		    }
+		    @Override
+			public int getIgnoreCount() {
+		        return ignoreCount;
+		    }
+			/**
+			 * Adds the given result's data to this result
+			 * @param r the result to add to this result
+			 */
+			void addResult(Result r){
+				failures.addAll(r.getFailures());
+				runCount += r.getRunCount();
+				ignoreCount += r.getIgnoreCount();
+				runTime += r.getRunTime();	
+			}
+		}
+		
 		//If a specific method has been requested
 		if(methodFilter){
-			/**
-			 * Stores the data from multiple {@link Result}s in one class that can be returned to display the results.
-			 */
-			class MultipleResult extends Result{
-				private static final long serialVersionUID = 1L;
-				private final List<Failure> failures = new Vector<Failure>();
-				private int runCount = 0;
-				private int ignoreCount = 0;
-				private long runTime = 0;
-				
-			    @Override
-				public int getRunCount() {
-			        return runCount;
-			    }
-			    @Override
-				public int getFailureCount() {
-			        return failures.size();
-			    }
-			    @Override
-				public long getRunTime() {
-			        return runTime;
-			    }
-			    @Override
-				public List<Failure> getFailures() {
-			        return failures;
-			    }
-			    @Override
-				public int getIgnoreCount() {
-			        return ignoreCount;
-			    }
-				/**
-				 * Adds the given result's data to this result
-				 * @param r the result to add to this result
-				 */
-				void addResult(Result r){
-					failures.addAll(r.getFailures());
-					runCount += r.getRunCount();
-					ignoreCount += r.getIgnoreCount();
-					runTime += r.getRunTime();	
-				}
-			}
-			
 			List<ClassMethodPair> pairs  = (new TestSuite()).getMethodMatching(methodRegex);
 			if(pairs.size() == 0){
 				displayInvalidUsage("None of the arguments passed to the method name filter matched.", args);
@@ -265,10 +280,17 @@ public class TestSuite extends AbstractTestSuite {
 				return null;
 			}
 			printLoadedTests(testClasses.toArray(new Class[0]));
-			return JUnitCore.runClasses(testClasses.toArray(new Class[0]));	
+			MultipleResult results = new MultipleResult();
+			//Runs tests multiple times if the repeat rule is used
+			for(int i = 0; i < repeatCount; i++){
+				Result result = (new JUnitCore()).run(testClasses.toArray(new Class[0]));
+				//Store the given results in one cohesive result
+				results.addResult(result);
+			}
+			return results;
 		}
-		
 		displayInvalidUsage("None of the parameters that you passed matched any of the accepted flags.", args);
+		
 		return null;
 	}
 	
@@ -309,9 +331,16 @@ public class TestSuite extends AbstractTestSuite {
 		}
 		TestBench.out().println();
 	}
-	
-	
 
+	/**
+	 * This is used by ant to get the Junit tests. This is required because the tests try to load using a
+	 * JUnit 3 framework. JUnit4 uses annotations to load tests. This method allows JUnit3 to load JUnit4 tests.
+	 */
+	public static junit.framework.Test suite(){
+		return new JUnit4TestAdapter(TestSuite.class);
+	}
+	
+	
 	/**
 	 * The method called at runtime
 	 * @param args The test suites to run

wpilibj/wpilibJavaJNI/lib/HALUtil.cpp

@@ -3,6 +3,8 @@
 #include "Log.hpp"
 #include "edu_wpi_first_wpilibj_hal_HALUtil.h"
 #include "HAL/HAL.hpp"
+#include "errno.h"
+#include <string.h>
 
 // set the logging level
 TLogLevel halUtilLogLevel = logWARNING;
@@ -145,3 +147,27 @@ JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrorMess
 	HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALErrorMessage id=" << paramId << " msg=" << msg;
 	return paramEnv->NewStringUTF(msg);
 }
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getHALErrno
+ * Signature: ()I
+ */
+JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALErrno
+  (JNIEnv *, jclass)
+{
+	return errno;
+}
+
+/*
+ * Class:     edu_wpi_first_wpilibj_hal_HALUtil
+ * Method:    getHALstrerror
+ * Signature: (I)Ljava/lang/String;
+ */
+JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_hal_HALUtil_getHALstrerror
+  (JNIEnv * env, jclass, jint errorCode)
+{
+	const char * msg = strerror(errno);
+	HALUTIL_LOG(logDEBUG) << "Calling HALUtil getHALstrerror errorCode=" << errorCode << " msg=" << msg;
+	return env->NewStringUTF(msg);
+}