Clean up extensions.

Renaming, code de-duplication
author: Luke Shumaker <lukeshu@sbcglobal.net> 2016-03-09 05:39:28 -0500
committer: Luke Shumaker <lukeshu@sbcglobal.net> 2016-03-09 05:39:28 -0500
commit: 42ff123fea0f9fb8ed0c40ce2c3e21b64ff4bbf0 (patch)
tree: 7a3f3dcba9552aad91e627ed1e47ff93e6e616dd
parent: 51eefb8b38bd5aa13f7940368317c481dfe7dde4 (diff)
41 files changed, 816 insertions, 784 deletions
diff --git a/extensions/camera/SquareTracker/Square.pdf b/extensions/ExampleSquareTrackerExtension/Square.pdf
index 23cb55e..23cb55e 100644
--- a/extensions/camera/SquareTracker/Square.pdf
+++ b/extensions/ExampleSquareTrackerExtension/Square.pdf
diff --git a/extensions/camera/WPICameraExtension/build.xml b/extensions/ExampleSquareTrackerExtension/build.xml
index 5ca1581..ec4a616 100644
--- a/extensions/camera/WPICameraExtension/build.xml
+++ b/extensions/ExampleSquareTrackerExtension/build.xml
@@ -7,8 +7,8 @@
 <!-- the Compile on Save feature is turned off for the project. -->
 <!-- You can turn off the Compile on Save (or Deploy on Save) setting -->
 <!-- in the project's Project Properties dialog box.-->
-<project name="WPICameraExtension" default="default" basedir=".">
-    <description>Builds, tests, and runs the project WPICameraExtension.</description>
+<project name="ExampleSquareTrackerExtension" default="default" basedir=".">
+    <description>Builds, tests, and runs the project ExampleSquareTrackerExtension.</description>
     <import file="nbproject/build-impl.xml"/>
     <!--
 
@@ -59,7 +59,7 @@
 
     An example of overriding the target for project execution could look like this:
 
-        <target name="run" depends="WPICameraExtension-impl.jar">
+        <target name="run" depends="ExampleSquareTrackerExtension-impl.jar">
             <exec dir="bin" executable="launcher.exe">
                 <arg file="${dist.jar}"/>
             </exec>
diff --git a/extensions/ExampleSquareTrackerExtension/lib/SmartDashboard.jar b/extensions/ExampleSquareTrackerExtension/lib/SmartDashboard.jar
new file mode 120000
index 0000000..5e4bb39
--- /dev/null
+++ b/extensions/ExampleSquareTrackerExtension/lib/SmartDashboard.jar
@@ -0,0 +1 @@
+../../../../wpilib/tools/SmartDashboard.jar
+\ No newline at end of file
diff --git a/extensions/ExampleSquareTrackerExtension/lib/WPIJavaCV.jar b/extensions/ExampleSquareTrackerExtension/lib/WPIJavaCV.jar
new file mode 120000
index 0000000..8e0d6df
--- /dev/null
+++ b/extensions/ExampleSquareTrackerExtension/lib/WPIJavaCV.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/dist/WPIJavaCV.jar
+\ No newline at end of file
diff --git a/extensions/ExampleSquareTrackerExtension/lib/WPIJavaCVVideoExtension.jar b/extensions/ExampleSquareTrackerExtension/lib/WPIJavaCVVideoExtension.jar
new file mode 120000
index 0000000..a8bc1b6
--- /dev/null
+++ b/extensions/ExampleSquareTrackerExtension/lib/WPIJavaCVVideoExtension.jar
@@ -0,0 +1 @@
+../../WPIJavaCVVideoExtension/dist/WPIJavaCVVideoExtension.jar
+\ No newline at end of file
diff --git a/extensions/ExampleSquareTrackerExtension/lib/javacpp.jar b/extensions/ExampleSquareTrackerExtension/lib/javacpp.jar
new file mode 120000
index 0000000..b13cc4d
--- /dev/null
+++ b/extensions/ExampleSquareTrackerExtension/lib/javacpp.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/lib/javacpp.jar
+\ No newline at end of file
diff --git a/extensions/ExampleSquareTrackerExtension/lib/javacv-windows-x86.jar b/extensions/ExampleSquareTrackerExtension/lib/javacv-windows-x86.jar
new file mode 120000
index 0000000..438dd95
--- /dev/null
+++ b/extensions/ExampleSquareTrackerExtension/lib/javacv-windows-x86.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/lib/javacv-windows-x86.jar
+\ No newline at end of file
diff --git a/extensions/ExampleSquareTrackerExtension/lib/javacv.jar b/extensions/ExampleSquareTrackerExtension/lib/javacv.jar
new file mode 120000
index 0000000..06ad26d
--- /dev/null
+++ b/extensions/ExampleSquareTrackerExtension/lib/javacv.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/lib/javacv.jar
+\ No newline at end of file
diff --git a/extensions/camera/SquareTracker/manifest.mf b/extensions/ExampleSquareTrackerExtension/manifest.mf
index 1574df4..1574df4 100644
--- a/extensions/camera/SquareTracker/manifest.mf
+++ b/extensions/ExampleSquareTrackerExtension/manifest.mf
diff --git a/extensions/camera/SquareTracker/nbproject/build-impl.xml b/extensions/ExampleSquareTrackerExtension/nbproject/build-impl.xml
index 99dd2f9..5a9f0e1 100644
--- a/extensions/camera/SquareTracker/nbproject/build-impl.xml
+++ b/extensions/ExampleSquareTrackerExtension/nbproject/build-impl.xml
@@ -12,18 +12,18 @@ is divided into following sections:
   - execution
   - debugging
   - javadoc
-  - junit compilation
-  - junit execution
-  - junit debugging
+  - test compilation
+  - test execution
+  - test debugging
   - applet
   - cleanup
 
         -->
-<project xmlns:j2seproject1="http://www.netbeans.org/ns/j2se-project/1" xmlns:j2seproject3="http://www.netbeans.org/ns/j2se-project/3" xmlns:jaxrpc="http://www.netbeans.org/ns/j2se-project/jax-rpc" basedir=".." default="default" name="SquareTrackerExtension-impl">
-    <fail message="Please build using Ant 1.7.1 or higher.">
+<project xmlns:j2seproject1="http://www.netbeans.org/ns/j2se-project/1" xmlns:j2seproject3="http://www.netbeans.org/ns/j2se-project/3" xmlns:jaxrpc="http://www.netbeans.org/ns/j2se-project/jax-rpc" basedir=".." default="default" name="ExampleSquareTrackerExtension-impl">
+    <fail message="Please build using Ant 1.8.0 or higher.">
         <condition>
             <not>
-                <antversion atleast="1.7.1"/>
+                <antversion atleast="1.8.0"/>
             </not>
         </condition>
     </fail>
@@ -55,7 +55,14 @@ is divided into following sections:
     </target>
     <target depends="-pre-init,-init-private,-init-user,-init-project,-init-macrodef-property" name="-do-init">
         <available file="${manifest.file}" property="manifest.available"/>
-        <available file="${application.splash}" property="splashscreen.available"/>
+        <condition property="splashscreen.available">
+            <and>
+                <not>
+                    <equals arg1="${application.splash}" arg2="" trim="true"/>
+                </not>
+                <available file="${application.splash}"/>
+            </and>
+        </condition>
         <condition property="main.class.available">
             <and>
                 <isset property="main.class"/>
@@ -70,8 +77,14 @@ is divided into following sections:
                 <isset property="main.class.available"/>
             </and>
         </condition>
+        <condition property="do.archive">
+            <not>
+                <istrue value="${jar.archive.disabled}"/>
+            </not>
+        </condition>
         <condition property="do.mkdist">
             <and>
+                <isset property="do.archive"/>
                 <isset property="libs.CopyLibs.classpath"/>
                 <not>
                     <istrue value="${mkdist.disabled}"/>
@@ -84,41 +97,42 @@ is divided into following sections:
                 <isset property="do.mkdist"/>
             </and>
         </condition>
-        <condition property="manifest.available+main.class+mkdist.available+splashscreen.available">
-            <and>
-                <istrue value="${manifest.available+main.class+mkdist.available}"/>
-                <istrue value="${splashscreen.available}"/>
-            </and>
-        </condition>
-        <condition property="do.archive">
-            <not>
-                <istrue value="${jar.archive.disabled}"/>
-            </not>
-        </condition>
         <condition property="do.archive+manifest.available">
             <and>
                 <isset property="manifest.available"/>
                 <istrue value="${do.archive}"/>
             </and>
         </condition>
-        <condition property="do.archive+manifest.available+main.class">
+        <condition property="do.archive+main.class.available">
             <and>
-                <istrue value="${manifest.available+main.class}"/>
+                <isset property="main.class.available"/>
                 <istrue value="${do.archive}"/>
             </and>
         </condition>
-        <condition property="do.archive+manifest.available+main.class+mkdist.available">
+        <condition property="do.archive+splashscreen.available">
             <and>
-                <istrue value="${manifest.available+main.class+mkdist.available}"/>
+                <isset property="splashscreen.available"/>
                 <istrue value="${do.archive}"/>
             </and>
         </condition>
-        <condition property="do.archive+manifest.available+main.class+mkdist.available+splashscreen.available">
+        <condition property="do.archive+manifest.available+main.class">
             <and>
-                <istrue value="${manifest.available+main.class+mkdist.available+splashscreen.available}"/>
+                <istrue value="${manifest.available+main.class}"/>
                 <istrue value="${do.archive}"/>
             </and>
         </condition>
+        <condition property="manifest.available-mkdist.available">
+            <or>
+                <istrue value="${manifest.available}"/>
+                <isset property="do.mkdist"/>
+            </or>
+        </condition>
+        <condition property="manifest.available+main.class-mkdist.available">
+            <or>
+                <istrue value="${manifest.available+main.class}"/>
+                <isset property="do.mkdist"/>
+            </or>
+        </condition>
         <condition property="have.tests">
             <or>
                 <available file="${test.src.dir}"/>
@@ -142,6 +156,7 @@ is divided into following sections:
             </and>
         </condition>
         <property name="run.jvmargs" value=""/>
+        <property name="run.jvmargs.ide" value=""/>
         <property name="javac.compilerargs" value=""/>
         <property name="work.dir" value="${basedir}"/>
         <condition property="no.deps">
@@ -173,9 +188,40 @@ is divided into following sections:
         <condition else="" property="endorsed.classpath.cmd.line.arg" value="-Xbootclasspath/p:'${toString:endorsed.classpath.path}'">
             <length length="0" string="${endorsed.classpath}" when="greater"/>
         </condition>
-        <property name="javac.fork" value="false"/>
+        <condition else="false" property="jdkBug6558476">
+            <and>
+                <matches pattern="1\.[56]" string="${java.specification.version}"/>
+                <not>
+                    <os family="unix"/>
+                </not>
+            </and>
+        </condition>
+        <property name="javac.fork" value="${jdkBug6558476}"/>
         <property name="jar.index" value="false"/>
+        <property name="jar.index.metainf" value="${jar.index}"/>
+        <property name="copylibs.rebase" value="true"/>
         <available file="${meta.inf.dir}/persistence.xml" property="has.persistence.xml"/>
+        <condition property="junit.available">
+            <or>
+                <available classname="org.junit.Test" classpath="${run.test.classpath}"/>
+                <available classname="junit.framework.Test" classpath="${run.test.classpath}"/>
+            </or>
+        </condition>
+        <condition property="testng.available">
+            <available classname="org.testng.annotations.Test" classpath="${run.test.classpath}"/>
+        </condition>
+        <condition property="junit+testng.available">
+            <and>
+                <istrue value="${junit.available}"/>
+                <istrue value="${testng.available}"/>
+            </and>
+        </condition>
+        <condition else="testng" property="testng.mode" value="mixed">
+            <istrue value="${junit+testng.available}"/>
+        </condition>
+        <condition else="" property="testng.debug.mode" value="-mixed">
+            <istrue value="${junit+testng.available}"/>
+        </condition>
     </target>
     <target name="-post-init">
         <!-- Empty placeholder for easier customization. -->
@@ -302,37 +348,368 @@ is divided into following sections:
                 <delete>
                     <files includesfile="${javac.includesfile.binary}"/>
                 </delete>
-                <delete file="${javac.includesfile.binary}"/>
+                <delete>
+                    <fileset file="${javac.includesfile.binary}"/>
+                </delete>
             </sequential>
         </macrodef>
     </target>
-    <target name="-init-macrodef-junit">
+    <target if="${junit.available}" name="-init-macrodef-junit-init">
+        <condition else="false" property="nb.junit.batch" value="true">
+            <and>
+                <istrue value="${junit.available}"/>
+                <not>
+                    <isset property="test.method"/>
+                </not>
+            </and>
+        </condition>
+        <condition else="false" property="nb.junit.single" value="true">
+            <and>
+                <istrue value="${junit.available}"/>
+                <isset property="test.method"/>
+            </and>
+        </condition>
+    </target>
+    <target if="${nb.junit.single}" name="-init-macrodef-junit-single" unless="${nb.junit.batch}">
         <macrodef name="junit" uri="http://www.netbeans.org/ns/j2se-project/3">
             <attribute default="${includes}" name="includes"/>
             <attribute default="${excludes}" name="excludes"/>
             <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element name="customize" optional="true"/>
             <sequential>
-                <junit dir="${work.dir}" errorproperty="tests.failed" failureproperty="tests.failed" fork="true" showoutput="true" tempdir="${build.dir}">
+                <property name="junit.forkmode" value="perTest"/>
+                <junit dir="${work.dir}" errorproperty="tests.failed" failureproperty="tests.failed" fork="true" forkmode="${junit.forkmode}" showoutput="true" tempdir="${build.dir}">
+                    <test methods="@{testmethods}" name="@{testincludes}" todir="${build.test.results.dir}"/>
+                    <syspropertyset>
+                        <propertyref prefix="test-sys-prop."/>
+                        <mapper from="test-sys-prop.*" to="*" type="glob"/>
+                    </syspropertyset>
+                    <formatter type="brief" usefile="false"/>
+                    <formatter type="xml"/>
+                    <jvmarg value="-ea"/>
+                    <customize/>
+                </junit>
+            </sequential>
+        </macrodef>
+    </target>
+    <target if="${nb.junit.batch}" name="-init-macrodef-junit-batch" unless="${nb.junit.single}">
+        <macrodef name="junit" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element name="customize" optional="true"/>
+            <sequential>
+                <property name="junit.forkmode" value="perTest"/>
+                <junit dir="${work.dir}" errorproperty="tests.failed" failureproperty="tests.failed" fork="true" forkmode="${junit.forkmode}" showoutput="true" tempdir="${build.dir}">
                     <batchtest todir="${build.test.results.dir}">
                         <fileset dir="${test.src.dir}" excludes="@{excludes},${excludes}" includes="@{includes}">
                             <filename name="@{testincludes}"/>
                         </fileset>
                     </batchtest>
-                    <classpath>
-                        <path path="${run.test.classpath}"/>
-                    </classpath>
                     <syspropertyset>
                         <propertyref prefix="test-sys-prop."/>
                         <mapper from="test-sys-prop.*" to="*" type="glob"/>
                     </syspropertyset>
                     <formatter type="brief" usefile="false"/>
                     <formatter type="xml"/>
-                    <jvmarg line="${endorsed.classpath.cmd.line.arg}"/>
-                    <jvmarg line="${run.jvmargs}"/>
+                    <jvmarg value="-ea"/>
+                    <customize/>
+                </junit>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-junit-init,-init-macrodef-junit-single, -init-macrodef-junit-batch" if="${junit.available}" name="-init-macrodef-junit"/>
+    <target if="${testng.available}" name="-init-macrodef-testng">
+        <macrodef name="testng" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element name="customize" optional="true"/>
+            <sequential>
+                <condition else="" property="testng.methods.arg" value="@{testincludes}.@{testmethods}">
+                    <isset property="test.method"/>
+                </condition>
+                <union id="test.set">
+                    <fileset dir="${test.src.dir}" excludes="@{excludes},**/*.xml,${excludes}" includes="@{includes}">
+                        <filename name="@{testincludes}"/>
+                    </fileset>
+                </union>
+                <taskdef classname="org.testng.TestNGAntTask" classpath="${run.test.classpath}" name="testng"/>
+                <testng classfilesetref="test.set" failureProperty="tests.failed" methods="${testng.methods.arg}" mode="${testng.mode}" outputdir="${build.test.results.dir}" suitename="ExampleSquareTrackerExtension" testname="TestNG tests" workingDir="${work.dir}">
+                    <xmlfileset dir="${build.test.classes.dir}" includes="@{testincludes}"/>
+                    <propertyset>
+                        <propertyref prefix="test-sys-prop."/>
+                        <mapper from="test-sys-prop.*" to="*" type="glob"/>
+                    </propertyset>
+                    <customize/>
+                </testng>
+            </sequential>
+        </macrodef>
+    </target>
+    <target name="-init-macrodef-test-impl">
+        <macrodef name="test-impl" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element implicit="true" name="customize" optional="true"/>
+            <sequential>
+                <echo>No tests executed.</echo>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-junit" if="${junit.available}" name="-init-macrodef-junit-impl">
+        <macrodef name="test-impl" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element implicit="true" name="customize" optional="true"/>
+            <sequential>
+                <j2seproject3:junit excludes="@{excludes}" includes="@{includes}" testincludes="@{testincludes}" testmethods="@{testmethods}">
+                    <customize/>
+                </j2seproject3:junit>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-testng" if="${testng.available}" name="-init-macrodef-testng-impl">
+        <macrodef name="test-impl" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element implicit="true" name="customize" optional="true"/>
+            <sequential>
+                <j2seproject3:testng excludes="@{excludes}" includes="@{includes}" testincludes="@{testincludes}" testmethods="@{testmethods}">
+                    <customize/>
+                </j2seproject3:testng>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-test-impl,-init-macrodef-junit-impl,-init-macrodef-testng-impl" name="-init-macrodef-test">
+        <macrodef name="test" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <sequential>
+                <j2seproject3:test-impl excludes="@{excludes}" includes="@{includes}" testincludes="@{testincludes}" testmethods="@{testmethods}">
+                    <customize>
+                        <classpath>
+                            <path path="${run.test.classpath}"/>
+                        </classpath>
+                        <jvmarg line="${endorsed.classpath.cmd.line.arg}"/>
+                        <jvmarg line="${run.jvmargs}"/>
+                        <jvmarg line="${run.jvmargs.ide}"/>
+                    </customize>
+                </j2seproject3:test-impl>
+            </sequential>
+        </macrodef>
+    </target>
+    <target if="${junit.available}" name="-init-macrodef-junit-debug" unless="${nb.junit.batch}">
+        <macrodef name="junit-debug" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element name="customize" optional="true"/>
+            <sequential>
+                <property name="junit.forkmode" value="perTest"/>
+                <junit dir="${work.dir}" errorproperty="tests.failed" failureproperty="tests.failed" fork="true" forkmode="${junit.forkmode}" showoutput="true" tempdir="${build.dir}">
+                    <test methods="@{testmethods}" name="@{testincludes}" todir="${build.test.results.dir}"/>
+                    <syspropertyset>
+                        <propertyref prefix="test-sys-prop."/>
+                        <mapper from="test-sys-prop.*" to="*" type="glob"/>
+                    </syspropertyset>
+                    <formatter type="brief" usefile="false"/>
+                    <formatter type="xml"/>
+                    <jvmarg value="-ea"/>
+                    <jvmarg line="${debug-args-line}"/>
+                    <jvmarg value="-Xrunjdwp:transport=${debug-transport},address=${jpda.address}"/>
+                    <customize/>
+                </junit>
+            </sequential>
+        </macrodef>
+    </target>
+    <target if="${nb.junit.batch}" name="-init-macrodef-junit-debug-batch">
+        <macrodef name="junit-debug" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element name="customize" optional="true"/>
+            <sequential>
+                <property name="junit.forkmode" value="perTest"/>
+                <junit dir="${work.dir}" errorproperty="tests.failed" failureproperty="tests.failed" fork="true" forkmode="${junit.forkmode}" showoutput="true" tempdir="${build.dir}">
+                    <batchtest todir="${build.test.results.dir}">
+                        <fileset dir="${test.src.dir}" excludes="@{excludes},${excludes}" includes="@{includes}">
+                            <filename name="@{testincludes}"/>
+                        </fileset>
+                    </batchtest>
+                    <syspropertyset>
+                        <propertyref prefix="test-sys-prop."/>
+                        <mapper from="test-sys-prop.*" to="*" type="glob"/>
+                    </syspropertyset>
+                    <formatter type="brief" usefile="false"/>
+                    <formatter type="xml"/>
+                    <jvmarg value="-ea"/>
+                    <jvmarg line="${debug-args-line}"/>
+                    <jvmarg value="-Xrunjdwp:transport=${debug-transport},address=${jpda.address}"/>
+                    <customize/>
                 </junit>
             </sequential>
         </macrodef>
     </target>
+    <target depends="-init-macrodef-junit-debug,-init-macrodef-junit-debug-batch" if="${junit.available}" name="-init-macrodef-junit-debug-impl">
+        <macrodef name="test-debug-impl" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <element implicit="true" name="customize" optional="true"/>
+            <sequential>
+                <j2seproject3:junit-debug excludes="@{excludes}" includes="@{includes}" testincludes="@{testincludes}" testmethods="@{testmethods}">
+                    <customize/>
+                </j2seproject3:junit-debug>
+            </sequential>
+        </macrodef>
+    </target>
+    <target if="${testng.available}" name="-init-macrodef-testng-debug">
+        <macrodef name="testng-debug" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${main.class}" name="testClass"/>
+            <attribute default="" name="testMethod"/>
+            <element name="customize2" optional="true"/>
+            <sequential>
+                <condition else="-testclass @{testClass}" property="test.class.or.method" value="-methods @{testClass}.@{testMethod}">
+                    <isset property="test.method"/>
+                </condition>
+                <condition else="-suitename ExampleSquareTrackerExtension -testname @{testClass} ${test.class.or.method}" property="testng.cmd.args" value="@{testClass}">
+                    <matches pattern=".*\.xml" string="@{testClass}"/>
+                </condition>
+                <delete dir="${build.test.results.dir}" quiet="true"/>
+                <mkdir dir="${build.test.results.dir}"/>
+                <j2seproject3:debug classname="org.testng.TestNG" classpath="${debug.test.classpath}">
+                    <customize>
+                        <customize2/>
+                        <jvmarg value="-ea"/>
+                        <arg line="${testng.debug.mode}"/>
+                        <arg line="-d ${build.test.results.dir}"/>
+                        <arg line="-listener org.testng.reporters.VerboseReporter"/>
+                        <arg line="${testng.cmd.args}"/>
+                    </customize>
+                </j2seproject3:debug>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-testng-debug" if="${testng.available}" name="-init-macrodef-testng-debug-impl">
+        <macrodef name="testng-debug-impl" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${main.class}" name="testClass"/>
+            <attribute default="" name="testMethod"/>
+            <element implicit="true" name="customize2" optional="true"/>
+            <sequential>
+                <j2seproject3:testng-debug testClass="@{testClass}" testMethod="@{testMethod}">
+                    <customize2/>
+                </j2seproject3:testng-debug>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-junit-debug-impl" if="${junit.available}" name="-init-macrodef-test-debug-junit">
+        <macrodef name="test-debug" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <attribute default="${main.class}" name="testClass"/>
+            <attribute default="" name="testMethod"/>
+            <sequential>
+                <j2seproject3:test-debug-impl excludes="@{excludes}" includes="@{includes}" testincludes="@{testincludes}" testmethods="@{testmethods}">
+                    <customize>
+                        <classpath>
+                            <path path="${run.test.classpath}"/>
+                        </classpath>
+                        <jvmarg line="${endorsed.classpath.cmd.line.arg}"/>
+                        <jvmarg line="${run.jvmargs}"/>
+                        <jvmarg line="${run.jvmargs.ide}"/>
+                    </customize>
+                </j2seproject3:test-debug-impl>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-testng-debug-impl" if="${testng.available}" name="-init-macrodef-test-debug-testng">
+        <macrodef name="test-debug" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${includes}" name="includes"/>
+            <attribute default="${excludes}" name="excludes"/>
+            <attribute default="**" name="testincludes"/>
+            <attribute default="" name="testmethods"/>
+            <attribute default="${main.class}" name="testClass"/>
+            <attribute default="" name="testMethod"/>
+            <sequential>
+                <j2seproject3:testng-debug-impl testClass="@{testClass}" testMethod="@{testMethod}">
+                    <customize2>
+                        <syspropertyset>
+                            <propertyref prefix="test-sys-prop."/>
+                            <mapper from="test-sys-prop.*" to="*" type="glob"/>
+                        </syspropertyset>
+                    </customize2>
+                </j2seproject3:testng-debug-impl>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-init-macrodef-test-debug-junit,-init-macrodef-test-debug-testng" name="-init-macrodef-test-debug"/>
+    <!--
+                pre NB7.2 profiling section; consider it deprecated
+            -->
+    <target depends="-profile-pre-init, init, -profile-post-init, -profile-init-macrodef-profile, -profile-init-check" if="profiler.info.jvmargs.agent" name="profile-init"/>
+    <target if="profiler.info.jvmargs.agent" name="-profile-pre-init">
+        <!-- Empty placeholder for easier customization. -->
+        <!-- You can override this target in the ../build.xml file. -->
+    </target>
+    <target if="profiler.info.jvmargs.agent" name="-profile-post-init">
+        <!-- Empty placeholder for easier customization. -->
+        <!-- You can override this target in the ../build.xml file. -->
+    </target>
+    <target if="profiler.info.jvmargs.agent" name="-profile-init-macrodef-profile">
+        <macrodef name="resolve">
+            <attribute name="name"/>
+            <attribute name="value"/>
+            <sequential>
+                <property name="@{name}" value="${env.@{value}}"/>
+            </sequential>
+        </macrodef>
+        <macrodef name="profile">
+            <attribute default="${main.class}" name="classname"/>
+            <element name="customize" optional="true"/>
+            <sequential>
+                <property environment="env"/>
+                <resolve name="profiler.current.path" value="${profiler.info.pathvar}"/>
+                <java classname="@{classname}" dir="${profiler.info.dir}" fork="true" jvm="${profiler.info.jvm}">
+                    <jvmarg line="${endorsed.classpath.cmd.line.arg}"/>
+                    <jvmarg value="${profiler.info.jvmargs.agent}"/>
+                    <jvmarg line="${profiler.info.jvmargs}"/>
+                    <env key="${profiler.info.pathvar}" path="${profiler.info.agentpath}:${profiler.current.path}"/>
+                    <arg line="${application.args}"/>
+                    <classpath>
+                        <path path="${run.classpath}"/>
+                    </classpath>
+                    <syspropertyset>
+                        <propertyref prefix="run-sys-prop."/>
+                        <mapper from="run-sys-prop.*" to="*" type="glob"/>
+                    </syspropertyset>
+                    <customize/>
+                </java>
+            </sequential>
+        </macrodef>
+    </target>
+    <target depends="-profile-pre-init, init, -profile-post-init, -profile-init-macrodef-profile" if="profiler.info.jvmargs.agent" name="-profile-init-check">
+        <fail unless="profiler.info.jvm">Must set JVM to use for profiling in profiler.info.jvm</fail>
+        <fail unless="profiler.info.jvmargs.agent">Must set profiler agent JVM arguments in profiler.info.jvmargs.agent</fail>
+    </target>
+    <!--
+                end of pre NB7.2 profiling section
+            -->
     <target depends="-init-debug-args" name="-init-macrodef-nbjpda">
         <macrodef name="nbjpdastart" uri="http://www.netbeans.org/ns/j2se-project/1">
             <attribute default="${main.class}" name="name"/>
@@ -390,6 +767,7 @@ is divided into following sections:
                     <jvmarg value="-Dfile.encoding=${runtime.encoding}"/>
                     <redirector errorencoding="${runtime.encoding}" inputencoding="${runtime.encoding}" outputencoding="${runtime.encoding}"/>
                     <jvmarg line="${run.jvmargs}"/>
+                    <jvmarg line="${run.jvmargs.ide}"/>
                     <classpath>
                         <path path="@{classpath}"/>
                     </classpath>
@@ -406,6 +784,7 @@ is divided into following sections:
         <macrodef name="java" uri="http://www.netbeans.org/ns/j2se-project/1">
             <attribute default="${main.class}" name="classname"/>
             <attribute default="${run.classpath}" name="classpath"/>
+            <attribute default="jvm" name="jvm"/>
             <element name="customize" optional="true"/>
             <sequential>
                 <java classname="@{classname}" dir="${work.dir}" fork="true">
@@ -413,6 +792,7 @@ is divided into following sections:
                     <jvmarg value="-Dfile.encoding=${runtime.encoding}"/>
                     <redirector errorencoding="${runtime.encoding}" inputencoding="${runtime.encoding}" outputencoding="${runtime.encoding}"/>
                     <jvmarg line="${run.jvmargs}"/>
+                    <jvmarg line="${run.jvmargs.ide}"/>
                     <classpath>
                         <path path="@{classpath}"/>
                     </classpath>
@@ -427,6 +807,7 @@ is divided into following sections:
     </target>
     <target name="-init-macrodef-copylibs">
         <macrodef name="copylibs" uri="http://www.netbeans.org/ns/j2se-project/3">
+            <attribute default="${manifest.file}" name="manifest"/>
             <element name="customize" optional="true"/>
             <sequential>
                 <property location="${build.classes.dir}" name="build.classes.dir.resolved"/>
@@ -438,11 +819,14 @@ is divided into following sections:
                     <path path="${run.classpath.without.build.classes.dir}"/>
                     <chainedmapper>
                         <flattenmapper/>
+                        <filtermapper>
+                            <replacestring from=" " to="%20"/>
+                        </filtermapper>
                         <globmapper from="*" to="lib/*"/>
                     </chainedmapper>
                 </pathconvert>
                 <taskdef classname="org.netbeans.modules.java.j2seproject.copylibstask.CopyLibs" classpath="${libs.CopyLibs.classpath}" name="copylibs"/>
-                <copylibs compress="${jar.compress}" index="${jar.index}" jarfile="${dist.jar}" manifest="${manifest.file}" runtimeclasspath="${run.classpath.without.build.classes.dir}">
+                <copylibs compress="${jar.compress}" index="${jar.index}" indexMetaInf="${jar.index.metainf}" jarfile="${dist.jar}" manifest="@{manifest}" rebase="${copylibs.rebase}" runtimeclasspath="${run.classpath.without.build.classes.dir}">
                     <fileset dir="${build.classes.dir}"/>
                     <manifest>
                         <attribute name="Class-Path" value="${jar.classpath}"/>
@@ -483,7 +867,7 @@ is divided into following sections:
     <target depends="-init-ap-cmdline-properties,-init-ap-cmdline-supported" name="-init-ap-cmdline">
         <property name="ap.cmd.line.internal" value=""/>
     </target>
-    <target depends="-pre-init,-init-private,-init-user,-init-project,-do-init,-post-init,-init-check,-init-macrodef-property,-init-macrodef-javac,-init-macrodef-junit,-init-macrodef-nbjpda,-init-macrodef-debug,-init-macrodef-java,-init-presetdef-jar,-init-ap-cmdline" name="init"/>
+    <target depends="-pre-init,-init-private,-init-user,-init-project,-do-init,-post-init,-init-check,-init-macrodef-property,-init-macrodef-javac,-init-macrodef-test,-init-macrodef-test-debug,-init-macrodef-nbjpda,-init-macrodef-debug,-init-macrodef-java,-init-presetdef-jar,-init-ap-cmdline" name="init"/>
     <!--
                 ===================
                 COMPILATION SECTION
@@ -494,7 +878,7 @@ is divided into following sections:
         <delete file="${built-jar.properties}" quiet="true"/>
     </target>
     <target if="already.built.jar.${basedir}" name="-warn-already-built-jar">
-        <echo level="warn" message="Cycle detected: SquareTrackerExtension was already built"/>
+        <echo level="warn" message="Cycle detected: ExampleSquareTrackerExtension was already built"/>
     </target>
     <target depends="init,-deps-jar-init" name="deps-jar" unless="no.deps">
         <mkdir dir="${build.dir}"/>
@@ -504,34 +888,6 @@ is divided into following sections:
         <propertyfile file="${built-jar.properties}">
             <entry key="${basedir}" value=""/>
         </propertyfile>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-jar.properties}"/>
-            <param location="${project.NetworkTable_Client}" name="call.subproject"/>
-            <param location="${project.NetworkTable_Client}/build.xml" name="call.script"/>
-            <param name="call.target" value="jar"/>
-            <param name="transfer.built-jar.properties" value="${built-jar.properties}"/>
-        </antcall>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-jar.properties}"/>
-            <param location="${project.SmartDashboard}" name="call.subproject"/>
-            <param location="${project.SmartDashboard}/nbbuild.xml" name="call.script"/>
-            <param name="call.target" value="jar"/>
-            <param name="transfer.built-jar.properties" value="${built-jar.properties}"/>
-        </antcall>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-jar.properties}"/>
-            <param location="${project.WPICameraExtension}" name="call.subproject"/>
-            <param location="${project.WPICameraExtension}/build.xml" name="call.script"/>
-            <param name="call.target" value="jar"/>
-            <param name="transfer.built-jar.properties" value="${built-jar.properties}"/>
-        </antcall>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-jar.properties}"/>
-            <param location="${project.WPIJavaCV}" name="call.subproject"/>
-            <param location="${project.WPIJavaCV}/build.xml" name="call.script"/>
-            <param name="call.target" value="jar"/>
-            <param name="transfer.built-jar.properties" value="${built-jar.properties}"/>
-        </antcall>
     </target>
     <target depends="init,-check-automatic-build,-clean-after-automatic-build" name="-verify-automatic-build"/>
     <target depends="init" name="-check-automatic-build">
@@ -599,10 +955,10 @@ is divided into following sections:
         <!-- Empty placeholder for easier customization. -->
         <!-- You can override this target in the ../build.xml file. -->
     </target>
-    <target depends="init,compile,-pre-pre-jar,-pre-jar" if="do.archive" name="-do-jar-without-manifest" unless="manifest.available">
+    <target depends="init,compile,-pre-pre-jar,-pre-jar" if="do.archive" name="-do-jar-without-manifest" unless="manifest.available-mkdist.available">
         <j2seproject1:jar/>
     </target>
-    <target depends="init,compile,-pre-pre-jar,-pre-jar" if="do.archive+manifest.available" name="-do-jar-with-manifest" unless="manifest.available+main.class">
+    <target depends="init,compile,-pre-pre-jar,-pre-jar" if="do.archive+manifest.available" name="-do-jar-with-manifest" unless="manifest.available+main.class-mkdist.available">
         <j2seproject1:jar manifest="${manifest.file}"/>
     </target>
     <target depends="init,compile,-pre-pre-jar,-pre-jar" if="do.archive+manifest.available+main.class" name="-do-jar-with-mainclass" unless="manifest.available+main.class+mkdist.available">
@@ -618,37 +974,46 @@ is divided into following sections:
             <path path="${run.classpath}"/>
             <map from="${build.classes.dir.resolved}" to="${dist.jar.resolved}"/>
         </pathconvert>
-        <echo>java -cp "${run.classpath.with.dist.jar}" ${main.class}</echo>
+        <echo level="info">java -cp "${run.classpath.with.dist.jar}" ${main.class}</echo>
+    </target>
+    <target depends="init" if="do.archive" name="-do-jar-with-libraries-create-manifest" unless="manifest.available">
+        <tempfile deleteonexit="true" destdir="${build.dir}" property="tmp.manifest.file"/>
+        <touch file="${tmp.manifest.file}" verbose="false"/>
+    </target>
+    <target depends="init" if="do.archive+manifest.available" name="-do-jar-with-libraries-copy-manifest">
+        <tempfile deleteonexit="true" destdir="${build.dir}" property="tmp.manifest.file"/>
+        <copy file="${manifest.file}" tofile="${tmp.manifest.file}"/>
     </target>
-    <target depends="init,compile,-pre-pre-jar,-pre-jar,-init-macrodef-copylibs" if="do.archive+manifest.available+main.class+mkdist.available+splashscreen.available" name="-do-jar-with-libraries-and-splashscreen">
+    <target depends="init,-do-jar-with-libraries-create-manifest,-do-jar-with-libraries-copy-manifest" if="do.archive+main.class.available" name="-do-jar-with-libraries-set-main">
+        <manifest file="${tmp.manifest.file}" mode="update">
+            <attribute name="Main-Class" value="${main.class}"/>
+        </manifest>
+    </target>
+    <target depends="init,-do-jar-with-libraries-create-manifest,-do-jar-with-libraries-copy-manifest" if="do.archive+splashscreen.available" name="-do-jar-with-libraries-set-splashscreen">
         <basename file="${application.splash}" property="splashscreen.basename"/>
         <mkdir dir="${build.classes.dir}/META-INF"/>
         <copy failonerror="false" file="${application.splash}" todir="${build.classes.dir}/META-INF"/>
-        <j2seproject3:copylibs>
-            <customize>
-                <attribute name="Main-Class" value="${main.class}"/>
-                <attribute name="SplashScreen-Image" value="META-INF/${splashscreen.basename}"/>
-            </customize>
-        </j2seproject3:copylibs>
-        <echo>To run this application from the command line without Ant, try:</echo>
-        <property location="${dist.jar}" name="dist.jar.resolved"/>
-        <echo>java -jar "${dist.jar.resolved}"</echo>
+        <manifest file="${tmp.manifest.file}" mode="update">
+            <attribute name="SplashScreen-Image" value="META-INF/${splashscreen.basename}"/>
+        </manifest>
     </target>
-    <target depends="init,compile,-pre-pre-jar,-pre-jar,-init-macrodef-copylibs" if="do.archive+manifest.available+main.class+mkdist.available" name="-do-jar-with-libraries" unless="splashscreen.available">
-        <j2seproject3:copylibs>
-            <customize>
-                <attribute name="Main-Class" value="${main.class}"/>
-            </customize>
-        </j2seproject3:copylibs>
-        <echo>To run this application from the command line without Ant, try:</echo>
+    <target depends="init,-init-macrodef-copylibs,compile,-pre-pre-jar,-pre-jar,-do-jar-with-libraries-create-manifest,-do-jar-with-libraries-copy-manifest,-do-jar-with-libraries-set-main,-do-jar-with-libraries-set-splashscreen" if="do.mkdist" name="-do-jar-with-libraries-pack">
+        <j2seproject3:copylibs manifest="${tmp.manifest.file}"/>
+        <echo level="info">To run this application from the command line without Ant, try:</echo>
         <property location="${dist.jar}" name="dist.jar.resolved"/>
-        <echo>java -jar "${dist.jar.resolved}"</echo>
+        <echo level="info">java -jar "${dist.jar.resolved}"</echo>
     </target>
+    <target depends="-do-jar-with-libraries-pack" if="do.archive" name="-do-jar-with-libraries-delete-manifest">
+        <delete>
+            <fileset file="${tmp.manifest.file}"/>
+        </delete>
+    </target>
+    <target depends="init,compile,-pre-pre-jar,-pre-jar,-do-jar-with-libraries-create-manifest,-do-jar-with-libraries-copy-manifest,-do-jar-with-libraries-set-main,-do-jar-with-libraries-set-splashscreen,-do-jar-with-libraries-pack,-do-jar-with-libraries-delete-manifest" name="-do-jar-with-libraries"/>
     <target name="-post-jar">
         <!-- Empty placeholder for easier customization. -->
         <!-- You can override this target in the ../build.xml file. -->
     </target>
-    <target depends="init,compile,-pre-jar,-do-jar-with-manifest,-do-jar-without-manifest,-do-jar-with-mainclass,-do-jar-with-libraries-and-splashscreen,-do-jar-with-libraries,-post-jar" description="Build JAR." name="jar"/>
+    <target depends="init,compile,-pre-jar,-do-jar-with-manifest,-do-jar-without-manifest,-do-jar-with-mainclass,-do-jar-with-libraries,-post-jar" description="Build JAR." name="jar"/>
     <!--
                 =================
                 EXECUTION SECTION
@@ -714,22 +1079,131 @@ is divided into following sections:
     </target>
     <target depends="init,-pre-debug-fix,-do-debug-fix" if="netbeans.home" name="debug-fix"/>
     <!--
+                =================
+                PROFILING SECTION
+                =================
+            -->
+    <!--
+                pre NB7.2 profiler integration
+            -->
+    <target depends="profile-init,compile" description="Profile a project in the IDE." if="profiler.info.jvmargs.agent" name="-profile-pre72">
+        <fail unless="netbeans.home">This target only works when run from inside the NetBeans IDE.</fail>
+        <nbprofiledirect>
+            <classpath>
+                <path path="${run.classpath}"/>
+            </classpath>
+        </nbprofiledirect>
+        <profile/>
+    </target>
+    <target depends="profile-init,compile-single" description="Profile a selected class in the IDE." if="profiler.info.jvmargs.agent" name="-profile-single-pre72">
+        <fail unless="profile.class">Must select one file in the IDE or set profile.class</fail>
+        <fail unless="netbeans.home">This target only works when run from inside the NetBeans IDE.</fail>
+        <nbprofiledirect>
+            <classpath>
+                <path path="${run.classpath}"/>
+            </classpath>
+        </nbprofiledirect>
+        <profile classname="${profile.class}"/>
+    </target>
+    <target depends="profile-init,compile-single" if="profiler.info.jvmargs.agent" name="-profile-applet-pre72">
+        <fail unless="netbeans.home">This target only works when run from inside the NetBeans IDE.</fail>
+        <nbprofiledirect>
+            <classpath>
+                <path path="${run.classpath}"/>
+            </classpath>
+        </nbprofiledirect>
+        <profile classname="sun.applet.AppletViewer">
+            <customize>
+                <arg value="${applet.url}"/>
+            </customize>
+        </profile>
+    </target>
+    <target depends="profile-init,compile-test-single" if="profiler.info.jvmargs.agent" name="-profile-test-single-pre72">
+        <fail unless="netbeans.home">This target only works when run from inside the NetBeans IDE.</fail>
+        <nbprofiledirect>
+            <classpath>
+                <path path="${run.test.classpath}"/>
+            </classpath>
+        </nbprofiledirect>
+        <junit dir="${profiler.info.dir}" errorproperty="tests.failed" failureproperty="tests.failed" fork="true" jvm="${profiler.info.jvm}" showoutput="true">
+            <env key="${profiler.info.pathvar}" path="${profiler.info.agentpath}:${profiler.current.path}"/>
+            <jvmarg value="${profiler.info.jvmargs.agent}"/>
+            <jvmarg line="${profiler.info.jvmargs}"/>
+            <test name="${profile.class}"/>
+            <classpath>
+                <path path="${run.test.classpath}"/>
+            </classpath>
+            <syspropertyset>
+                <propertyref prefix="test-sys-prop."/>
+                <mapper from="test-sys-prop.*" to="*" type="glob"/>
+            </syspropertyset>
+            <formatter type="brief" usefile="false"/>
+            <formatter type="xml"/>
+        </junit>
+    </target>
+    <!--
+                end of pre NB72 profiling section
+            -->
+    <target if="netbeans.home" name="-profile-check">
+        <condition property="profiler.configured">
+            <or>
+                <contains casesensitive="true" string="${run.jvmargs.ide}" substring="-agentpath:"/>
+                <contains casesensitive="true" string="${run.jvmargs.ide}" substring="-javaagent:"/>
+            </or>
+        </condition>
+    </target>
+    <target depends="-profile-check,-profile-pre72" description="Profile a project in the IDE." if="profiler.configured" name="profile" unless="profiler.info.jvmargs.agent">
+        <startprofiler/>
+        <antcall target="run"/>
+    </target>
+    <target depends="-profile-check,-profile-single-pre72" description="Profile a selected class in the IDE." if="profiler.configured" name="profile-single" unless="profiler.info.jvmargs.agent">
+        <fail unless="run.class">Must select one file in the IDE or set run.class</fail>
+        <startprofiler/>
+        <antcall target="run-single"/>
+    </target>
+    <target depends="-profile-test-single-pre72" description="Profile a selected test in the IDE." name="profile-test-single"/>
+    <target depends="-profile-check" description="Profile a selected test in the IDE." if="profiler.configured" name="profile-test" unless="profiler.info.jvmargs">
+        <fail unless="test.includes">Must select some files in the IDE or set test.includes</fail>
+        <startprofiler/>
+        <antcall target="test-single"/>
+    </target>
+    <target depends="-profile-check" description="Profile a selected class in the IDE." if="profiler.configured" name="profile-test-with-main">
+        <fail unless="run.class">Must select one file in the IDE or set run.class</fail>
+        <startprofiler/>
+        <antcal target="run-test-with-main"/>
+    </target>
+    <target depends="-profile-check,-profile-applet-pre72" if="profiler.configured" name="profile-applet" unless="profiler.info.jvmargs.agent">
+        <fail unless="applet.url">Must select one file in the IDE or set applet.url</fail>
+        <startprofiler/>
+        <antcall target="run-applet"/>
+    </target>
+    <!--
                 ===============
                 JAVADOC SECTION
                 ===============
             -->
     <target depends="init" if="have.sources" name="-javadoc-build">
         <mkdir dir="${dist.javadoc.dir}"/>
+        <condition else="" property="javadoc.endorsed.classpath.cmd.line.arg" value="-J${endorsed.classpath.cmd.line.arg}">
+            <and>
+                <isset property="endorsed.classpath.cmd.line.arg"/>
+                <not>
+                    <equals arg1="${endorsed.classpath.cmd.line.arg}" arg2=""/>
+                </not>
+            </and>
+        </condition>
         <javadoc additionalparam="${javadoc.additionalparam}" author="${javadoc.author}" charset="UTF-8" destdir="${dist.javadoc.dir}" docencoding="UTF-8" encoding="${javadoc.encoding.used}" failonerror="true" noindex="${javadoc.noindex}" nonavbar="${javadoc.nonavbar}" notree="${javadoc.notree}" private="${javadoc.private}" source="${javac.source}" splitindex="${javadoc.splitindex}" use="${javadoc.use}" useexternalfile="true" version="${javadoc.version}" windowtitle="${javadoc.windowtitle}">
             <classpath>
                 <path path="${javac.classpath}"/>
             </classpath>
-            <fileset dir="${src.dir}" excludes="${excludes}" includes="${includes}">
+            <fileset dir="${src.dir}" excludes="*.java,${excludes}" includes="${includes}">
                 <filename name="**/*.java"/>
             </fileset>
             <fileset dir="${build.generated.sources.dir}" erroronmissingdir="false">
                 <include name="**/*.java"/>
+                <exclude name="*.java"/>
             </fileset>
+            <arg line="${javadoc.endorsed.classpath.cmd.line.arg}"/>
         </javadoc>
         <copy todir="${dist.javadoc.dir}">
             <fileset dir="${src.dir}" excludes="${excludes}" includes="${includes}">
@@ -746,7 +1220,7 @@ is divided into following sections:
     <target depends="init,-javadoc-build,-javadoc-browse" description="Build Javadoc." name="javadoc"/>
     <!--
                 =========================
-                JUNIT COMPILATION SECTION
+                TEST COMPILATION SECTION
                 =========================
             -->
     <target depends="init,compile" if="have.tests" name="-pre-pre-compile-test">
@@ -759,7 +1233,7 @@ is divided into following sections:
     <target if="do.depend.true" name="-compile-test-depend">
         <j2seproject3:depend classpath="${javac.test.classpath}" destdir="${build.test.classes.dir}" srcdir="${test.src.dir}"/>
     </target>
-    <target depends="init,compile,-pre-pre-compile-test,-pre-compile-test,-compile-test-depend" if="have.tests" name="-do-compile-test">
+    <target depends="init,deps-jar,compile,-pre-pre-compile-test,-pre-compile-test,-compile-test-depend" if="have.tests" name="-do-compile-test">
         <j2seproject3:javac apgeneratedsrcdir="${build.test.classes.dir}" classpath="${javac.test.classpath}" debug="true" destdir="${build.test.classes.dir}" processorpath="${javac.test.processorpath}" srcdir="${test.src.dir}"/>
         <copy todir="${build.test.classes.dir}">
             <fileset dir="${test.src.dir}" excludes="${build.classes.excludes},${excludes}" includes="${includes}"/>
@@ -774,7 +1248,7 @@ is divided into following sections:
         <!-- Empty placeholder for easier customization. -->
         <!-- You can override this target in the ../build.xml file. -->
     </target>
-    <target depends="init,compile,-pre-pre-compile-test,-pre-compile-test-single" if="have.tests" name="-do-compile-test-single">
+    <target depends="init,deps-jar,compile,-pre-pre-compile-test,-pre-compile-test-single" if="have.tests" name="-do-compile-test-single">
         <fail unless="javac.includes">Must select some files in the IDE or set javac.includes</fail>
         <j2seproject3:force-recompile destdir="${build.test.classes.dir}"/>
         <j2seproject3:javac apgeneratedsrcdir="${build.test.classes.dir}" classpath="${javac.test.classpath}" debug="true" destdir="${build.test.classes.dir}" excludes="" includes="${javac.includes}" processorpath="${javac.test.processorpath}" sourcepath="${test.src.dir}" srcdir="${test.src.dir}"/>
@@ -789,14 +1263,14 @@ is divided into following sections:
     <target depends="init,compile,-pre-pre-compile-test,-pre-compile-test-single,-do-compile-test-single,-post-compile-test-single" name="compile-test-single"/>
     <!--
                 =======================
-                JUNIT EXECUTION SECTION
+                TEST EXECUTION SECTION
                 =======================
             -->
     <target depends="init" if="have.tests" name="-pre-test-run">
         <mkdir dir="${build.test.results.dir}"/>
     </target>
     <target depends="init,compile-test,-pre-test-run" if="have.tests" name="-do-test-run">
-        <j2seproject3:junit testincludes="**/*Test.java"/>
+        <j2seproject3:test testincludes="**/*Test.java"/>
     </target>
     <target depends="init,compile-test,-pre-test-run,-do-test-run" if="have.tests" name="-post-test-run">
         <fail if="tests.failed" unless="ignore.failing.tests">Some tests failed; see details above.</fail>
@@ -809,39 +1283,40 @@ is divided into following sections:
     </target>
     <target depends="init,compile-test-single,-pre-test-run-single" if="have.tests" name="-do-test-run-single">
         <fail unless="test.includes">Must select some files in the IDE or set test.includes</fail>
-        <j2seproject3:junit excludes="" includes="${test.includes}"/>
+        <j2seproject3:test excludes="" includes="${test.includes}" testincludes="${test.includes}"/>
     </target>
     <target depends="init,compile-test-single,-pre-test-run-single,-do-test-run-single" if="have.tests" name="-post-test-run-single">
         <fail if="tests.failed" unless="ignore.failing.tests">Some tests failed; see details above.</fail>
     </target>
     <target depends="init,compile-test-single,-pre-test-run-single,-do-test-run-single,-post-test-run-single" description="Run single unit test." name="test-single"/>
+    <target depends="init,compile-test-single,-pre-test-run-single" if="have.tests" name="-do-test-run-single-method">
+        <fail unless="test.class">Must select some files in the IDE or set test.class</fail>
+        <fail unless="test.method">Must select some method in the IDE or set test.method</fail>
+        <j2seproject3:test excludes="" includes="${javac.includes}" testincludes="${test.class}" testmethods="${test.method}"/>
+    </target>
+    <target depends="init,compile-test-single,-pre-test-run-single,-do-test-run-single-method" if="have.tests" name="-post-test-run-single-method">
+        <fail if="tests.failed" unless="ignore.failing.tests">Some tests failed; see details above.</fail>
+    </target>
+    <target depends="init,compile-test-single,-pre-test-run-single,-do-test-run-single-method,-post-test-run-single-method" description="Run single unit test." name="test-single-method"/>
     <!--
                 =======================
-                JUNIT DEBUGGING SECTION
+                TEST DEBUGGING SECTION
                 =======================
             -->
-    <target depends="init,compile-test" if="have.tests" name="-debug-start-debuggee-test">
+    <target depends="init,compile-test-single,-pre-test-run-single" if="have.tests" name="-debug-start-debuggee-test">
         <fail unless="test.class">Must select one file in the IDE or set test.class</fail>
-        <property location="${build.test.results.dir}/TEST-${test.class}.xml" name="test.report.file"/>
-        <delete file="${test.report.file}"/>
-        <mkdir dir="${build.test.results.dir}"/>
-        <j2seproject3:debug classname="org.apache.tools.ant.taskdefs.optional.junit.JUnitTestRunner" classpath="${ant.home}/lib/ant.jar:${ant.home}/lib/ant-junit.jar:${debug.test.classpath}">
-            <customize>
-                <syspropertyset>
-                    <propertyref prefix="test-sys-prop."/>
-                    <mapper from="test-sys-prop.*" to="*" type="glob"/>
-                </syspropertyset>
-                <arg value="${test.class}"/>
-                <arg value="showoutput=true"/>
-                <arg value="formatter=org.apache.tools.ant.taskdefs.optional.junit.BriefJUnitResultFormatter"/>
-                <arg value="formatter=org.apache.tools.ant.taskdefs.optional.junit.XMLJUnitResultFormatter,${test.report.file}"/>
-            </customize>
-        </j2seproject3:debug>
+        <j2seproject3:test-debug excludes="" includes="${javac.includes}" testClass="${test.class}" testincludes="${javac.includes}"/>
+    </target>
+    <target depends="init,compile-test-single,-pre-test-run-single" if="have.tests" name="-debug-start-debuggee-test-method">
+        <fail unless="test.class">Must select one file in the IDE or set test.class</fail>
+        <fail unless="test.method">Must select some method in the IDE or set test.method</fail>
+        <j2seproject3:test-debug excludes="" includes="${javac.includes}" testClass="${test.class}" testMethod="${test.method}" testincludes="${test.class}" testmethods="${test.method}"/>
     </target>
     <target depends="init,compile-test" if="netbeans.home+have.tests" name="-debug-start-debugger-test">
         <j2seproject1:nbjpdastart classpath="${debug.test.classpath}" name="${test.class}"/>
     </target>
     <target depends="init,compile-test-single,-debug-start-debugger-test,-debug-start-debuggee-test" name="debug-test"/>
+    <target depends="init,compile-test-single,-debug-start-debugger-test,-debug-start-debuggee-test-method" name="debug-test-method"/>
     <target depends="init,-pre-debug-fix,compile-test-single" if="netbeans.home" name="-do-debug-fix-test">
         <j2seproject1:nbjpdareload dir="${build.test.classes.dir}"/>
     </target>
@@ -883,7 +1358,7 @@ is divided into following sections:
         <delete file="${built-clean.properties}" quiet="true"/>
     </target>
     <target if="already.built.clean.${basedir}" name="-warn-already-built-clean">
-        <echo level="warn" message="Cycle detected: SquareTrackerExtension was already built"/>
+        <echo level="warn" message="Cycle detected: ExampleSquareTrackerExtension was already built"/>
     </target>
     <target depends="init,-deps-clean-init" name="deps-clean" unless="no.deps">
         <mkdir dir="${build.dir}"/>
@@ -893,34 +1368,6 @@ is divided into following sections:
         <propertyfile file="${built-clean.properties}">
             <entry key="${basedir}" value=""/>
         </propertyfile>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-clean.properties}"/>
-            <param location="${project.NetworkTable_Client}" name="call.subproject"/>
-            <param location="${project.NetworkTable_Client}/build.xml" name="call.script"/>
-            <param name="call.target" value="clean"/>
-            <param name="transfer.built-clean.properties" value="${built-clean.properties}"/>
-        </antcall>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-clean.properties}"/>
-            <param location="${project.SmartDashboard}" name="call.subproject"/>
-            <param location="${project.SmartDashboard}/nbbuild.xml" name="call.script"/>
-            <param name="call.target" value="clean"/>
-            <param name="transfer.built-clean.properties" value="${built-clean.properties}"/>
-        </antcall>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-clean.properties}"/>
-            <param location="${project.WPICameraExtension}" name="call.subproject"/>
-            <param location="${project.WPICameraExtension}/build.xml" name="call.script"/>
-            <param name="call.target" value="clean"/>
-            <param name="transfer.built-clean.properties" value="${built-clean.properties}"/>
-        </antcall>
-        <antcall target="-maybe-call-dep">
-            <param name="call.built.properties" value="${built-clean.properties}"/>
-            <param location="${project.WPIJavaCV}" name="call.subproject"/>
-            <param location="${project.WPIJavaCV}/build.xml" name="call.script"/>
-            <param name="call.target" value="clean"/>
-            <param name="transfer.built-clean.properties" value="${built-clean.properties}"/>
-        </antcall>
     </target>
     <target depends="init" name="-do-clean">
         <delete dir="${build.dir}"/>
@@ -934,9 +1381,12 @@ is divided into following sections:
     <target name="-check-call-dep">
         <property file="${call.built.properties}" prefix="already.built."/>
         <condition property="should.call.dep">
-            <not>
-                <isset property="already.built.${call.subproject}"/>
-            </not>
+            <and>
+                <not>
+                    <isset property="already.built.${call.subproject}"/>
+                </not>
+                <available file="${call.script}"/>
+            </and>
         </condition>
     </target>
     <target depends="-check-call-dep" if="should.call.dep" name="-maybe-call-dep">
diff --git a/extensions/camera/SquareTracker/nbproject/genfiles.properties b/extensions/ExampleSquareTrackerExtension/nbproject/genfiles.properties
index b58eb40..b58eb40 100644
--- a/extensions/camera/SquareTracker/nbproject/genfiles.properties
+++ b/extensions/ExampleSquareTrackerExtension/nbproject/genfiles.properties
diff --git a/extensions/camera/SquareTracker/nbproject/private/config.properties b/extensions/ExampleSquareTrackerExtension/nbproject/private/config.properties
index e69de29..e69de29 100644
--- a/extensions/camera/SquareTracker/nbproject/private/config.properties
+++ b/extensions/ExampleSquareTrackerExtension/nbproject/private/config.properties
diff --git a/extensions/camera/SquareTracker/nbproject/private/private.properties b/extensions/ExampleSquareTrackerExtension/nbproject/private/private.properties
index 7b67f1f..7b67f1f 100644
--- a/extensions/camera/SquareTracker/nbproject/private/private.properties
+++ b/extensions/ExampleSquareTrackerExtension/nbproject/private/private.properties
diff --git a/extensions/camera/SquareTracker/nbproject/private/private.xml b/extensions/ExampleSquareTrackerExtension/nbproject/private/private.xml
index cc2c0e5..cc2c0e5 100644
--- a/extensions/camera/SquareTracker/nbproject/private/private.xml
+++ b/extensions/ExampleSquareTrackerExtension/nbproject/private/private.xml
diff --git a/extensions/camera/SquareTracker/nbproject/project.properties b/extensions/ExampleSquareTrackerExtension/nbproject/project.properties
index c9b6617..59422cf 100644
--- a/extensions/camera/SquareTracker/nbproject/project.properties
+++ b/extensions/ExampleSquareTrackerExtension/nbproject/project.properties
@@ -2,7 +2,7 @@ annotation.processing.enabled=true
 annotation.processing.enabled.in.editor=false
 annotation.processing.run.all.processors=true
 annotation.processing.source.output=${build.generated.sources.dir}/ap-source-output
-application.title=SquareTrackerExtension
+application.title=ExampleSquareTrackerExtension
 application.vendor=Greg
 build.classes.dir=${build.dir}/classes
 build.classes.excludes=**/*.java,**/*.form
@@ -22,20 +22,24 @@ debug.test.classpath=\
     ${run.test.classpath}
 # This directory is removed when the project is cleaned:
 dist.dir=dist
-dist.jar=${dist.dir}/SquareTrackerExtension.jar
+dist.jar=${dist.dir}/ExampleSquareTrackerExtension.jar
 dist.javadoc.dir=${dist.dir}/javadoc
 endorsed.classpath=
 excludes=
-file.reference.javacpp.jar=../../../WPIJavaCV/lib/javacpp.jar
-file.reference.javacv-windows-x86.jar=../../../WPIJavaCV/lib/javacv-windows-x86.jar
-file.reference.javacv.jar=../../../WPIJavaCV/lib/javacv.jar
+file.reference.javacpp.jar=lib/javacpp.jar
+file.reference.javacv-windows-x86.jar=lib/javacv-windows-x86.jar
+file.reference.javacv.jar=lib/javacv.jar
+file.reference.NetworkTable_Client.jar=lib/NetworkTable_Client.jar
+file.reference.SmartDashboard.jar=lib/SmartDashboard.jar
+file.reference.WPIJavaCVVideoExtension.jar=lib/WPIJavaCVVideoExtension.jar
+file.reference.WPIJavaCV.jar=lib/WPIJavaCV.jar
 includes=**
 jar.compress=false
 javac.classpath=\
-    ${reference.WPIJavaCV.jar}:\
-    ${reference.WPICameraExtension.jar}:\
-    ${reference.SmartDashboard.jar}:\
-    ${reference.NetworkTable_Client.jar}:\
+    ${file.reference.WPIJavaCV.jar}:\
+    ${file.reference.WPIJavaCVVideoExtension.jar}:\
+    ${file.reference.SmartDashboard.jar}:\
+    ${file.reference.NetworkTable_Client.jar}:\
     ${file.reference.javacpp.jar}:\
     ${file.reference.javacv-windows-x86.jar}:\
     ${file.reference.javacv.jar}
@@ -68,14 +72,6 @@ main.class=squaretrackerextension.Main
 manifest.file=manifest.mf
 meta.inf.dir=${src.dir}/META-INF
 platform.active=default_platform
-project.NetworkTable_Client=../../../NetworkTable/Client/Java/trunk
-project.SmartDashboard=../../../smartdashboard
-project.WPICameraExtension=../WPICameraExtension
-project.WPIJavaCV=../../../WPIJavaCV
-reference.NetworkTable_Client.jar=${project.NetworkTable_Client}/dist/NetworkTable_Client.jar
-reference.SmartDashboard.jar=${project.SmartDashboard}/dist/SmartDashboard.jar
-reference.WPICameraExtension.jar=${project.WPICameraExtension}/dist/WPICameraExtension.jar
-reference.WPIJavaCV.jar=${project.WPIJavaCV}/dist/WPIJavaCV.jar
 run.classpath=\
     ${javac.classpath}:\
     ${build.classes.dir}
diff --git a/extensions/camera/SquareTracker/nbproject/project.xml b/extensions/ExampleSquareTrackerExtension/nbproject/project.xml
index a69eeae..ead182e 100644
--- a/extensions/camera/SquareTracker/nbproject/project.xml
+++ b/extensions/ExampleSquareTrackerExtension/nbproject/project.xml
@@ -3,7 +3,7 @@
     <type>org.netbeans.modules.java.j2seproject</type>
     <configuration>
         <data xmlns="http://www.netbeans.org/ns/j2se-project/3">
-            <name>SquareTrackerExtension</name>
+            <name>ExampleSquareTrackerExtension</name>
             <source-roots>
                 <root id="src.dir"/>
             </source-roots>
diff --git a/extensions/ExampleSquareTrackerExtension/src/edu/wpi/first/smartdashboard/extensions/squaretracker/Square.pdf b/extensions/ExampleSquareTrackerExtension/src/edu/wpi/first/smartdashboard/extensions/squaretracker/Square.pdf
new file mode 100644
index 0000000..23cb55e
--- /dev/null
+++ b/extensions/ExampleSquareTrackerExtension/src/edu/wpi/first/smartdashboard/extensions/squaretracker/Square.pdf
diff --git a/extensions/camera/SquareTracker/src/edu/wpi/first/wpilibj/examples/SquareTrackerExtension.java b/extensions/ExampleSquareTrackerExtension/src/edu/wpi/first/smartdashboard/extensions/squaretracker/SquareTrackerExtension.java
index e5886a2..a9361d3 100644
--- a/extensions/camera/SquareTracker/src/edu/wpi/first/wpilibj/examples/SquareTrackerExtension.java
+++ b/extensions/ExampleSquareTrackerExtension/src/edu/wpi/first/smartdashboard/extensions/squaretracker/SquareTrackerExtension.java
@@ -1,6 +1,6 @@
-package edu.wpi.first.wpilibj.examples;
+package edu.wpi.first.smartdashboard.extensions.squaretracker;
 
-import edu.wpi.first.smartdashboard.camera.WPILaptopCameraExtension;
+import edu.wpi.first.smartdashboard.extensions.wpijavacvvideo.LaptopCameraExtension;
 import edu.wpi.first.smartdashboard.robot.Robot;
 import edu.wpi.first.wpijavacv.WPIBinaryImage;
 import edu.wpi.first.wpijavacv.WPIColor;
@@ -16,9 +16,10 @@ import java.util.ArrayList;
  *
  * @author Greg Granito
  */
-public class SquareTrackerExtension extends WPILaptopCameraExtension {
+public class SquareTrackerExtension extends LaptopCameraExtension {
     public static final String NAME = "Laptop Camera Square Tracker";
 
+    /* Uses the table to send information from the DS to the robot */
     NetworkTable table = NetworkTable.getTable("camera");
     WPIColor targetColor = new WPIColor(255, 0, 0);
 
@@ -64,9 +65,9 @@ public class SquareTrackerExtension extends WPILaptopCameraExtension {
                 if(p == q) continue;
 
                int pCenterX = (p.getX() + (p.getWidth()/2));
-               
+
                int qCenterX = q.getX() + (q.getWidth()/2);
-               
+
                int pCenterY = (p.getY() + (p.getHeight()/2));
 
                int qCenterY = q.getY() + (q.getHeight()/2);
@@ -93,9 +94,9 @@ public class SquareTrackerExtension extends WPILaptopCameraExtension {
         if(square != null){
             double x = square.getX() + (square.getWidth()/2);
             x = (2 * (x/rawImage.getWidth())) - 1;
-            
+
             double area = ((double)squareArea) /  ((double)(rawImage.getWidth() * rawImage.getHeight()));
-            
+
             synchronized(table) {
             table.beginTransaction();
                 table.putBoolean("found", true);
diff --git a/extensions/camera/SquareTracker/build.xml b/extensions/WPIJavaCVVideoExtension/build.xml
index 90c2964..27d6203 100644
--- a/extensions/camera/SquareTracker/build.xml
+++ b/extensions/WPIJavaCVVideoExtension/build.xml
@@ -7,8 +7,8 @@
 <!-- the Compile on Save feature is turned off for the project. -->
 <!-- You can turn off the Compile on Save (or Deploy on Save) setting -->
 <!-- in the project's Project Properties dialog box.-->
-<project name="SquareTrackerExtension" default="default" basedir=".">
-    <description>Builds, tests, and runs the project SquareTrackerExtension.</description>
+<project name="WPIJavaCVVideoExtension" default="default" basedir=".">
+    <description>Builds, tests, and runs the project WPIJavaCVVideoExtension.</description>
     <import file="nbproject/build-impl.xml"/>
     <!--
 
@@ -59,7 +59,7 @@
 
     An example of overriding the target for project execution could look like this:
 
-        <target name="run" depends="SquareTrackerExtension-impl.jar">
+        <target name="run" depends="WPIJavaCVVideoExtension-impl.jar">
             <exec dir="bin" executable="launcher.exe">
                 <arg file="${dist.jar}"/>
             </exec>
diff --git a/extensions/WPIJavaCVVideoExtension/lib/SmartDashboard.jar b/extensions/WPIJavaCVVideoExtension/lib/SmartDashboard.jar
new file mode 120000
index 0000000..5e4bb39
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/lib/SmartDashboard.jar
@@ -0,0 +1 @@
+../../../../wpilib/tools/SmartDashboard.jar
+\ No newline at end of file
diff --git a/extensions/WPIJavaCVVideoExtension/lib/WPIJavaCV.jar b/extensions/WPIJavaCVVideoExtension/lib/WPIJavaCV.jar
new file mode 120000
index 0000000..8e0d6df
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/lib/WPIJavaCV.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/dist/WPIJavaCV.jar
+\ No newline at end of file
diff --git a/extensions/WPIJavaCVVideoExtension/lib/javacpp.jar b/extensions/WPIJavaCVVideoExtension/lib/javacpp.jar
new file mode 120000
index 0000000..b13cc4d
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/lib/javacpp.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/lib/javacpp.jar
+\ No newline at end of file
diff --git a/extensions/WPIJavaCVVideoExtension/lib/javacv-windows-x86.jar b/extensions/WPIJavaCVVideoExtension/lib/javacv-windows-x86.jar
new file mode 120000
index 0000000..438dd95
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/lib/javacv-windows-x86.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/lib/javacv-windows-x86.jar
+\ No newline at end of file
diff --git a/extensions/WPIJavaCVVideoExtension/lib/javacv.jar b/extensions/WPIJavaCVVideoExtension/lib/javacv.jar
new file mode 120000
index 0000000..06ad26d
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/lib/javacv.jar
@@ -0,0 +1 @@
+../../../WPIJavaCV/lib/javacv.jar
+\ No newline at end of file
diff --git a/extensions/camera/WPICameraExtension/manifest.mf b/extensions/WPIJavaCVVideoExtension/manifest.mf
index 1574df4..1574df4 100644
--- a/extensions/camera/WPICameraExtension/manifest.mf
+++ b/extensions/WPIJavaCVVideoExtension/manifest.mf
diff --git a/extensions/camera/WPICameraExtension/nbproject/build-impl.xml b/extensions/WPIJavaCVVideoExtension/nbproject/build-impl.xml
index ea6d3b7..e46d053 100644
--- a/extensions/camera/WPICameraExtension/nbproject/build-impl.xml
+++ b/extensions/WPIJavaCVVideoExtension/nbproject/build-impl.xml
@@ -19,7 +19,7 @@ is divided into following sections:
   - cleanup
 
         -->
-<project xmlns:j2seproject1="http://www.netbeans.org/ns/j2se-project/1" xmlns:j2seproject3="http://www.netbeans.org/ns/j2se-project/3" xmlns:jaxrpc="http://www.netbeans.org/ns/j2se-project/jax-rpc" basedir=".." default="default" name="WPICameraExtension-impl">
+<project xmlns:j2seproject1="http://www.netbeans.org/ns/j2se-project/1" xmlns:j2seproject3="http://www.netbeans.org/ns/j2se-project/3" xmlns:jaxrpc="http://www.netbeans.org/ns/j2se-project/jax-rpc" basedir=".." default="default" name="WPIJavaCVVideoExtension-impl">
     <fail message="Please build using Ant 1.8.0 or higher.">
         <condition>
             <not>
@@ -438,7 +438,7 @@ is divided into following sections:
                     </fileset>
                 </union>
                 <taskdef classname="org.testng.TestNGAntTask" classpath="${run.test.classpath}" name="testng"/>
-                <testng classfilesetref="test.set" failureProperty="tests.failed" methods="${testng.methods.arg}" mode="${testng.mode}" outputdir="${build.test.results.dir}" suitename="WPICameraExtension" testname="TestNG tests" workingDir="${work.dir}">
+                <testng classfilesetref="test.set" failureProperty="tests.failed" methods="${testng.methods.arg}" mode="${testng.mode}" outputdir="${build.test.results.dir}" suitename="WPIJavaCVVideoExtension" testname="TestNG tests" workingDir="${work.dir}">
                     <xmlfileset dir="${build.test.classes.dir}" includes="@{testincludes}"/>
                     <propertyset>
                         <propertyref prefix="test-sys-prop."/>
@@ -586,7 +586,7 @@ is divided into following sections:
                 <condition else="-testclass @{testClass}" property="test.class.or.method" value="-methods @{testClass}.@{testMethod}">
                     <isset property="test.method"/>
                 </condition>
-                <condition else="-suitename WPICameraExtension -testname @{testClass} ${test.class.or.method}" property="testng.cmd.args" value="@{testClass}">
+                <condition else="-suitename WPIJavaCVVideoExtension -testname @{testClass} ${test.class.or.method}" property="testng.cmd.args" value="@{testClass}">
                     <matches pattern=".*\.xml" string="@{testClass}"/>
                 </condition>
                 <delete dir="${build.test.results.dir}" quiet="true"/>
@@ -878,7 +878,7 @@ is divided into following sections:
         <delete file="${built-jar.properties}" quiet="true"/>
     </target>
     <target if="already.built.jar.${basedir}" name="-warn-already-built-jar">
-        <echo level="warn" message="Cycle detected: WPICameraExtension was already built"/>
+        <echo level="warn" message="Cycle detected: WPIJavaCVVideoExtension was already built"/>
     </target>
     <target depends="init,-deps-jar-init" name="deps-jar" unless="no.deps">
         <mkdir dir="${build.dir}"/>
@@ -1358,7 +1358,7 @@ is divided into following sections:
         <delete file="${built-clean.properties}" quiet="true"/>
     </target>
     <target if="already.built.clean.${basedir}" name="-warn-already-built-clean">
-        <echo level="warn" message="Cycle detected: WPICameraExtension was already built"/>
+        <echo level="warn" message="Cycle detected: WPIJavaCVVideoExtension was already built"/>
     </target>
     <target depends="init,-deps-clean-init" name="deps-clean" unless="no.deps">
         <mkdir dir="${build.dir}"/>
diff --git a/extensions/camera/WPICameraExtension/nbproject/genfiles.properties b/extensions/WPIJavaCVVideoExtension/nbproject/genfiles.properties
index 35733b3..35733b3 100644
--- a/extensions/camera/WPICameraExtension/nbproject/genfiles.properties
+++ b/extensions/WPIJavaCVVideoExtension/nbproject/genfiles.properties
diff --git a/extensions/camera/WPICameraExtension/nbproject/private/config.properties b/extensions/WPIJavaCVVideoExtension/nbproject/private/config.properties
index e69de29..e69de29 100644
--- a/extensions/camera/WPICameraExtension/nbproject/private/config.properties
+++ b/extensions/WPIJavaCVVideoExtension/nbproject/private/config.properties
diff --git a/extensions/camera/WPICameraExtension/nbproject/private/private.properties b/extensions/WPIJavaCVVideoExtension/nbproject/private/private.properties
index bb21662..bb21662 100644
--- a/extensions/camera/WPICameraExtension/nbproject/private/private.properties
+++ b/extensions/WPIJavaCVVideoExtension/nbproject/private/private.properties
diff --git a/extensions/camera/WPICameraExtension/nbproject/private/private.xml b/extensions/WPIJavaCVVideoExtension/nbproject/private/private.xml
index cc2c0e5..cc2c0e5 100644
--- a/extensions/camera/WPICameraExtension/nbproject/private/private.xml
+++ b/extensions/WPIJavaCVVideoExtension/nbproject/private/private.xml
diff --git a/extensions/camera/WPICameraExtension/nbproject/project.properties b/extensions/WPIJavaCVVideoExtension/nbproject/project.properties
index 5cfab74..7459bfb 100644
--- a/extensions/camera/WPICameraExtension/nbproject/project.properties
+++ b/extensions/WPIJavaCVVideoExtension/nbproject/project.properties
@@ -3,7 +3,7 @@ annotation.processing.enabled.in.editor=false
 annotation.processing.processors.list=
 annotation.processing.run.all.processors=true
 annotation.processing.source.output=${build.generated.sources.dir}/ap-source-output
-application.title=WPICameraExtension
+application.title=WPIJavaCVVideoExtension
 application.vendor=Greg
 build.classes.dir=${build.dir}/classes
 build.classes.excludes=**/*.java,**/*.form
@@ -23,7 +23,7 @@ debug.test.classpath=\
     ${run.test.classpath}
 # This directory is removed when the project is cleaned:
 dist.dir=dist
-dist.jar=${dist.dir}/WPICameraExtension.jar
+dist.jar=${dist.dir}/WPIJavaCVVideoExtension.jar
 dist.javadoc.dir=${dist.dir}/javadoc
 endorsed.classpath=
 excludes=
diff --git a/extensions/camera/WPICameraExtension/nbproject/project.xml b/extensions/WPIJavaCVVideoExtension/nbproject/project.xml
index 41107a0..32fd950 100644
--- a/extensions/camera/WPICameraExtension/nbproject/project.xml
+++ b/extensions/WPIJavaCVVideoExtension/nbproject/project.xml
@@ -3,7 +3,7 @@
     <type>org.netbeans.modules.java.j2seproject</type>
     <configuration>
         <data xmlns="http://www.netbeans.org/ns/j2se-project/3">
-            <name>WPICameraExtension</name>
+            <name>WPIJavaCVVideoExtension</name>
             <source-roots>
                 <root id="src.dir"/>
             </source-roots>
diff --git a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/VideoStreamExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AbstractVideoExtension.java
index 6937b86..9324232 100644
--- a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/VideoStreamExtension.java
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AbstractVideoExtension.java
@@ -1,9 +1,6 @@
-/*
- * To change this template, choose Tools | Templates
- * and open the template in the editor.
- */
-package edu.wpi.first.smartdashboard.camera;
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
 
+import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
 import edu.wpi.first.smartdashboard.gui.StaticWidget;
 import edu.wpi.first.smartdashboard.properties.Property;
 import edu.wpi.first.smartdashboard.properties.StringProperty;
@@ -17,12 +14,17 @@ import java.awt.Graphics;
 import java.awt.image.BufferedImage;
 
 /**
+ * An extension that displays a video.
  *
  * @author Greg Granito
+ * @author Luke Shumaker
  */
-public class VideoStreamExtension extends StaticWidget {
+public abstract class AbstractVideoExtension extends StaticWidget {
+    public static final String NAME = null;
+    protected static final long errorBackoff = -1;
+    abstract protected Video getVideo();
+    abstract protected boolean isVideoProperty(Property property);
 
-    public static final String NAME = "Video Stream";
     private boolean connected = false;
 
     public class GCThread extends Thread {
@@ -51,35 +53,34 @@ public class VideoStreamExtension extends StaticWidget {
         boolean destroyed = false;
 
         public BGThread() {
-            super("Video Stream Background");
+            super(NAME+" Background");
         }
 
         @Override
         public void run() {
             WPIImage image;
             while (!destroyed) {
-                if (cam == null) {
-                    cam = new WPIFFmpegVideo(pathProperty.getSaveValue());
+                if (vid == null) {
+                    vid = getVideo();
                 }
                 try {
-                    image = cam.getNewImage(5.0);
+                    image = vid.getImage();
 
                     if (image instanceof WPIColorImage) {
                         drawnImage = processImage((WPIColorImage) image).getBufferedImage();
-                        repaint();
-
                     } else if (image instanceof WPIGrayscaleImage) {
                         drawnImage = processImage((WPIGrayscaleImage) image).getBufferedImage();
-                        repaint();
                     }
+
+                    repaint();
                 } catch (final Exception e) {
                     e.printStackTrace();
-                    cam.dispose();
-                    cam = null;
+                    vid.dispose();
+                    vid = null;
                     drawnImage = null;
                     repaint();
                     try {
-                        Thread.sleep(2000);
+                        Thread.sleep(errorBackoff);
                     } catch (InterruptedException ex) {
                     }
                 }
@@ -93,11 +94,10 @@ public class VideoStreamExtension extends StaticWidget {
         }
     }
     private boolean resized = false;
-    private WPIFFmpegVideo cam;
+    private Video vid;
     private BufferedImage drawnImage;
     private BGThread bgThread = new BGThread();
     private GCThread gcThread = new GCThread();
-    public final StringProperty pathProperty = new StringProperty(this, "Video Path", "http://localhost:8080/something");
 
     @Override
     public void init() {
@@ -110,12 +110,12 @@ public class VideoStreamExtension extends StaticWidget {
 
     @Override
     public void propertyChanged(Property property) {
-        if (property == pathProperty) {
-            if (cam != null) {
-                cam.dispose();
+        if (isVideoProperty(property)) {
+            if (vid != null) {
+                vid.dispose();
             }
             try {
-                cam = new WPIFFmpegVideo(pathProperty.getSaveValue());
+                vid = getVideo();
             } catch (Exception e) {
                 e.printStackTrace();
                 drawnImage = null;
@@ -131,7 +131,7 @@ public class VideoStreamExtension extends StaticWidget {
     public void disconnect() {
         bgThread.destroy();
         gcThread.destroy();
-        if(cam != null) cam.dispose();
+        if(vid != null) vid.dispose();
         super.disconnect();
     }
 
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AxisCameraExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AxisCameraExtension.java
new file mode 100644
index 0000000..6851dfc
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/AxisCameraExtension.java
@@ -0,0 +1,51 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
+import edu.wpi.first.smartdashboard.properties.IPAddressProperty;
+import edu.wpi.first.smartdashboard.properties.Property;
+import edu.wpi.first.wpijavacv.WPICamera;
+import edu.wpi.first.wpijavacv.WPIImage;
+
+/**
+ * Exactly like VideoURLExtension, except it forces the Stream URL
+ * to be of the form "http://${IP_address}/mjpg/video.mjpg" and only
+ * lets the user configure the IP address.
+ *
+ * @author Greg Granito
+ */
+public class AxisCameraExtension extends AbstractVideoExtension {
+    public static final String NAME = "Axis Camera";
+    protected static final long errorBackoff = 2000;
+
+    @Override
+    protected Video getVideo() {
+	return new Camera(new WPICamera(ipProperty.getSaveValue()), 5.0);
+    }
+
+    @Override
+    protected boolean isVideoProperty(Property property) {
+	return property == ipProperty;
+    }
+
+    public final IPAddressProperty ipProperty = new IPAddressProperty(this, "Axis Camera IP Address", defaultIPaddress());
+
+    private final int[] defaultIPaddress() {
+        final int team = DashboardPrefs.getInstance().team.getValue();
+        return new int[]{10, team / 100, team % 100, 11};
+    }
+    
+    public class Camera implements Video {
+	private final WPICamera vid;
+	private final double timeout;
+	public Camera(WPICamera vid, double timeout){
+	    this.vid = vid;
+	    this.timeout = timeout;
+	}
+	public WPIImage getImage() throws Exception {
+	    return vid.getNewImage(timeout);
+	}
+	public void dispose() {
+	    vid.dispose();
+	}
+    }
+}
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/LaptopCameraExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/LaptopCameraExtension.java
new file mode 100644
index 0000000..03fa943
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/LaptopCameraExtension.java
@@ -0,0 +1,39 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.smartdashboard.properties.Property;
+import edu.wpi.first.wpijavacv.WPIImage;
+import edu.wpi.first.wpijavacv.WPILaptopCamera;
+
+/**
+ * An extension that displays the laptop built-in camera.
+ *
+ * @author Greg Granito
+ * @author Luke Shumaker
+ */
+public class LaptopCameraExtension extends AbstractVideoExtension {
+    public static final String NAME = "Laptop Camera";
+    protected static final long errorBackoff = 500;
+
+    @Override
+    protected Video getVideo() {
+        return new Camera(new WPILaptopCamera());
+    }
+
+    @Override
+    protected boolean isVideoProperty(Property property) {
+        return false;
+    }
+
+    public class Camera implements Video {
+	private final WPILaptopCamera vid;
+	public Camera(WPILaptopCamera vid){
+	    this.vid = vid;
+	}
+	public WPIImage getImage() {
+	    return vid.getCurrentFrame();
+	}
+        public void dispose() {
+            vid.dispose();
+        }
+    }
+}
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/Video.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/Video.java
new file mode 100644
index 0000000..8187701
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/Video.java
@@ -0,0 +1,13 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.wpijavacv.WPIImage;
+
+/**
+ * The basics of what you need out of a video source.
+ *
+ * @author Luke Shumaker
+ */
+public interface Video {
+	public WPIImage getImage() throws Exception;
+	public void dispose();
+}
diff --git a/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/VideoURLExtension.java b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/VideoURLExtension.java
new file mode 100644
index 0000000..bbe4d6b
--- /dev/null
+++ b/extensions/WPIJavaCVVideoExtension/src/edu/wpi/first/smartdashboard/extensions/wpijavacvvideo/VideoURLExtension.java
@@ -0,0 +1,50 @@
+package edu.wpi.first.smartdashboard.extensions.wpijavacvvideo;
+
+import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
+import edu.wpi.first.smartdashboard.properties.Property;
+import edu.wpi.first.smartdashboard.properties.StringProperty;
+import edu.wpi.first.wpijavacv.WPIFFmpegVideo;
+import edu.wpi.first.wpijavacv.WPIImage;
+
+/**
+ * An extension that takes a video stream URL and displays the video.
+ *
+ * @author Greg Granito
+ * @author Luke Shumaker
+ */
+public class VideoURLExtension extends AbstractVideoExtension {
+    public static final String NAME = "Video URL Stream";
+    protected static final long errorBackoff = 2000;
+    
+    @Override
+    protected Video getVideo() {
+	return new Camera(new WPIFFmpegVideo(pathProperty.getSaveValue()), 5.0);
+    }
+
+    @Override
+    protected boolean isVideoProperty(Property property) {
+	return property == pathProperty;
+    }
+
+    public final StringProperty pathProperty = new StringProperty(this, "Video Path", defaultVideoPath());
+
+    private static String defaultVideoPath() {
+        final int team = DashboardPrefs.getInstance().team.getValue();
+        return "http://10." + (team / 100) + "." + (team % 100) + ".11/mjpg/video.mjpg";
+    }
+    
+    public class Camera implements Video {
+	private final WPIFFmpegVideo vid;
+	private final double timeout;
+	public Camera(WPIFFmpegVideo vid, double timeout){
+	    this.vid = vid;
+	    this.timeout = timeout;
+	}
+	public WPIImage getImage() throws Exception {
+	    return vid.getNewImage(timeout);
+	}
+	public void dispose() {
+	    vid.dispose();
+	}
+    }
+}
diff --git a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/VideoStreamViewerExtension.java b/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/VideoStreamViewerExtension.java
deleted file mode 100644
index 86f55cc..0000000
--- a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/VideoStreamViewerExtension.java
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- * To change this template, choose Tools | Templates
- * and open the template in the editor.
- */
-package edu.wpi.first.smartdashboard.camera;
-
-import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
-import edu.wpi.first.smartdashboard.gui.StaticWidget;
-import edu.wpi.first.smartdashboard.properties.Property;
-import edu.wpi.first.smartdashboard.properties.StringProperty;
-import edu.wpi.first.wpijavacv.WPIColorImage;
-import edu.wpi.first.wpijavacv.WPIFFmpegVideo;
-import edu.wpi.first.wpijavacv.WPIGrayscaleImage;
-import edu.wpi.first.wpijavacv.WPIImage;
-import java.awt.Color;
-import java.awt.Dimension;
-import java.awt.Graphics;
-import java.awt.image.BufferedImage;
-
-/**
- *
- * @author Greg Granito
- */
-public class VideoStreamViewerExtension extends StaticWidget {
-
-    public static final String NAME = "Video Stream Viewer";
-    private boolean connected = false;
-
-    public class BGThread extends Thread {
-
-        boolean destroyed = false;
-
-        public BGThread() {
-            super("Video Stream Background");
-        }
-
-        @Override
-        public void run() {
-            WPIImage image;
-            while (!destroyed) {
-                if (cam == null) {
-                    cam = new WPIFFmpegVideoViewer(pathProperty.getSaveValue());
-                }
-                try {
-                    drawnImage = cam.getNewImage(5.0);
-                    repaint();
-
-                } catch (final Exception e) {
-                    e.printStackTrace();
-                    cam.dispose();
-                    cam = null;
-                    drawnImage = null;
-                    repaint();
-                    try {
-                        Thread.sleep(2000);
-                    } catch (InterruptedException ex) {
-                    }
-                }
-            }
-
-        }
-
-        @Override
-        public void destroy() {
-            destroyed = true;
-        }
-    }
-    private boolean resized = false;
-    private WPIFFmpegVideoViewer cam;
-    private BufferedImage drawnImage;
-    private BGThread bgThread = new BGThread();
-    private final int team = DashboardPrefs.getInstance().team.getValue();
-    public final StringProperty pathProperty = new StringProperty(this, "Video Path", "http://10." + (team / 100) + "." + (team % 100) + ".11/mjpg/video.mjpg");
-
-    @Override
-    public void init() {
-        setPreferredSize(new Dimension(100, 100));
-        bgThread.start();
-        revalidate();
-        repaint();
-    }
-
-    @Override
-    public void propertyChanged(Property property) {
-        if (property == pathProperty) {
-            if (cam != null) {
-                cam.dispose();
-            }
-            try {
-                cam = new WPIFFmpegVideoViewer(pathProperty.getSaveValue());
-            } catch (Exception e) {
-                e.printStackTrace();
-                drawnImage = null;
-                setPreferredSize(new Dimension(100, 100));
-                revalidate();
-                repaint();
-            }
-        }
-
-    }
-
-    @Override
-    public void disconnect() {
-        bgThread.destroy();
-        if(cam != null) cam.dispose();
-        super.disconnect();
-    }
-
-    @Override
-    protected void paintComponent(Graphics g) {
-        if (drawnImage != null) {
-            if (!resized) {
-                setPreferredSize(new Dimension(drawnImage.getWidth(), drawnImage.getHeight()));
-                revalidate();
-            }
-            int width = getBounds().width;
-            int height = getBounds().height;
-            double scale = Math.min((double) width / (double) drawnImage.getWidth(), (double) height / (double) drawnImage.getHeight());
-            g.drawImage(drawnImage, (int) (width - (scale * drawnImage.getWidth())) / 2, (int) (height - (scale * drawnImage.getHeight())) / 2,
-                    (int) ((width + scale * drawnImage.getWidth()) / 2), (int) (height + scale * drawnImage.getHeight()) / 2,
-                    0, 0, drawnImage.getWidth(), drawnImage.getHeight(), null);
-        } else {
-            g.setColor(Color.PINK);
-            g.fillRect(0, 0, getBounds().width, getBounds().height);
-            g.setColor(Color.BLACK);
-            g.drawString("NO CONNECTION", 10, 10);
-        }
-    }
-}
diff --git a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPICameraExtension.java b/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPICameraExtension.java
deleted file mode 100644
index d10d633..0000000
--- a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPICameraExtension.java
+++ /dev/null
@@ -1,169 +0,0 @@
-/*
- * To change this template, choose Tools | Templates
- * and open the template in the editor.
- */
-package edu.wpi.first.smartdashboard.camera;
-
-import edu.wpi.first.smartdashboard.gui.DashboardFrame;
-import edu.wpi.first.smartdashboard.gui.DashboardPrefs;
-import edu.wpi.first.smartdashboard.gui.StaticWidget;
-import edu.wpi.first.smartdashboard.properties.IPAddressProperty;
-import edu.wpi.first.smartdashboard.properties.Property;
-import java.awt.Color;
-import java.awt.Dimension;
-import java.awt.Graphics;
-import java.awt.image.BufferedImage;
-import javax.swing.SwingUtilities;
-import edu.wpi.first.wpijavacv.WPICamera;
-import edu.wpi.first.wpijavacv.WPIColorImage;
-import edu.wpi.first.wpijavacv.WPIGrayscaleImage;
-import edu.wpi.first.wpijavacv.WPIImage;
-
-/**
- *
- * @author Greg Granito
- */
-public class WPICameraExtension extends StaticWidget {
-
-    public static final String NAME = "Camera";
-    private boolean connected = false;
-
-    public class GCThread extends Thread {
-
-        boolean destroyed = false;
-
-        @Override
-        public void run() {
-            while (!destroyed) {
-                try {
-                    Thread.sleep(10000);
-                } catch (InterruptedException ex) {
-                }
-                System.gc();
-            }
-        }
-
-        public void destroy() {
-            destroyed = true;
-            interrupt();
-        }
-    }
-
-    public class BGThread extends Thread {
-
-        boolean destroyed = false;
-
-        public BGThread() {
-            super("Camera Background");
-        }
-
-        @Override
-        public void run() {
-            WPIImage image;
-            while (!destroyed) {
-                if (cam == null) {
-                    cam = new WPICamera(ipProperty.getSaveValue());
-                }
-                try {
-                    image = cam.getNewImage(5.0);
-
-                    if (image instanceof WPIColorImage) {
-                        drawnImage = processImage((WPIColorImage) image).getBufferedImage();
-                        repaint();
-
-                    } else if (image instanceof WPIGrayscaleImage) {
-                        drawnImage = processImage((WPIGrayscaleImage) image).getBufferedImage();
-                        repaint();
-                    }
-                } catch (final Exception e) {
-                    e.printStackTrace();
-                    cam.dispose();
-                    cam = null;
-                    drawnImage = null;
-                    repaint();
-                    try {
-                        Thread.sleep(2000);
-                    } catch (InterruptedException ex) {
-                    }
-                }
-            }
-
-        }
-
-        @Override
-        public void destroy() {
-            destroyed = true;
-        }
-    }
-    private boolean resized = false;
-    private WPICamera cam;
-    private BufferedImage drawnImage;
-    private BGThread bgThread = new BGThread();
-    private GCThread gcThread = new GCThread();
-    public final IPAddressProperty ipProperty = new IPAddressProperty(this, "Camera IP Address", new int[]{10, (DashboardPrefs.getInstance().team.getValue() / 100), (DashboardPrefs.getInstance().team.getValue() % 100), 11});
-
-    @Override
-    public void init() {
-        setPreferredSize(new Dimension(100, 100));
-        bgThread.start();
-        gcThread.start();
-        revalidate();
-        repaint();
-    }
-
-    @Override
-    public void propertyChanged(Property property) {
-        if (property == ipProperty) {
-            if (cam != null) {
-                cam.dispose();
-            }
-            try {
-                cam = new WPICamera(ipProperty.getSaveValue());
-            } catch (Exception e) {
-                e.printStackTrace();
-                drawnImage = null;
-                setPreferredSize(new Dimension(100, 100));
-                revalidate();
-                repaint();
-            }
-        }
-
-    }
-
-    @Override
-    public void disconnect() {
-        bgThread.destroy();
-        gcThread.destroy();
-        if(cam != null) cam.dispose();
-        super.disconnect();
-    }
-
-    @Override
-    protected void paintComponent(Graphics g) {
-        if (drawnImage != null) {
-            if (!resized) {
-                setPreferredSize(new Dimension(drawnImage.getWidth(), drawnImage.getHeight()));
-                revalidate();
-            }
-            int width = getBounds().width;
-            int height = getBounds().height;
-            double scale = Math.min((double) width / (double) drawnImage.getWidth(), (double) height / (double) drawnImage.getHeight());
-            g.drawImage(drawnImage, (int) (width - (scale * drawnImage.getWidth())) / 2, (int) (height - (scale * drawnImage.getHeight())) / 2,
-                    (int) ((width + scale * drawnImage.getWidth()) / 2), (int) (height + scale * drawnImage.getHeight()) / 2,
-                    0, 0, drawnImage.getWidth(), drawnImage.getHeight(), null);
-        } else {
-            g.setColor(Color.PINK);
-            g.fillRect(0, 0, getBounds().width, getBounds().height);
-            g.setColor(Color.BLACK);
-            g.drawString("NO CONNECTION", 10, 10);
-        }
-    }
-
-    public WPIImage processImage(WPIColorImage rawImage) {
-        return rawImage;
-    }
-
-    public WPIImage processImage(WPIGrayscaleImage rawImage) {
-        return rawImage;
-    }
-}
diff --git a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPIFFmpegVideoViewer.java b/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPIFFmpegVideoViewer.java
deleted file mode 100644
index b8a149d..0000000
--- a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPIFFmpegVideoViewer.java
+++ /dev/null
@@ -1,133 +0,0 @@
-package edu.wpi.first.smartdashboard.camera;
-
-import com.googlecode.javacv.FFmpegFrameGrabber;
-import static com.googlecode.javacv.cpp.opencv_core.*;
-import com.googlecode.javacv.cpp.opencv_core.IplImage;
-import edu.wpi.first.wpijavacv.WPIDisposable;
-import edu.wpi.first.wpijavacv.WPIImage;
-import java.awt.image.BufferedImage;
-
-/**
- * A class used to gather images from the robot's camera.
- * @author Joe Grinstead and Greg Granito
- */
-public class WPIFFmpegVideoViewer extends WPIDisposable {
-
-    private FFmpegFrameGrabber grabber;
-    private IplImage image;
-    private boolean readImage = true;
-    private boolean badConnection = false;
-    private final Object imageLock = new Object();
-    private final Object grabberLock = new Object();
-
-    public WPIFFmpegVideoViewer(final String path) {
-        new Thread() {
-
-            @Override
-            public void run() {
-                grabber = new FFmpegFrameGrabber(path);
-		grabber.setFrameRate(1.0);
-                try {
-                    grabber.start();
-
-                    while (!isDisposed()) {
-                        try {
-                            IplImage newest;
-                            synchronized (grabberLock) {
-                                if (isDisposed()) {
-                                    return;
-                                }
-                                newest = grabber.grab();
-                            }
-                            if (isNull(newest)) {
-                                synchronized (imageLock) {
-                                    badConnection = true;
-                                    imageLock.notify();
-                                }
-                                return;
-                            } else {
-                                synchronized (imageLock) {
-                                    if (image == null) {
-                                        image = cvCreateImage(newest.cvSize(), newest.depth(), newest.nChannels());
-                                    }
-                                    cvCopy(newest, image);
-                                    readImage = false;
-                                    badConnection = false;
-                                    imageLock.notify();
-                                }
-                            }
-                        } catch (Exception ex) {
-                            synchronized (imageLock) {
-                                badConnection = true;
-                                imageLock.notify();
-                            }
-                            ex.printStackTrace();
-                            return;
-                        }
-                        try {
-                            Thread.sleep(20);
-                        } catch (InterruptedException ex) {
-                        }
-                    }
-                } catch (Exception ex) {
-                    synchronized (imageLock) {
-                        badConnection = true;
-                        imageLock.notify();
-                    }
-                    ex.printStackTrace();
-                }
-            }
-        }.start();
-    }
-    
-    public BufferedImage getNewImage(double timeout) throws BadConnectionException {
-        validateDisposed();
-
-        synchronized (imageLock) {
-            readImage = true;
-            while (readImage && !badConnection) {
-                try {
-                    badConnection = true;
-                    imageLock.wait((long) (timeout * 1000));
-                } catch (InterruptedException ex) {
-                }
-            }
-            readImage = true;
-            
-            
-            if (badConnection) {
-                throw new BadConnectionException();
-            } else if (image == null) {
-                return null;
-            } else {
-                return image.getBufferedImage();
-            }
-        }
-    }
-
-    @Override
-    protected void disposed() {
-        try {
-            synchronized (imageLock) {
-                if (!isNull(image)) {
-                    image.release();
-                }
-                image = null;
-            }
-        } catch (Exception ex) {
-        }
-    }
-
-    /**
-     * An exception that occurs when the camera can not be reached.
-     * @author Greg Granito
-     */
-    public static class BadConnectionException extends Exception {
-    }
-
-    @Override
-    protected void finalize() throws Throwable {
-        grabber.stop();
-        super.finalize();
-    }
-}
diff --git a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPILaptopCameraExtension.java b/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPILaptopCameraExtension.java
deleted file mode 100644
index 32e17cc..0000000
--- a/extensions/camera/WPICameraExtension/src/edu/wpi/first/smartdashboard/camera/WPILaptopCameraExtension.java
+++ /dev/null
@@ -1,148 +0,0 @@
-/*
- * To change this template, choose Tools | Templates
- * and open the template in the editor.
- */
-package edu.wpi.first.smartdashboard.camera;
-
-import edu.wpi.first.smartdashboard.gui.DashboardFrame;
-import edu.wpi.first.smartdashboard.gui.StaticWidget;
-import edu.wpi.first.smartdashboard.properties.Property;
-import java.awt.Color;
-import java.awt.Dimension;
-import java.awt.Graphics;
-import java.awt.image.BufferedImage;
-import javax.swing.SwingUtilities;
-import edu.wpi.first.wpijavacv.WPIColorImage;
-import edu.wpi.first.wpijavacv.WPIGrayscaleImage;
-import edu.wpi.first.wpijavacv.WPIImage;
-import edu.wpi.first.wpijavacv.WPILaptopCamera;
-
-/**
- * An extension that gets images from a webcam on the computer.
- * @author Greg Granito
- */
-public class WPILaptopCameraExtension extends StaticWidget {
-
-    public static final String NAME = "Laptop Camera";
-    private boolean connected = false;
-
-    public class GCThread extends Thread {
-
-        boolean destroyed = false;
-
-        @Override
-        public void run() {
-            while (!destroyed) {
-                try {
-                    Thread.sleep(10000);
-                } catch (InterruptedException ex) {
-                }
-                System.gc();
-            }
-        }
-
-        public void destroy() {
-            destroyed = true;
-            interrupt();
-        }
-    }
-
-    public class BGThread extends Thread {
-
-        boolean destroyed = false;
-
-        public BGThread() {
-            super("Camera Background");
-        }
-
-        @Override
-        public void run() {
-            WPIImage image;
-            while (!destroyed) {
-                if (cam == null) {
-                    cam = new WPILaptopCamera();
-                }
-                try {
-                    image = cam.getCurrentFrame();
-
-                    if (image instanceof WPIColorImage) {
-                        drawnImage = processImage((WPIColorImage) image).getBufferedImage();
-                        repaint();
-                    } else if (image instanceof WPIGrayscaleImage) {
-                        drawnImage = processImage((WPIGrayscaleImage) image).getBufferedImage();
-                        repaint();
-                    }
-                } catch (final Exception e) {
-                    drawnImage = null;
-                    repaint();
-                    try {
-                        Thread.sleep(500);
-                    } catch (InterruptedException ex) {
-                    }
-                }
-            }
-
-        }
-
-        @Override
-        public void destroy() {
-            destroyed = true;
-        }
-    }
-    private boolean resized = false;
-    private WPILaptopCamera cam;
-    private BufferedImage drawnImage;
-    private BGThread bgThread = new BGThread();
-    private GCThread gcThread = new GCThread();
-  
-    @Override
-    public void init() {
-        setPreferredSize(new Dimension(100, 100));
-        bgThread.start();
-        gcThread.start();
-        revalidate();
-        repaint();
-    }
-
-    @Override
-    public void propertyChanged(Property property) {
-
-    }
-
-    @Override
-    public void disconnect() {
-        bgThread.destroy();
-        gcThread.destroy();
-        cam.dispose();
-        super.disconnect();
-    }
-
-    @Override
-    protected void paintComponent(Graphics g) {
-        if (drawnImage != null) {
-            if (!resized) {
-                setPreferredSize(new Dimension(drawnImage.getWidth(), drawnImage.getHeight()));
-                revalidate();
-            }
-            int width = getBounds().width;
-            int height = getBounds().height;
-            double scale = Math.min((double) width / (double) drawnImage.getWidth(), (double) height / (double) drawnImage.getHeight());
-            g.drawImage(drawnImage, (int) (width - (scale * drawnImage.getWidth())) / 2, (int) (height - (scale * drawnImage.getHeight())) / 2,
-                    (int) ((width + scale * drawnImage.getWidth()) / 2), (int) (height + scale * drawnImage.getHeight()) / 2,
-                    0, 0, drawnImage.getWidth(), drawnImage.getHeight(), null);
-        } else {
-            g.setColor(Color.PINK);
-            g.fillRect(0, 0, getBounds().width, getBounds().height);
-            g.setColor(Color.BLACK);
-            g.drawString("NO CONNECTION", 10, 10);
-        }
-    }
-
-    public WPIImage processImage(WPIColorImage rawImage) {
-        return rawImage;
-    }
-
-    public WPIImage processImage(WPIGrayscaleImage rawImage) {
-        return rawImage;
-    }
-}
author	Luke Shumaker <lukeshu@sbcglobal.net>	2016-03-09 05:39:28 -0500
committer	Luke Shumaker <lukeshu@sbcglobal.net>	2016-03-09 05:39:28 -0500
commit	42ff123fea0f9fb8ed0c40ce2c3e21b64ff4bbf0 (patch)
tree	7a3f3dcba9552aad91e627ed1e47ff93e6e616dd
parent	51eefb8b38bd5aa13f7940368317c481dfe7dde4 (diff)