Update to use ntcore and new Preferences.

This significantly upgrades the Preferences GUI to:
- Show type information
- Allow editing of all data types including arrays
- Implement "real" deletion
- Support local saves and loads

Change-Id: Ic43281de9c1aea52e65d173328a8b10ec4f61259

10 files changed, 539 insertions, 126 deletions

diff --git a/smartdashboard/build.gradle b/smartdashboard/build.gradle
index c85fee5..b1fcaf6 100644
--- a/smartdashboard/build.gradle
+++ b/smartdashboard/build.gradle
@@ -1,53 +1,59 @@
 apply plugin: 'java'
-apply plugin: 'maven-publish'
 apply plugin: 'application'
+apply plugin: 'com.github.johnrengelman.shadow'
+apply plugin: 'maven-publish'
 
-mainClassName = "edu.wpi.first.smartdashboard.main"
-
-sourceSets {
-    main {
-        java.srcDir "src/"
+buildscript {
+    repositories { jcenter() }
+    dependencies {
+        classpath 'com.github.jengelman.gradle.plugins:shadow:1.2.1'
     }
 }
 
-dependencies {
-    compile 'edu.wpi.first.wpilib.networktables.java:NetworkTables:0.1.0-SNAPSHOT'
-    compile 'junit:junit:4.12'
-    compile 'jcommon:jcommon:0.9.5'
-    compile 'jfreechart:jfreechart:1.0.0'
+if (!hasProperty('repo')) {
+    ext.repo = 'development'
 }
 
-repositories {
-    maven {
-        url "http://first.wpi.edu/FRC/roborio/maven/"
-    }
-    mavenCentral()
-}
+mainClassName = "edu.wpi.first.smartdashboard.main"
 
 publishing {
     publications {
         maven(MavenPublication) {
-            from components.java
-
-            artifact (jar) {
-                classifier = 'jar'
+            artifact(shadowJar) {
+                classifier null
             }
-
             groupId 'edu.wpi.first.wpilib'
             artifactId 'SmartDashboard'
             version '1.0.0-SNAPSHOT'
         }
     }
-    repositories {
-        maven {
-            url "file://${System.properties['user.home']}/releases/maven"
+    repositories.maven {
+        url = "${System.getProperty('user.home')}/releases/maven/$repo"
+    }
+}
+
+sourceSets {
+    main {
+        java {
+            srcDirs = ["src"]
         }
     }
 }
 
-jar {
-    manifest {
-        attributes 'Main-Class': 'edu.wpi.first.smartdashboard.main'
+repositories {
+    mavenCentral()
+    maven {
+        url = "${System.getProperty('user.home')}/releases/maven/$repo"
     }
-    from { configurations.compile.collect { it.isDirectory() ? it : zipTree(it) } }
+    mavenLocal()
+    maven {
+        url = "http://first.wpi.edu/FRC/roborio/maven/$repo"
+    }
+}
+
+dependencies {
+    compile "edu.wpi.first.wpilib.networktables.java:NetworkTables:3.0.0-SNAPSHOT:desktop"
+    compile 'junit:junit:4.12'
+    compile 'jcommon:jcommon:0.9.5'
+    compile 'jfreechart:jfreechart:1.0.0'
 }
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/LogToCSV.java b/smartdashboard/src/edu/wpi/first/smartdashboard/LogToCSV.java
index 9c5e08b..68a103a 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/LogToCSV.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/LogToCSV.java
@@ -38,7 +38,7 @@ public class LogToCSV implements ITableListener {
 				m_fw = new FileWriter(path);
 				m_fw.write("Time (ms),Name,Value" + s_lineSeparator);
 				m_fw.flush();
-				Robot.getTable().addTableListener(this, true);
+				Robot.getTable().addTableListenerEx(this, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);
 			} catch (IOException ex) {
 				ex.printStackTrace();
 				JOptionPane.showMessageDialog(null, "An error occurred when attempting to " + "open the output CSV file for writing. "
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardMenu.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardMenu.java
index 28ea979..18a4f01 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardMenu.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardMenu.java
@@ -150,7 +150,7 @@ public class DashboardMenu extends JMenuBar {
             }
         });
         resetLW.setAccelerator(KeyStroke.getKeyStroke(KeyEvent.VK_R, KeyEvent.CTRL_DOWN_MASK));
-        Robot.getLiveWindow().getSubTable("~STATUS~").addTableListener("LW Enabled", new ITableListener() {
+        Robot.getLiveWindow().getSubTable("~STATUS~").addTableListenerEx("LW Enabled", new ITableListener() {
             public void valueChanged(ITable itable, String string, Object o, boolean bln) {
                 final boolean isInLW = Robot.getLiveWindow().getSubTable("~STATUS~").getBoolean("LW Enabled", false);
 
@@ -170,7 +170,7 @@ public class DashboardMenu extends JMenuBar {
                     }
                 });
             }
-        }, true);
+        }, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);
         viewMenu.add(resetLW);
 
         JMenu addMenu = new JMenu("Add...");
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardPanel.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardPanel.java
index 386a134..948f9c1 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardPanel.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/DashboardPanel.java
@@ -69,8 +69,8 @@ public class DashboardPanel extends JPanel {
 
         setEditable(editable);
 
-        table.addTableListener(listener, true);
-        table.addSubTableListener(listener);
+        table.addTableListenerEx(listener, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);
+        table.addSubTableListener(listener, true);
     }
 
     public ITable getTable() {
@@ -179,8 +179,8 @@ public class DashboardPanel extends JPanel {
 
 
         table.removeTableListener(listener);
-        table.addTableListener(listener, true);
-        table.addSubTableListener(listener);
+        table.addTableListenerEx(listener, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);
+        table.addSubTableListener(listener, true);
 
         repaint();
     }
@@ -514,7 +514,7 @@ public class DashboardPanel extends JPanel {
                 if (!hiddenFields.contains(key)) {
                     if (value instanceof ITable) {
                         final ITable table = (ITable) value;
-                        table.addTableListener("~TYPE~", new ITableListener() {
+                        table.addTableListenerEx("~TYPE~", new ITableListener() {
                             public void valueChanged(final ITable typeSource, final String typeKey, final Object typeValue, final boolean typeIsNew) {
                                 table.removeTableListener(this);
                                 SwingUtilities.invokeLater(new Runnable() {
@@ -523,7 +523,7 @@ public class DashboardPanel extends JPanel {
                                     }
                                 });
                             }
-                        }, true);
+                        }, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);
                     } else {
                         SwingUtilities.invokeLater(new Runnable() {
                             public void run() {
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/ConnectionIndicator.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/ConnectionIndicator.java
index da18f20..ccfb89c 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/ConnectionIndicator.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/ConnectionIndicator.java
@@ -23,7 +23,6 @@ public class ConnectionIndicator extends StaticWidget implements IRemoteConnecti
     public final ColorProperty positive = new ColorProperty(this, "Connection Color", Color.GREEN);
     public final ColorProperty negative = new ColorProperty(this, "No Connection Color", Color.RED);
     public final MultiProperty display = new MultiProperty(this, "Graphics");
-    private boolean firstRun = true;
     private boolean connected = false;
     private Runnable repainter = new Runnable() {
 
@@ -91,23 +90,19 @@ public class ConnectionIndicator extends StaticWidget implements IRemoteConnecti
 
 	@Override
 	public void connected(IRemote remote) {
+	    System.out.println("ConnectionIndicator CONNECTED");
         if (!connected) {
             connected = true;
-            if (!firstRun) {
-                SwingUtilities.invokeLater(repainter);
-            }
+            SwingUtilities.invokeLater(repainter);
         }
-        firstRun = false;
 	}
 
 	@Override
 	public void disconnected(IRemote remote) {
+	    System.out.println("ConnectionIndicator DISCONNECTED");
         if (connected) {
             connected = false;
-            if (!firstRun) {
-                SwingUtilities.invokeLater(repainter);
-            }
+            SwingUtilities.invokeLater(repainter);
         }
-        firstRun = false;
 	}
 }
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RobotPreferences.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RobotPreferences.java
index 9cb35b2..cf640e8 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RobotPreferences.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/RobotPreferences.java
@@ -6,10 +6,13 @@ import java.util.*;
 
 import javax.swing.*;
 import javax.swing.table.*;
+import org.jfree.ui.ExtensionFileFilter;
 
 import edu.wpi.first.smartdashboard.gui.*;
 import edu.wpi.first.smartdashboard.properties.*;
 import edu.wpi.first.smartdashboard.robot.Robot;
+import edu.wpi.first.wpilibj.networktables.NetworkTable;
+import edu.wpi.first.wpilibj.networktables.PersistentException;
 import edu.wpi.first.wpilibj.tables.*;
 
 /**
@@ -18,14 +21,14 @@ import edu.wpi.first.wpilibj.tables.*;
  */
 public class RobotPreferences extends StaticWidget implements ITableListener {
 
-    public static final String DELETED_VALUE = "\"";
     public static final String NAME = "Robot Preferences";
     private JTable table;
     private PreferenceTableModel model;
-    private Map<String, String> values;
-    private JButton save;
+    private Map<String, Object> values;
     private JButton add;
     private JButton remove;
+    private JButton save;
+    private JButton load;
 
     @Override
     public void init() {
@@ -36,7 +39,7 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
                 NewPreferenceEntryDialog dialog = new NewPreferenceEntryDialog();
                 dialog.show(remove.getLocationOnScreen());
                 if (!dialog.isCanceled()) {
-                    model.put(dialog.getKey(), dialog.getValue());
+                    model.putString(dialog.getKey(), dialog.getValue(), dialog.getValueType());
                 }
             }
         });
@@ -48,7 +51,7 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
                 if (table.isEditing()) {
                     table.getCellEditor().cancelCellEditing();
                 }
-                Map.Entry<String, String> entry = model.getRow(table.getSelectedRow());
+                Map.Entry<String, Object> entry = model.getRow(table.getSelectedRow());
                 if (entry != null) {
                     model.delete(entry.getKey());
                 }
@@ -59,13 +62,50 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
         save.addActionListener(new ActionListener() {
 
             public void actionPerformed(ActionEvent e) {
-                Robot.getPreferences().putBoolean(Robot.PREF_SAVE_FIELD, true);
+                if (table.isEditing()) {
+                    table.getCellEditor().cancelCellEditing();
+                }
+                JFileChooser fc = new JFileChooser(".");
+                fc.addChoosableFileFilter(new ExtensionFileFilter("INI File", ".ini"));
+                fc.setApproveButtonText("Save");
+                fc.setDialogTitle("Save Preferences As...");
+
+                fc.setMultiSelectionEnabled(false);
+                fc.setFileSelectionMode(JFileChooser.FILES_ONLY);
+
+                if (fc.showOpenDialog(RobotPreferences.this) == JFileChooser.APPROVE_OPTION) {
+                    String filepath = fc.getSelectedFile().getAbsolutePath();
+                    if (!filepath.endsWith(".ini")) {
+                        filepath = filepath + ".ini";
+                    }
+                    model.save(filepath);
+                }
             }
         });
 
-        values = new LinkedHashMap<String, String>();
+        load = new JButton("Load");
+        load.addActionListener(new ActionListener() {
 
-        Robot.getPreferences().addTableListener(this, true);
+            public void actionPerformed(ActionEvent e) {
+                if (table.isEditing()) {
+                    table.getCellEditor().cancelCellEditing();
+                }
+                JFileChooser fc = new JFileChooser(".");
+                fc.addChoosableFileFilter(new ExtensionFileFilter("INI File", ".ini"));
+                fc.setMultiSelectionEnabled(false);
+                fc.setFileSelectionMode(JFileChooser.FILES_ONLY);
+                fc.setApproveButtonText("Load");
+                fc.setDialogTitle("Load Preferences");
+
+                if (fc.showOpenDialog(RobotPreferences.this) == JFileChooser.APPROVE_OPTION) {
+                    model.load(fc.getSelectedFile().getAbsolutePath());
+                }
+            }
+        });
+
+        values = new LinkedHashMap<String, Object>();
+
+        Robot.getPreferences().addTableListenerEx(this, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_DELETE | ITable.NOTIFY_UPDATE);
 
         model = new PreferenceTableModel();
 
@@ -75,14 +115,15 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
 
 
         JPanel buttonPanel = new JPanel();
-        buttonPanel.setLayout(new GridLayout(0, 2));
+        buttonPanel.setLayout(new GridLayout(0, 4));
         buttonPanel.add(add);
         buttonPanel.add(remove);
+        buttonPanel.add(save);
+        buttonPanel.add(load);
 
         JPanel controlPanel = new JPanel();
         controlPanel.setLayout(new BorderLayout());
         controlPanel.add(buttonPanel, BorderLayout.NORTH);
-        controlPanel.add(save, BorderLayout.SOUTH);
 
         setLayout(new BorderLayout());
         JScrollPane tableScrollPane = new JScrollPane(table, JScrollPane.VERTICAL_SCROLLBAR_AS_NEEDED, JScrollPane.HORIZONTAL_SCROLLBAR_NEVER);
@@ -101,16 +142,15 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
     public void propertyChanged(Property property) {
     }
 
-	@Override
-	public void valueChanged(ITable source, String key, Object value, boolean isNew) {
-        if (key.equals(Robot.PREF_SAVE_FIELD)) {
-            save.setEnabled(!(Boolean) value);
+    @Override
+    public void valueChanged(ITable source, String key, Object value, boolean isNew) {}
+
+    @Override
+    public void valueChangedEx(ITable source, String key, Object value, int flags) {
+        if ((flags & ITable.NOTIFY_DELETE) != 0) {
+            values.remove(key);
         } else {
-            if (DELETED_VALUE.equals(value.toString())) {
-                values.remove(key);
-            } else {
-                values.put(key, value.toString());
-            }
+            values.put(key, value);
         }
 
         if (model != null) {
@@ -118,6 +158,169 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
         }
     }
 
+    private static final String[] typeNames = new String[] {"Boolean", "Number", "String", "Raw", "Boolean[]", "Number[]", "String[]"};
+
+    private static String getTypeName(Object value) {
+        if (value instanceof Boolean) return typeNames[0];
+        if (value instanceof Double) return typeNames[1];
+        if (value instanceof String) return typeNames[2];
+        if (value instanceof byte[]) return typeNames[3];
+        if (value instanceof boolean[]) return typeNames[4].substring(0, 8) + ((boolean[])value).length + "]";
+        if (value instanceof double[]) return typeNames[5].substring(0, 7) + ((double[])value).length + "]";
+        if (value instanceof String[]) return typeNames[6].substring(0, 7) + ((String[])value).length + "]";
+        return "ERROR";
+    }
+
+    private static int getTypeIndex(String name) {
+        if (name.equals("Boolean")) return 0;
+        if (name.equals("Number")) return 1;
+        if (name.equals("String")) return 2;
+        if (name.equals("Raw")) return 3;
+        if (name.startsWith("Boolean[")) return 4;
+        if (name.startsWith("Number[")) return 5;
+        if (name.startsWith("String[")) return 6;
+        return -1;
+    }
+
+    private static String hex(char ch) {
+        return Integer.toHexString(ch).toLowerCase(Locale.ENGLISH);
+    }
+
+    private static void escapeString(StringBuilder out, String str, boolean inArray) {
+        int sz = str.length();
+        for (int i = 0; i < sz; i++) {
+            char ch = str.charAt(i);
+            // handle unicode
+            /*if (ch > 0xfff) {
+                out.append("\\u" + hex(ch));
+            } else if (ch > 0xff) {
+                out.append("\\u0" + hex(ch));
+            } else if (ch > 0x7f) {
+                out.append("\\u00" + hex(ch));
+            } else*/ if (ch < 32) {
+                switch (ch) {
+                    case '\b':
+                        out.append("\\b");
+                        break;
+                    case '\n':
+                        out.append("\\n");
+                        break;
+                    case '\t':
+                        out.append("\\t");
+                        break;
+                    case '\f':
+                        out.append("\\f");
+                        break;
+                    case '\r':
+                        out.append("\\r");
+                        break;
+                    default:
+                        if (ch > 0xf) {
+                            out.append("\\u00" + hex(ch));
+                        } else {
+                            out.append("\\u000" + hex(ch));
+                        }
+                        break;
+                }
+            } else {
+                switch (ch) {
+                    case ',': case ']':
+                        if (inArray) {
+                            out.append('\\');
+                        }
+                        out.append(ch);
+                        break;
+                    case '\\' :
+                        out.append("\\\\");
+                        break;
+                    default:
+                        out.append(ch);
+                        break;
+                }
+            }
+        }
+    }
+
+    private static String escapeString(String str, boolean inArray) {
+        StringBuilder out = new StringBuilder();
+        escapeString(out, str, inArray);
+        return out.toString();
+    }
+
+    private static void unescapeString(StringBuilder out, String str) {
+        int sz = str.length();
+        StringBuilder unicode = new StringBuilder(4);
+        boolean hadSlash = false;
+        boolean inUnicode = false;
+        for (int i = 0; i < sz; i++) {
+            char ch = str.charAt(i);
+            if (inUnicode) {
+                // if in unicode, then we're reading unicode
+                // values in somehow
+                unicode.append(ch);
+                if (unicode.length() == 4) {
+                    // unicode now contains the four hex digits
+                    // which represents our unicode character
+                    try {
+                        int value = Integer.parseInt(unicode.toString(), 16);
+                        out.append((char) value);
+                        unicode.setLength(0);
+                        inUnicode = false;
+                        hadSlash = false;
+                    } catch (NumberFormatException nfe) {
+                        throw new NumberFormatException("Unable to parse unicode value: " + unicode);
+                    }
+                }
+                continue;
+            }
+            if (hadSlash) {
+                // handle an escaped value
+                hadSlash = false;
+                switch (ch) {
+                    case 'r':
+                        out.append('\r');
+                        break;
+                    case 'f':
+                        out.append('\f');
+                        break;
+                    case 't':
+                        out.append('\t');
+                        break;
+                    case 'n':
+                        out.append('\n');
+                        break;
+                    case 'b':
+                        out.append('\b');
+                        break;
+                    case 'u':
+                        {
+                            // uh-oh, we're in unicode country....
+                            inUnicode = true;
+                            break;
+                        }
+                    default:
+                        out.append(ch);
+                        break;
+                }
+                continue;
+            } else if (ch == '\\') {
+                hadSlash = true;
+                continue;
+            }
+            out.append(ch);
+        }
+        if (hadSlash) {
+            // then we're in the weird case of a \ at the end of the
+            // string, let's output it anyway.
+            out.append('\\');
+        }
+    }
+
+    private static String unescapeString(String str) {
+        StringBuilder out = new StringBuilder();
+        unescapeString(out, str);
+        return out.toString();
+    }
 
     private class PreferenceTableModel extends AbstractTableModel {
 
@@ -126,23 +329,22 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
         }
 
         public int getColumnCount() {
-            return 2;
+            return 3;
         }
 
         @Override
         public String getColumnName(int i) {
-            if (i == 0) {
-                return "Key";
-            } else if (i == 1) {
-                return "Value";
-            } else {
-                return "ERROR";
+            switch (i) {
+                case 0: return "Key";
+                case 1: return "Value";
+                case 2: return "Type";
+                default: return "ERROR";
             }
         }
 
-        public Map.Entry<String, String> getRow(int rowIndex) {
+        public Map.Entry<String, Object> getRow(int rowIndex) {
             int row = 0;
-            for (Map.Entry<String, String> entry : values.entrySet()) {
+            for (Map.Entry<String, Object> entry : values.entrySet()) {
                 if (row++ == rowIndex) {
                     return entry;
                 }
@@ -150,16 +352,29 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
             return null;
         }
 
-        public boolean put(String key, String value) {
-            if (validateKey(key) && validateValue(value)) {
-                Robot.getPreferences().putString(key, value);
+        public boolean put(String key, Object value) {
+            if (validateKey(key)) {
+                Robot.getPreferences().putValue(key, value);
+                Robot.getPreferences().setPersistent(key);
                 return true;
             }
             return false;
         }
 
+        public boolean putString(String key, String value, String type) {
+            int typeIndex = getTypeIndex(type);
+            if (typeIndex < 0 || !validateKey(key))
+                return false;
+            Object valueObj = validateValue(value, typeIndex);
+            if (valueObj == null)
+                return false;
+            Robot.getPreferences().putValue(key, valueObj);
+            Robot.getPreferences().setPersistent(key);
+            return true;
+        }
+
         public void delete(String key) {
-            Robot.getPreferences().putString(key, DELETED_VALUE);
+            Robot.getPreferences().delete(key);
         }
 
         public boolean validateKey(String key) {
@@ -167,28 +382,159 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
                 JOptionPane.showMessageDialog(RobotPreferences.this, "The key cannot be empty", "Bad Key", JOptionPane.ERROR_MESSAGE);
                 return false;
             }
-            if (key.contains(" ") || key.contains("=") || key.contains("\t") || key.contains("\r") || key.contains("\n")) {
-                JOptionPane.showMessageDialog(RobotPreferences.this, "The key cannot containt ' ', '=', tabs or newlines", "Bad Key", JOptionPane.ERROR_MESSAGE);
-                return false;
-            }
             return true;
         }
 
-        public boolean validateValue(String value) {
-            if (value.contains("\"")) {
-                JOptionPane.showMessageDialog(RobotPreferences.this, "The value cannot contain '\"'", "Bad Value", JOptionPane.ERROR_MESSAGE);
-                return false;
+        public Object validateValue(String value, int typeIndex) {
+            switch (typeIndex) {
+                case 0: // Boolean
+                    {
+                    String lower = value.toLowerCase(Locale.ENGLISH);
+                    if (lower.equals("y") || lower.equals("yes") || lower.equals("t") || lower.equals("true") || lower.equals("on") || lower.equals("1"))
+                        return new Boolean(true);
+                    else if (lower.equals("n") || lower.equals("no") || lower.equals("f") || lower.equals("false") || lower.equals("off") || lower.equals("0"))
+                        return new Boolean(false);
+                    else
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid boolean value; expected one of yes, true, 1, no, false, 0", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                    break;
+                    }
+                case 1: // Number
+                    try {
+                        return Double.parseDouble(value);
+                    } catch (NumberFormatException e) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid number value", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                    }
+                    break;
+                case 2: // String
+                    try {
+                        return unescapeString(value);
+                    } catch (NumberFormatException e) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid string: " + e.getMessage(), "Bad Value", JOptionPane.ERROR_MESSAGE);
+                    }
+                case 3: // Raw
+                    {
+                    value = value.trim();
+                    if (value.equals("[]"))
+                        return new byte[0];
+                    if (!value.startsWith("[")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing [", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+                    if (!value.endsWith("]")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing ]", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+
+                    String[] arr = value.substring(1, value.length() - 1).split(",");
+                    byte[] barr = new byte[arr.length];
+                    for (int i=0; i < arr.length; i++) {
+                        try {
+                            barr[i] = Byte.parseByte(arr[i].trim());
+                        } catch (NumberFormatException e) {
+                            JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid number value at index " + i + ": '" + arr[i].trim() + "'", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                            return null;
+                        }
+                    }
+                    return barr;
+                    }
+                case 4: // Boolean[]
+                    {
+                    value = value.trim();
+                    if (value.equals("[]"))
+                        return new boolean[0];
+                    if (!value.startsWith("[")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing [", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+                    if (!value.endsWith("]")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing ]", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+
+                    String[] arr = value.substring(1, value.length() - 1).split(",");
+                    boolean[] barr = new boolean[arr.length];
+                    for (int i=0; i < arr.length; i++) {
+                        String lower = arr[i].trim().toLowerCase(Locale.ENGLISH);
+                        if (lower.equals("y") || lower.equals("yes") || lower.equals("t") || lower.equals("true") || lower.equals("on") || lower.equals("1"))
+                            barr[i] = true;
+                        else if (lower.equals("n") || lower.equals("no") || lower.equals("f") || lower.equals("false") || lower.equals("off") || lower.equals("0"))
+                            barr[i] = false;
+                        else {
+                            JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid boolean value at index " + i + ": '" + arr[i].trim() + "'; expected one of yes, true, 1, no, false, 0", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                            return null;
+                        }
+                    }
+                    return barr;
+                    }
+                case 5: // Number[]
+                    {
+                    value = value.trim();
+                    if (value.equals("[]"))
+                        return new double[0];
+                    if (!value.startsWith("[")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing [", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+                    if (!value.endsWith("]")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing ]", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+
+                    String[] arr = value.substring(1, value.length() - 1).split(",");
+                    double[] darr = new double[arr.length];
+                    for (int i=0; i < arr.length; i++) {
+                        try {
+                            darr[i] = Double.parseDouble(arr[i].trim());
+                        } catch (NumberFormatException e) {
+                            JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid number value at index " + i + ": '" + arr[i].trim() + "'", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                            return null;
+                        }
+                    }
+                    return darr;
+                    }
+                case 6: // String[]
+                    {
+                    value = value.trim();
+                    if (value.equals("[]"))
+                        return new String[0];
+                    if (!value.startsWith("[")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing [", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+                    if (!value.endsWith("]") || (value.endsWith("\\]") && !value.endsWith("\\\\]"))) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: missing ]", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+                    if (value.contains("]]]")) {
+                        JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid array: unescaped ]", "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        break;
+                    }
+                    // need to replace with unique string to make "\\" at end of value work
+                    value = value.replaceAll("\\\\\\\\", "]]]");
+                    // use look-behind assertion to avoid matching "\,"
+                    String[] arr = value.substring(1, value.length() - 1).split("(?<!\\\\),");
+                    for (int i=0; i < arr.length; i++) {
+                        if (arr[i].startsWith(" "))
+                            arr[i] = arr[i].substring(1);
+                        try {
+                            arr[i] = unescapeString(arr[i].replaceAll("]]]", "\\\\\\\\"));
+                        } catch (NumberFormatException e) {
+                            JOptionPane.showMessageDialog(RobotPreferences.this, "Invalid string at index " + i + ": " + e.getMessage(), "Bad Value", JOptionPane.ERROR_MESSAGE);
+                        }
+                    }
+                    return arr;
+                    }
             }
-            return true;
+            return null;
         }
 
         @Override
         public void setValueAt(Object aValue, int rowIndex, int columnIndex) {
             if (columnIndex == 0) {//Key
-                Map.Entry<String, String> entry = getRow(rowIndex);
+                Map.Entry<String, Object> entry = getRow(rowIndex);
                 if (entry != null) {
                     String oldName = entry.getKey();
-                    String value = entry.getValue();
+                    Object value = entry.getValue();
                     if (!oldName.equals(aValue.toString())) {
                         if (!values.containsKey(aValue.toString())) {
                             if(put(aValue.toString(), value))
@@ -198,31 +544,84 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
                         }
                     }
                 }
-            } else {//Value
-                Map.Entry<String, String> entry = getRow(rowIndex);
+            } else if (columnIndex == 1) {//Value
+                Map.Entry<String, Object> entry = getRow(rowIndex);
                 if (entry != null) {
-                    put(entry.getKey(), aValue.toString());
+                    putString(entry.getKey(), aValue.toString(), getTypeName(entry.getValue()));
                 }
             }
         }
 
         @Override
         public boolean isCellEditable(int rowIndex, int columnIndex) {
-            return rowIndex >= 0;
+            return rowIndex >= 0 && columnIndex < 2;
         }
 
         public Object getValueAt(int rowIndex, int columnIndex) {
-            Map.Entry<String, String> entry = getRow(rowIndex);
+            Map.Entry<String, Object> entry = getRow(rowIndex);
             if (entry != null) {
-                return columnIndex == 0 ? entry.getKey() : entry.getValue();
+                switch (columnIndex) {
+                    case 0:
+                        return entry.getKey();
+                    case 1:
+                        {
+                        Object value = entry.getValue();
+                        if (value instanceof Boolean) return ((Boolean)value).toString();
+                        if (value instanceof Double) return ((Double)value).toString();
+                        if (value instanceof String) return escapeString((String)value, false);
+                        if (value instanceof byte[]) return Arrays.toString((byte[])value);
+                        if (value instanceof boolean[]) return Arrays.toString((boolean[])value);
+                        if (value instanceof double[]) return Arrays.toString((double[])value);
+                        if (value instanceof String[]) {
+                            String[] a = (String[])value;
+                            int imax = a.length - 1;
+                            if (imax == -1)
+                                return "[]";
+
+                            StringBuilder b = new StringBuilder();
+                            b.append('[');
+                            for (int i = 0; ; i++) {
+                                escapeString(b, a[i], true);
+                                if (i == imax)
+                                    return b.append(']').toString();
+                                b.append(", ");
+                            }
+                        }
+                        break;
+                        }
+                    case 2:
+                        return getTypeName(entry.getValue());
+                    default: break;
+                }
             }
             return "ERROR";
         }
+
+        public void save(String filename) {
+            try {
+                NetworkTable.savePersistent(filename);
+            } catch (PersistentException e) {
+                JOptionPane.showMessageDialog(RobotPreferences.this, "Error saving file:" + e.getMessage(), "Save Preferences", JOptionPane.ERROR_MESSAGE);
+            }
+        }
+
+        public void load(String filename) {
+            String[] warnings;
+            try {
+                warnings = NetworkTable.loadPersistent(filename);
+                if (warnings.length > 0) {
+                    JOptionPane.showMessageDialog(RobotPreferences.this, "Warning loading file:" + Arrays.toString(warnings), "Load Preferences", JOptionPane.WARNING_MESSAGE);
+                }
+            } catch (PersistentException e) {
+                JOptionPane.showMessageDialog(RobotPreferences.this, "Error loading file:" + e.getMessage(), "Load Preferences", JOptionPane.ERROR_MESSAGE);
+            }
+        }
     }
 
     private class NewPreferenceEntryDialog extends JDialog {
 
         private JTextField keyField;
+        private JComboBox<String> typeComboBox;
         private JTextField valueField;
         private JButton addButton;
         private JButton cancelButton;
@@ -243,6 +642,12 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
 
             c.gridx = 0;
             c.gridy = 1;
+            add(new JLabel("Type: "), c);
+            c.gridx = 1;
+            add(typeComboBox = new JComboBox<String>(typeNames), c);
+
+            c.gridx = 0;
+            c.gridy = 2;
             add(new JLabel("Value: "), c);
             c.gridx = 1;
             add(valueField = new JTextField(10), c);
@@ -254,7 +659,7 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
 
                 public void actionPerformed(ActionEvent e) {
                     if (!values.containsKey(getKey())) {
-                        if (model.validateKey(getKey()) && model.validateValue(getValue())) {
+                        if (model.validateKey(getKey()) && model.validateValue(getValue(), getTypeIndex(getValueType())) != null) {
                             canceled = false;
                             dispose();
                         }
@@ -274,7 +679,7 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
             });
 
             c.gridx = 0;
-            c.gridy = 2;
+            c.gridy = 3;
             c.gridwidth = 2;
             add(buttonPanel, c);
 
@@ -294,6 +699,10 @@ public class RobotPreferences extends StaticWidget implements ITableListener {
             return keyField.getText();
         }
 
+        public String getValueType() {
+            return (String)typeComboBox.getSelectedItem();
+        }
+
         public String getValue() {
             return valueField.getText();
         }
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/Scheduler.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/Scheduler.java
index d61e052..cde41c2 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/Scheduler.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/Scheduler.java
@@ -112,7 +112,7 @@ public class Scheduler extends Widget {
             table.removeTableListener(listener);
         }
         table = (ITable) value;
-        table.addTableListener(listener, true);
+        table.addTableListenerEx(listener, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);
 
         revalidate();
         repaint();
diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/bindings/AbstractTableWidget.java b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/bindings/AbstractTableWidget.java
index 99f232a..53fdccb 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/bindings/AbstractTableWidget.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/gui/elements/bindings/AbstractTableWidget.java
@@ -41,9 +41,9 @@ public abstract class AbstractTableWidget extends Widget implements ITableListen
 

 			this.table = table;

 			if(table!=null){

-				table.addTableListener(this, true);

+				table.addTableListenerEx(this, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);

 				if(listenSubtables)

-					table.addSubTableListener(this);

+					table.addSubTableListener(this, true);

 			}

 		}

 	}

diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/livewindow/elements/LWSubsystem.java b/smartdashboard/src/edu/wpi/first/smartdashboard/livewindow/elements/LWSubsystem.java
index a09a60d..a42226c 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/livewindow/elements/LWSubsystem.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/livewindow/elements/LWSubsystem.java
@@ -119,7 +119,7 @@ public class LWSubsystem extends AbstractTableWidget {
         }

 

         if (!alreadyHasWidget) {

-            table.addTableListener("~TYPE~", new ITableListener() {

+            table.addTableListenerEx("~TYPE~", new ITableListener() {

                 public void valueChanged(final ITable typeSource, final String typeKey, final Object typeValue, final boolean typeIsNew) {

                     table.removeTableListener(this);

                     SwingUtilities.invokeLater(new Runnable() {

@@ -128,7 +128,7 @@ public class LWSubsystem extends AbstractTableWidget {
                         }

                     });

                 }

-            }, true);

+            }, ITable.NOTIFY_IMMEDIATE | ITable.NOTIFY_LOCAL | ITable.NOTIFY_NEW | ITable.NOTIFY_UPDATE);

         }

     }

 

diff --git a/smartdashboard/src/edu/wpi/first/smartdashboard/robot/Robot.java b/smartdashboard/src/edu/wpi/first/smartdashboard/robot/Robot.java
index 3d2a6c8..cb7a67b 100644
--- a/smartdashboard/src/edu/wpi/first/smartdashboard/robot/Robot.java
+++ b/smartdashboard/src/edu/wpi/first/smartdashboard/robot/Robot.java
@@ -3,8 +3,6 @@ package edu.wpi.first.smartdashboard.robot;
 import java.io.*;
 
 import edu.wpi.first.wpilibj.networktables.*;
-import edu.wpi.first.wpilibj.networktables2.client.*;
-import edu.wpi.first.wpilibj.networktables2.stream.*;
 import edu.wpi.first.wpilibj.tables.*;
 
 /**
@@ -17,23 +15,14 @@ public class Robot {
 	public static final String TABLE_NAME = "SmartDashboard";
     public static final String LIVE_WINDOW_NAME = "LiveWindow";
 	public static final String PREFERENCES_NAME = "Preferences";
+	public static final String identity = "SmartDashboard";
 	
-	private static volatile String _host = null;
+	private static volatile String _host = "";
 	private static volatile int _port = NetworkTable.DEFAULT_PORT;
 	private static int _team;
 	private static boolean _usemDNS = true;
-	private static final IOStreamFactory configurableFactory = new IOStreamFactory() {
-		@Override
-		public IOStream createStream() throws IOException {
-                    if(_host==null)
-                        return null;
-                    return new SocketStream(_host, _port);
-		}
-	};
-	public static final NetworkTableClient client = new NetworkTableClient(configurableFactory);
-	private static final NetworkTableProvider provider = new NetworkTableProvider(client);
         static{
-            NetworkTable.setTableProvider(provider);
+            NetworkTable.setClientMode();
         }
 
 	public static void setTeam(int team) {
@@ -59,10 +48,16 @@ public class Robot {
 		} else {
 			host = "10." + (_team / 100) + "." + (_team % 100) + ".2";
 		}
-		
+		if (_host.equals(host)) return;
 		_host = host;
 		System.out.println("Host: "+host);
-		client.close();
+		try {
+			NetworkTable.shutdown();
+		} catch (IllegalStateException ex) {
+		}
+		NetworkTable.setIPAddress(host);
+		NetworkTable.setNetworkIdentity(identity);
+		NetworkTable.initialize();
 	}
 	
 	public static String getHost() {
@@ -70,30 +65,38 @@ public class Robot {
 	}
 	
 	public static void setPort(int port){
+		if (_port == port) return;
 		_port = port;
-		client.close();
+		try {
+			NetworkTable.shutdown();
+		} catch (IllegalStateException ex) {
+		}
+		NetworkTable.setPort(port);
+		NetworkTable.initialize();
 	}
 
 	public static ITable getTable(String tableName) {
-		return provider.getRootTable().getSubTable(tableName);
+		return NetworkTable.getTable(tableName);
 	}
 
 	public static ITable getTable() {
-		return provider.getRootTable().getSubTable(TABLE_NAME);
+		return NetworkTable.getTable(TABLE_NAME);
 	}
 
 	public static ITable getPreferences() {
-		return provider.getRootTable().getSubTable(PREFERENCES_NAME);
+		return NetworkTable.getTable(PREFERENCES_NAME);
 	}
     public static ITable getLiveWindow() {
-        return provider.getRootTable().getSubTable(LIVE_WINDOW_NAME);
+        return NetworkTable.getTable(LIVE_WINDOW_NAME);
     }
     
 	public static void addConnectionListener(IRemoteConnectionListener listener, boolean immediateNotify) {
-		client.addConnectionListener(listener, immediateNotify);
+	    System.out.println("Adding connection listener");
+		NetworkTable.getTable(TABLE_NAME).addConnectionListener(listener, immediateNotify);
 	}
 	public static void removeConnectionListener(IRemoteConnectionListener listener) {
-		client.removeConnectionListener(listener);
+	    System.out.println("Removing connection listener");
+		NetworkTable.getTable(TABLE_NAME).removeConnectionListener(listener);
 	}
 
 }