diff --git a/cmake/macros.cmake b/cmake/macros.cmake
index 0a5066023..bde00c401 100644
--- a/cmake/macros.cmake
+++ b/cmake/macros.cmake
@@ -155,19 +155,19 @@ ENDMACRO(GENERATE_ROBOT_DEF_FILE ROBOTNAME DEF_FILE)
 #  SOURCES	: List of files to use as build sources if any ; not needed if MODULE used
 #  CLONENAMES	: The names of the clones to generate
 MACRO(ROBOT_MODULE)
-	SET(ROBOT_SYNTAX "NAME,1,1,HAS_ROBOTNAME,ROBOTNAME")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "INTERFACE,0,-1,HAS_INTERFACE,INTERFACE")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SOURCES,0,-1,HAS_SOURCES,SOURCES")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "CLONENAMES,0,-1,HAS_CLONENAMES,CLONENAMES")
+	SET(RBM_SYNTAX "NAME,1,1,RBM_HAS_NAME,ROBOTNAME")
+	SET(RBM_SYNTAX ${RBM_SYNTAX} "INTERFACE,0,-1,RBM_HAS_INTERFACE,RBM_INTERFACE")
+	SET(RBM_SYNTAX ${RBM_SYNTAX} "SOURCES,0,-1,RBM_HAS_SOURCES,RBM_SOURCES")
+	SET(RBM_SYNTAX ${RBM_SYNTAX} "CLONENAMES,0,-1,RBM_HAS_CLONENAMES,RBM_CLONENAMES")
 
-	SPLIT_ARGN(${ROBOT_SYNTAX} ARGUMENTS ${ARGN})
+	SPLIT_ARGN(${RBM_SYNTAX} ARGUMENTS ${ARGN})
 
-	IF(NOT HAS_ROBOTNAME)
+	IF(NOT RBM_HAS_NAME)
 		MESSAGE(FATAL_ERROR "Cannot build a robot module with no specified name")
-	ENDIF(NOT HAS_ROBOTNAME)
-	IF(NOT HAS_SOURCES)
+	ENDIF(NOT RBM_HAS_NAME)
+	IF(NOT RBM_HAS_SOURCES)
 		MESSAGE(FATAL_ERROR "Cannot build a robot module without sources / module to copy")
-	ENDIF(NOT HAS_SOURCES)
+	ENDIF(NOT RBM_HAS_SOURCES)
 
 	PROJECT("robot_${ROBOTNAME}")
 
@@ -178,12 +178,12 @@ MACRO(ROBOT_MODULE)
 
 	# Generate / add .def file for Windows
 	IF(WIN32)
-		IF(NOT HAS_INTERFACE)
-			SET(INTERFACE "LEGACY_MIN")
-		ENDIF(NOT HAS_INTERFACE)
+		IF(NOT RBM_HAS_INTERFACE)
+			SET(RBM_INTERFACE "LEGACY_MIN")
+		ENDIF(NOT RBM_HAS_INTERFACE)
 		SET(ROBOT_DEF_FILE ${CMAKE_CURRENT_BINARY_DIR}/${ROBOTNAME}_gen.def)
-		GENERATE_ROBOT_DEF_FILE(${ROBOTNAME} ${ROBOT_DEF_FILE} ${INTERFACE})
-		SET(SOURCES ${SOURCES} ${ROBOT_DEF_FILE})
+		GENERATE_ROBOT_DEF_FILE(${ROBOTNAME} ${ROBOT_DEF_FILE} ${RBM_INTERFACE})
+		SET(RBM_SOURCES ${RBM_SOURCES} ${ROBOT_DEF_FILE})
 	ENDIF(WIN32)
 
 	#disable developer warning
@@ -196,7 +196,7 @@ MACRO(ROBOT_MODULE)
 	    SET(CMAKE_SHARED_LINKER_FLAGS_DEBUG "${CMAKE_SHARED_LINKER_FLAGS_DEBUG} /NODEFAULTLIB:msvcrt.lib")
 	ENDIF(WIN32)
 
-	ADD_LIBRARY(${ROBOTNAME} SHARED ${SOURCES})
+	ADD_LIBRARY(${ROBOTNAME} SHARED ${RBM_SOURCES})
 	IF(UNIX)
 		SET_TARGET_PROPERTIES(${ROBOTNAME} PROPERTIES PREFIX "")
 	ENDIF(UNIX)
@@ -206,70 +206,77 @@ MACRO(ROBOT_MODULE)
 
 	SD_INSTALL_FILES(LIB drivers/${ROBOTNAME} TARGETS ${ROBOTNAME})
 
-	IF(HAS_CLONENAMES)
+	IF(RBM_HAS_CLONENAMES)
 		GET_TARGET_PROPERTY(MODNAME ${ROBOTNAME} LOCATION)
 		SET(MODPREFIX "")
 		SET(MODSUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
-		FOREACH(CLONENAME ${CLONENAMES})
+		FOREACH(CLONENAME ${RBM_CLONENAMES})
 			SET(CLONE_MODNAME ${MODPREFIX}${CLONENAME}${MODSUFFIX})
  			ADD_CUSTOM_COMMAND(TARGET ${ROBOTNAME} POST_BUILD
    			                   COMMAND ${CMAKE_COMMAND} -E copy ${MODNAME} ${CLONE_MODNAME})
 			SD_INSTALL_FILES(LIB drivers/${CLONENAME} FILES ${CLONE_MODNAME})
-		ENDFOREACH(CLONENAME ${CLONENAMES})
-	ENDIF(HAS_CLONENAMES)
+		ENDFOREACH(CLONENAME ${RBM_CLONENAMES})
+	ENDIF(RBM_HAS_CLONENAMES)
 
 ENDMACRO(ROBOT_MODULE)
 
 # Robot data installation
 # Args:
 #  NAME		: Name of the robot (may be a clone)
-#  SHIPPREFIX	: Dir. prefix for source files/subdirs to install in the robot's data dir
-#  SHIPFILES	: Extra (non default) files to install in the robot's data dir
-#  SHIPSUBDIRS	: Data subdirectories to install in the robot's data dir
+#  PREFIX	: Dir. prefix for source files/subdirs to install in the robot's data dir
+#  FILES	: Extra (non default) files to install in the robot's data dir
+#  SUBDIRS	: Data subdirectories to install in the robot's data dir
 MACRO(ROBOT_DATA)
-	SET(ROBOT_SYNTAX "NAME,1,1,HAS_ROBOTNAME,ROBOTNAME")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SHIPPREFIX,0,-1,HAS_SHIPPREFIX,SHIPPREFIX")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SHIPFILES,0,-1,HAS_EXTRA_SHIP,EXTRA_SHIP")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SHIPSUBDIRS,0,-1,HAS_SHIPSUBDIRS,SHIPSUBDIRS")
+	SET(RBD_SYNTAX "NAME,1,1,RBD_HAS_NAME,ROBOTNAME")
+	SET(RBD_SYNTAX ${RBD_SYNTAX} "PREFIX,0,-1,RBD_HAS_PREFIX,RBD_PREFIX")
+	SET(RBD_SYNTAX ${RBD_SYNTAX} "FILES,0,-1,RBD_HAS_FILES,RBD_FILES")
+	SET(RBD_SYNTAX ${RBD_SYNTAX} "SUBDIRS,0,-1,RBD_HAS_SUBDIRS,RBD_SUBDIRS")
 
-	SPLIT_ARGN(${ROBOT_SYNTAX} ARGUMENTS ${ARGN})
+	SPLIT_ARGN(${RBD_SYNTAX} ARGUMENTS ${ARGN})
 
-	IF(NOT HAS_ROBOTNAME)
+	#MESSAGE(STATUS "ROBOT_DATA(${ROBOTNAME}): PREFIX=${RBD_PREFIX} FILES=${RBD_FILES} SUBDIRS=${RBD_SUBDIRS}")
+
+	IF(NOT RBD_HAS_NAME)
 		MESSAGE(FATAL_ERROR "Cannot install data for a robot module with no specified name")
-	ENDIF(NOT HAS_ROBOTNAME)
-	SET(REAL_SHIPFILES) # Reset the list (remember, it's a CMakeLists.txt global variable :-()
-	IF(HAS_EXTRA_SHIP)
-		IF(HAS_SHIPPREFIX)
-			FOREACH(SHIP_FILE ${EXTRA_SHIP})
-				LIST(APPEND REAL_SHIPFILES ${SHIPPREFIX}/${SHIP_FILE})
-			ENDFOREACH(SHIP_FILE ${EXTRA_SHIP})
-		ELSE(HAS_SHIPPREFIX)
-			 SET(REAL_SHIPFILES ${EXTRA_SHIP})
-		ENDIF(HAS_SHIPPREFIX)
-	ENDIF(HAS_EXTRA_SHIP)
-	IF(HAS_SHIPPREFIX)
-		LIST(APPEND REAL_SHIPFILES ${SHIPPREFIX}/${ROBOTNAME}.xml)
-	ELSE(HAS_SHIPPREFIX)
-		LIST(APPEND REAL_SHIPFILES ${ROBOTNAME}.xml)
-	ENDIF(HAS_SHIPPREFIX)
-	#MESSAGE(STATUS "Files to install for ${ROBOTNAME} robot: ${REAL_SHIPFILES}")
-	SD_INSTALL_FILES(DATA drivers/${ROBOTNAME} FILES ${REAL_SHIPFILES})
+	ENDIF(NOT RBD_HAS_NAME)
 
-	IF(HAS_SHIPSUBDIRS)
-		IF(HAS_SHIPPREFIX)
-			SET(REAL_SHIPSUBDIRS) # Reset the list (remember, it's a CMakeLists.txt global variable :-()
-			FOREACH(SHIPSUBDIR ${SHIPSUBDIRS})
-				LIST(APPEND REAL_SHIPSUBDIRS ${SHIPPREFIX}/${SHIPSUBDIR})
-			ENDFOREACH(SHIPSUBDIR ${SHIPSUBDIRS})
-		ELSE(HAS_SHIPPREFIX)
-			SET(REAL_SHIPSUBDIRS ${SHIPSUBDIRS})
-		ENDIF(HAS_SHIPPREFIX)
-		#MESSAGE(STATUS "Subdirs to install for ${ROBOTNAME} robot: ${REAL_SHIPSUBDIRS}")
-		INSTALL(DIRECTORY ${REAL_SHIPSUBDIRS} 
+	SET(REAL_FILES) # Reset the list (remember, it's a CMakeLists.txt global variable :-()
+	IF(RBD_HAS_FILES)
+		IF(RBD_HAS_PREFIX)
+			FOREACH(_FILE ${RBD_FILES})
+				LIST(APPEND REAL_FILES ${RBD_PREFIX}/${_FILE})
+			ENDFOREACH(_FILE ${RBD_FILES})
+		ELSE(RBD_HAS_PREFIX)
+			 SET(REAL_FILES ${RBD_FILES})
+		ENDIF(RBD_HAS_PREFIX)
+		#MESSAGE(STATUS "Files to install(-1) for ${ROBOTNAME} robot: ${REAL_FILES}")
+	ENDIF(RBD_HAS_FILES)
+
+	#MESSAGE(STATUS "Files to install(0) for ${ROBOTNAME} robot: ${REAL_FILES}")
+	IF(RBD_HAS_PREFIX)
+		LIST(APPEND REAL_FILES ${RBD_PREFIX}/${ROBOTNAME}.xml)
+	ELSE(RBD_HAS_PREFIX)
+		LIST(APPEND REAL_FILES ${ROBOTNAME}.xml)
+	ENDIF(RBD_HAS_PREFIX)
+
+	MESSAGE(STATUS "Files to install for ${ROBOTNAME} robot: ${REAL_FILES}")
+	SD_INSTALL_FILES(DATA drivers/${ROBOTNAME} FILES ${REAL_FILES})
+
+	IF(RBD_HAS_SUBDIRS)
+		IF(RBD_HAS_PREFIX)
+			SET(REAL_SUBDIRS) # Reset the list (remember, it's a CMakeLists.txt global variable :-()
+			FOREACH(SUBDIR ${RBD_SUBDIRS})
+				LIST(APPEND REAL_SUBDIRS ${RBD_PREFIX}/${SUBDIR})
+			ENDFOREACH(SUBDIR ${RBD_SUBDIRS})
+		ELSE(RBD_HAS_PREFIX)
+			SET(REAL_SUBDIRS ${RBD_SUBDIRS})
+		ENDIF(RBD_HAS_PREFIX)
+		#MESSAGE(STATUS "Subdirs to install for ${ROBOTNAME} robot: ${REAL_SUBDIRS}")
+		INSTALL(DIRECTORY ${REAL_SUBDIRS} 
 				DESTINATION ${SD_DATADIR}/drivers/${ROBOTNAME} 
 				PATTERN ".svn" EXCLUDE 
 				PATTERN "*.xcf*" EXCLUDE)
-	ENDIF(HAS_SHIPSUBDIRS)
+	ENDIF(RBD_HAS_SUBDIRS)
 ENDMACRO(ROBOT_DATA)
 
 # Robot project definition (module build and install, with associated data)
@@ -279,68 +286,67 @@ ENDMACRO(ROBOT_DATA)
 #                 See GENERATE_ROBOT_DEF_FILE macro.
 #                 If not specified, defaults to "LEGACY_MIN" ; not used if MODULE used
 #  SOURCES	: List of files to use as build sources if any ; not needed if MODULE used
-#  SHIPPREFIX	: Dir. prefix for source files/subdirs to install in the robot's data dir
-#  SHIPFILES	: Extra (non default) files to install in the robot's data dir
-#  SHIPSUBDIRS	: Data subdirectories to install in the robot's data dir
+#  PREFIX	: Dir. prefix for source files/subdirs to install in the robot's data dir
+#  FILES	: Extra (non default) files to install in the robot's data dir
+#  SUBDIRS	: Data subdirectories to install in the robot's data dir
 MACRO(ROBOT)
-	SET(ROBOT_SYNTAX "NAME,1,1,HAS_ROBOTNAME,ROBOTNAME")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "INTERFACE,0,-1,HAS_INTERFACE,INTERFACE")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SOURCES,0,-1,HAS_SOURCES,SOURCES")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SHIPPREFIX,0,-1,HAS_SHIPPREFIX,SHIPPREFIX")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SHIP,0,-1,HAS_EXTRA_SHIP,EXTRA_SHIP")
-	SET(ROBOT_SYNTAX ${ROBOT_SYNTAX} "SHIPSUBDIRS,0,-1,HAS_SHIPSUBDIRS,SHIPSUBDIRS")
+	SET(RB_SYNTAX "NAME,1,1,RB_HAS_NAME,ROBOTNAME")
+	SET(RB_SYNTAX ${RB_SYNTAX} "INTERFACE,0,-1,RB_HAS_INTERFACE,RB_INTERFACE")
+	SET(RB_SYNTAX ${RB_SYNTAX} "SOURCES,0,-1,RB_HAS_SOURCES,RB_SOURCES")
+	SET(RB_SYNTAX ${RB_SYNTAX} "PREFIX,0,-1,RB_HAS_PREFIX,RB_PREFIX")
+	SET(RB_SYNTAX ${RB_SYNTAX} "FILES,0,-1,RB_HAS_FILES,RB_FILES")
+	SET(RB_SYNTAX ${RB_SYNTAX} "SUBDIRS,0,-1,RB_HAS_SUBDIRS,RB_SUBDIRS")
 
-	SPLIT_ARGN(${ROBOT_SYNTAX} ARGUMENTS ${ARGN})
+	#SET(__DEBUG__ TRUE)
+	SPLIT_ARGN(${RB_SYNTAX} ARGUMENTS ${ARGN})
+	#SET(__DEBUG__ FALSE)
 
-	IF(NOT HAS_ROBOTNAME)
+	#MESSAGE(STATUS "ROBOT(${ROBOTNAME}): INTERFACE=${RB_INTERFACE} (${RB_HAS_INTERFACE}) SOURCES=${RB_SOURCES} (${RB_HAS_SOURCES}) PREFIX=${RB_PREFIX} (${RB_HAS_PREFIX}) FILES=${RB_FILES} (${RB_HAS_FILES}) SUBDIRS=${RB_SUBDIRS} (${RB_HAS_SUBDIRS})")
+
+	IF(NOT RB_HAS_NAME)
 		MESSAGE(FATAL_ERROR "Cannot build a robot with no specified name")
-	ENDIF(NOT HAS_ROBOTNAME)
+	ENDIF(NOT RB_HAS_NAME)
 
-	IF(NOT HAS_SOURCES)
+	IF(NOT RB_HAS_SOURCES)
 		MESSAGE(FATAL_ERROR "Cannot build a robot without sources")
-	ENDIF(NOT HAS_SOURCES)
+	ENDIF(NOT RB_HAS_SOURCES)
 
-	IF(HAS_INTERFACE)
-		ROBOT_MODULE(NAME ${ROBOTNAME} INTERFACE ${INTERFACE} SOURCES ${SOURCES})
-	ELSE(HAS_INTERFACE)
-		ROBOT_MODULE(NAME ${ROBOTNAME} SOURCES ${SOURCES})
-	ENDIF(HAS_INTERFACE)
+	IF(RB_HAS_INTERFACE)
+		ROBOT_MODULE(NAME ${ROBOTNAME} INTERFACE ${RB_INTERFACE} SOURCES ${RB_SOURCES})
+	ELSE(RB_HAS_INTERFACE)
+		ROBOT_MODULE(NAME ${ROBOTNAME} SOURCES ${RB_SOURCES})
+	ENDIF(RB_HAS_INTERFACE)
 
-	IF(HAS_SHIPPREFIX)
-		IF(HAS_EXTRA_SHIP)
-			IF(HAS_SHIPSUBDIRS)
-				ROBOT_DATA(NAME ${ROBOTNAME} SHIPPREFIX ${SHIPPREFIX}
-        		   		   SHIPFILES ${EXTRA_SHIP} SHIPSUBDIRS ${SHIPSUBDIRS})
-			ELSE(HAS_SHIPSUBDIRS)
-				ROBOT_DATA(NAME ${ROBOTNAME} SHIPPREFIX ${SHIPPREFIX}
-        		   		   SHIPFILES ${EXTRA_SHIP})
-			ENDIF(HAS_SHIPSUBDIRS)
-		ELSE(HAS_EXTRA_SHIP)
-			IF(HAS_SHIPSUBDIRS)
-				ROBOT_DATA(NAME ${ROBOTNAME} SHIPPREFIX ${SHIPPREFIX}
-        		   		   SHIPSUBDIRS ${SHIPSUBDIRS})
-			ELSE(HAS_SHIPSUBDIRS)
-				ROBOT_DATA(NAME ${ROBOTNAME} SHIPPREFIX ${SHIPPREFIX})
-			ENDIF(HAS_SHIPSUBDIRS)
-		ENDIF(HAS_EXTRA_SHIP)
-	ELSE(HAS_SHIPPREFIX)
-		IF(HAS_EXTRA_SHIP)
-			IF(HAS_SHIPSUBDIRS)
-				ROBOT_DATA(NAME ${ROBOTNAME}
-        		   		   SHIPFILES ${EXTRA_SHIP} SHIPSUBDIRS ${SHIPSUBDIRS})
-			ELSE(HAS_SHIPSUBDIRS)
-				ROBOT_DATA(NAME ${ROBOTNAME}
-        		   		   SHIPFILES ${EXTRA_SHIP})
-			ENDIF(HAS_SHIPSUBDIRS)
-		ELSE(HAS_EXTRA_SHIP)
-			IF(HAS_SHIPSUBDIRS)
-				ROBOT_DATA(NAME ${ROBOTNAME}
-        		   		   SHIPSUBDIRS ${SHIPSUBDIRS})
-			ELSE(HAS_SHIPSUBDIRS)
+	#TODO: Make all this stuff only one line ?
+	IF(RB_HAS_PREFIX)
+		IF(RB_HAS_FILES)
+			IF(RB_HAS_SUBDIRS)
+				ROBOT_DATA(NAME ${ROBOTNAME} PREFIX ${RB_PREFIX} FILES ${RB_FILES} SUBDIRS ${RB_SUBDIRS})
+			ELSE(RB_HAS_SUBDIRS)
+				ROBOT_DATA(NAME ${ROBOTNAME} PREFIX ${RB_PREFIX} FILES ${RB_FILES})
+			ENDIF(RB_HAS_SUBDIRS)
+		ELSE(RB_HAS_FILES)
+			IF(RB_HAS_SUBDIRS)
+				ROBOT_DATA(NAME ${ROBOTNAME} PREFIX ${RB_PREFIX} SUBDIRS ${RB_SUBDIRS})
+			ELSE(RB_HAS_SUBDIRS)
+				ROBOT_DATA(NAME ${ROBOTNAME} PREFIX ${RB_PREFIX})
+			ENDIF(RB_HAS_SUBDIRS)
+		ENDIF(RB_HAS_FILES)
+	ELSE(RB_HAS_PREFIX)
+		IF(RB_HAS_FILES)
+			IF(RB_HAS_SUBDIRS)
+				ROBOT_DATA(NAME ${ROBOTNAME} FILES ${RB_FILES} SUBDIRS ${RB_SUBDIRS})
+			ELSE(RB_HAS_SUBDIRS)
+				ROBOT_DATA(NAME ${ROBOTNAME} FILES ${RB_FILES})
+			ENDIF(RB_HAS_SUBDIRS)
+		ELSE(RB_HAS_FILES)
+			IF(RB_HAS_SUBDIRS)
+				ROBOT_DATA(NAME ${ROBOTNAME} SUBDIRS ${RB_SUBDIRS})
+			ELSE(RB_HAS_SUBDIRS)
 				ROBOT_DATA(NAME ${ROBOTNAME})
-			ENDIF(HAS_SHIPSUBDIRS)
-		ENDIF(HAS_EXTRA_SHIP)
-	ENDIF(HAS_SHIPPREFIX)
+			ENDIF(RB_HAS_SUBDIRS)
+		ENDIF(RB_HAS_FILES)
+	ENDIF(RB_HAS_PREFIX)
 ENDMACRO(ROBOT)
 
 MACRO(ADD_INTERFACE_INCLUDEDIR)
@@ -350,8 +356,10 @@ MACRO(ADD_INTERFACE_INCLUDEDIR)
 		SET(INCLUDE_CANDIDATE ${SD_INCLUDEDIR_ABS})
 	ENDIF(IN_SOURCETREE)
 	
-	FIND_PATH(INTERFACE_INCLUDE_DIR raceman.h PATHS ${INCLUDE_CANDIDATE} /usr/include /usr/local/include NO_DEFAULT_PATH)
-	FIND_PATH(INTERFACE_INCLUDE_DIR raceman.h PATHS ${INCLUDE_CANDIDATE} /usr/include /usr/local/include)
+	FIND_PATH(INTERFACE_INCLUDE_DIR raceman.h 
+			  PATHS ${INCLUDE_CANDIDATE} /usr/include /usr/local/include NO_DEFAULT_PATH)
+	FIND_PATH(INTERFACE_INCLUDE_DIR raceman.h 
+			  PATHS ${INCLUDE_CANDIDATE} /usr/include /usr/local/include)
 	IF(INTERFACE_INCLUDE_DIR)
 		INCLUDE_DIRECTORIES(${INTERFACE_INCLUDE_DIR})
 	ELSE(INTERFACE_INCLUDE_DIR)
@@ -371,8 +379,12 @@ MACRO(ADD_OSSPEC_INCLUDEDIR)
 	ELSE(IN_SOURCETREE)
 		SET(CANDIDATE_SPEC ${SD_INCLUDEDIR})
 	ENDIF(IN_SOURCETREE)
-	FIND_PATH(OSSPEC_INCLUDE_DIR osspec.h PATHS ${CANDIDATE_SPEC} /usr/include /usr/local/include NO_DEFAULT_PATH CACHE DOC "osspec header directory")
-	FIND_PATH(OSSPEC_INCLUDE_DIR osspec.h PATHS ${CANDIDATE_SPEC} /usr/include /usr/local/include CACHE DOC "osspec header directory")
+	FIND_PATH(OSSPEC_INCLUDE_DIR osspec.h 
+			  PATHS ${CANDIDATE_SPEC} /usr/include /usr/local/include 
+			  NO_DEFAULT_PATH CACHE DOC "osspec header directory")
+	FIND_PATH(OSSPEC_INCLUDE_DIR osspec.h 
+			  PATHS ${CANDIDATE_SPEC} /usr/include /usr/local/include 
+			  CACHE DOC "osspec header directory")
 	IF(OSSPEC_INCLUDE_DIR)
 		INCLUDE_DIRECTORIES(${OSSPEC_INCLUDE_DIR})
 	ELSE(OSSPEC_INCLUDE_DIR)
diff --git a/cmake/split_argn.cmake b/cmake/split_argn.cmake
index 0eeb50268..83884885b 100644
--- a/cmake/split_argn.cmake
+++ b/cmake/split_argn.cmake
@@ -83,6 +83,9 @@ ENDMACRO(SPLIT_ARGN_IS_KEYWORD SAG_KEYWORDS SAG_ITEM)
 
 MACRO(SPLIT_ARGN)
 	SPLIT_ARGN_KEYWORDS(SA_KEYWORDS ${ARGN})
+	IF(__DEBUG__)
+		MESSAGE(STATUS "KEYWORDS: ${SA_KEYWORDS}")
+	ENDIF()
 	SPLIT_ARGN_CLEAN_ISVARS(${ARGN})
 	SET(SA_EXPECT_KEYWORD TRUE)
 	SET(SA_EXPECT_VALUE FALSE)
@@ -97,6 +100,9 @@ MACRO(SPLIT_ARGN)
 		ELSE(NOT SA_START)
 			#Check if the current item is a keyword
 			SPLIT_ARGN_IS_KEYWORD(SA_KEYWORDS ${SA_ITEM} SA_ISKEYWORD)
+			IF(__DEBUG__)
+				MESSAGE(STATUS "ITEM=${SA_ITEM} KEYWORD=${SA_ISKEYWORD}")
+			ENDIF()
 
 			IF(SA_ISKEYWORD)
 				#Check if it is what we expect
@@ -105,6 +111,9 @@ MACRO(SPLIT_ARGN)
 				ELSE(NOT SA_EXPECT_KEYWORD)
 					#Save information about the keyword
 					SPLIT_ARGN_GET_KEYWORD(${SA_ITEM} SA_KEYWORD_FOUND SA_CUR_KEYWORD SA_CUR_MINCOUNT SA_CUR_MAXCOUNT SA_CUR_ISVARNAME SA_CUR_VARNAME ${ARGN})
+					IF(__DEBUG__)
+						MESSAGE(STATUS "KEYWORD: FOUND=${SA_KEYWORD_FOUND} KEYW=${SA_CUR_KEYWORD} MIN=${SA_CUR_MINCOUNT} MAX=${SA_CUR_MAXCOUNT} ISVAR=${SA_CUR_ISVARNAME} VARNAME=${SA_CUR_VARNAME}")
+					ENDIF()
 					IF(SA_KEYWORD_FOUND)
 						SET(SA_CUR_INDEX 0)
 						IF(NOT "${SA_CUR_VARNAME}" STREQUAL "_")
diff --git a/src/drivers/K1999/CMakeLists.txt b/src/drivers/K1999/CMakeLists.txt
index 2e8418a8c..e013f407c 100644
--- a/src/drivers/K1999/CMakeLists.txt
+++ b/src/drivers/K1999/CMakeLists.txt
@@ -5,12 +5,12 @@ SET(ROBOT_NAME "K1999")
 
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIPSUBDIRS 1 2)
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS 1 2)
 
 #ADD_SDLIB_INCLUDEDIR(math)
 
-#ROBOT(${ROBOT_NAME} ROBOT_SOURCES ROBOT_SHIP ROBOT_SHIPSUBDIRS)
+#ROBOT(${ROBOT_NAME} ROBOT_SOURCES ROBOT_FILES ROBOT_SUBDIRS)
 
-ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
diff --git a/src/drivers/bt/CMakeLists.txt b/src/drivers/bt/CMakeLists.txt
index 9b8d4028e..3ecdee7af 100644
--- a/src/drivers/bt/CMakeLists.txt
+++ b/src/drivers/bt/CMakeLists.txt
@@ -6,11 +6,11 @@ SET(ROBOT_NAME "bt")
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp cardata.cpp driver.cpp learn.cpp opponent.cpp pit.cpp
 	spline.cpp strategy.cpp strategy.h cardata.h driver.h learn.h opponent.h pit.h spline.h)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIPSUBDIRS 0 1 2 3 4 5 6 7 8 9 155-DTM cg-nascar-rwd clkdtm dtm155 dtma4
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS 0 1 2 3 4 5 6 7 8 9 155-DTM cg-nascar-rwd clkdtm dtm155 dtma4
 	dtmastra dtmclk dtmfalcon dtmm3 gt40 mclaren-f1 xj-220
 	pc-350z pc-996 pc-ciclon-300 pc-f360 pc-gt4 pc-nsx 
 	sc-boxer-96 sc-spirit-300 sc-cavallo-360 sc-fmc-gt4 sc-lynx-220 sc-murasama-nsx)
 
-ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP}
-	SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES}
+	SUBDIRS ${ROBOT_SUBDIRS})
diff --git a/src/drivers/human/CMakeLists.txt b/src/drivers/human/CMakeLists.txt
index c94938279..260362b5d 100644
--- a/src/drivers/human/CMakeLists.txt
+++ b/src/drivers/human/CMakeLists.txt
@@ -4,15 +4,15 @@ SET(ROBOT_NAME "human")
 
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp pref.cpp human.h pref.h)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIPSUBDIRS cars)
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS cars)
 
 FILE(GLOB files_xml *.xml)
 
 ADD_SDLIB_INCLUDEDIR(tgfclient)
 
 ROBOT(NAME ${ROBOT_NAME} INTERFACE WELCOME SOURCES ${ROBOT_SOURCES} 
-      SHIP ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+	FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 SD_INSTALL_FILES(DATA drivers/${ROBOT_NAME} USER drivers/${ROBOT_NAME}
 	                  FILES ${files_xml})
diff --git a/src/drivers/hymie/CMakeLists.txt b/src/drivers/hymie/CMakeLists.txt
index 3ca3f2c36..c812abff3 100644
--- a/src/drivers/hymie/CMakeLists.txt
+++ b/src/drivers/hymie/CMakeLists.txt
@@ -7,8 +7,8 @@ SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp cardata.cpp  correct.cpp  driver.cpp
 	correct.h  driver.h  learn.h  linalg.h  name.h  opponent.h  pit.h
 	spline.h  strategy.h)
 
-SET(ROBOT_SHIP)
-SET(ROBOT_SHIPSUBDIRS 1 2 3 4 5 6 7 8 9 10 sc-boxer-96 sc-spirit-300 sc-cavallo-360 sc-fmc-gt4 sc-lynx-220 sc-murasama-nsx svg)
+SET(ROBOT_FILES)
+SET(ROBOT_SUBDIRS 1 2 3 4 5 6 7 8 9 10 sc-boxer-96 sc-spirit-300 sc-cavallo-360 sc-fmc-gt4 sc-lynx-220 sc-murasama-nsx svg)
 
-ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
diff --git a/src/drivers/kilo2008/CMakeLists.txt b/src/drivers/kilo2008/CMakeLists.txt
index d9560c1be..0de485a09 100644
--- a/src/drivers/kilo2008/CMakeLists.txt
+++ b/src/drivers/kilo2008/CMakeLists.txt
@@ -6,8 +6,8 @@ SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp opponent.cpp pit.cpp strategy.cpp
     linalg.h opponent.h strategy.h pit.h cardata.h cardata.cpp spline.cpp 
     spline.h raceline.cpp raceline.h kdriver.cpp kdriver.h util.h util.cpp)
 
-SET(ROBOT_SHIP logo.rgb default.xml)
-SET(ROBOT_SHIPSUBDIRS 1 2 5 6 tracks trb1-cavallo-360rb ls1-archer-r9)
+SET(ROBOT_FILES logo.rgb default.xml)
+SET(ROBOT_SUBDIRS 1 2 5 6 tracks trb1-cavallo-360rb ls1-archer-r9)
 
-ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT(NAME ${ROBOT_NAME} SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
diff --git a/src/drivers/networkhuman/CMakeLists.txt b/src/drivers/networkhuman/CMakeLists.txt
index 58bf4075f..4853f4e4d 100644
--- a/src/drivers/networkhuman/CMakeLists.txt
+++ b/src/drivers/networkhuman/CMakeLists.txt
@@ -4,18 +4,17 @@ SET(ROBOT_NAME "networkhuman")
 
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp pref.cpp networkhuman.h pref.h)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIP_SUBDIR tracks)
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS)
 
 FILE(GLOB files_xml *.xml)
 
 ADD_SDLIB_INCLUDEDIR(tgfclient networking)
 
 ROBOT(NAME ${ROBOT_NAME} INTERFACE WELCOME SOURCES ${ROBOT_SOURCES} 
-      SHIP ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+	FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 SD_INSTALL_FILES(DATA drivers/${ROBOT_NAME} USER drivers/${ROBOT_NAME}
 	                  FILES ${files_xml})
 
-#ADD_SDLIB_LIBRARY(${ROBOT_NAME} tgf tgfclient)
 ADD_SDLIB_LIBRARY(${ROBOT_NAME} tgf client networking)
diff --git a/src/drivers/simplix/CMakeLists.txt b/src/drivers/simplix/CMakeLists.txt
index 52e80ed48..846737335 100644
--- a/src/drivers/simplix/CMakeLists.txt
+++ b/src/drivers/simplix/CMakeLists.txt
@@ -87,64 +87,64 @@ ROBOT_MODULE(NAME ${ROBOT_NAME} INTERFACE ${ROBOT_INTERFACE} SOURCES ${ROBOT_SOU
 				  CLONENAMES ${ROBOT_CLONES})
 
 # The data associated to the ubiquitous robot module and its clones.
-SET(ROBOT_SHIP logo.rgb readme.txt default.xml)
+SET(ROBOT_FILES logo.rgb readme.txt default.xml)
 
-SET(ROBOT_SHIPSUBDIRS 0 trb1-cavallo-360rb tracks
+SET(ROBOT_SUBDIRS 0 trb1-cavallo-360rb tracks
 					  ls1-archer-r9 ls1-cavallo-570s1 ls1-newcastle-fury ls1-taipan-ltsr
 					  ls1-toro-rgt ls1-vulture-v6r ls1-zentek-z7r
                       sc-boxer-96 sc-cavallo-360 sc-fmc-gt4 sc-lynx-220 
 					  sc-murasama-nsx sc-spirit-300)
 
-ROBOT_DATA(NAME ${ROBOT_NAME} SHIPPREFIX src 
-           SHIPFILES ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT_DATA(NAME ${ROBOT_NAME} PREFIX src 
+           FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 # 36GP
-SET(ROBOT_SHIPSUBDIRS 0 1 2 3 4 5 6 7 8 9
+SET(ROBOT_SUBDIRS 0 1 2 3 4 5 6 7 8 9
 					  36gp-ettore-t59 36gp-milano-12c36 36gp-silber-w25b 36gp-tridenti-6c34 36gp-tridenti-v8ri
                       tracks)
 
-ROBOT_DATA(NAME simplix_36GP SHIPPREFIX simplix_36GP
-           SHIPFILES ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT_DATA(NAME simplix_36GP PREFIX simplix_36GP
+           FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 # SuperCars
-SET(ROBOT_SHIPSUBDIRS 0 1 2 3 4 5 6 7 8 12 13
+SET(ROBOT_SUBDIRS 0 1 2 3 4 5 6 7 8 12 13
                       sc-boxer-96 sc-spirit-300 sc-cavallo-360 sc-fmc-gt4 sc-lynx-220 sc-murasama-nsx
                       tracks)
 
-ROBOT_DATA(NAME simplix_sc SHIPPREFIX simplix_sc
-           SHIPFILES ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT_DATA(NAME simplix_sc PREFIX simplix_sc
+           FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
            
 # LS-GT1
-SET(ROBOT_SHIPSUBDIRS 0 1 2 3 4 5 8 9 12 13
+SET(ROBOT_SUBDIRS 0 1 2 3 4 5 8 9 12 13
                       ls1-toro-rgt ls1-cavallo-570s1 ls1-newcastle-fury ls1-archer-r9
                       ls1-zentek-z7r ls1-taipan-ltsr ls1-vulture-v6r 
                       tracks)
 
-ROBOT_DATA(NAME simplix_ls1 SHIPPREFIX simplix_ls1
-           SHIPFILES ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT_DATA(NAME simplix_ls1 PREFIX simplix_ls1
+           FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 # TRB1
-SET(ROBOT_SHIPSUBDIRS 0 1 2 3 4 5 6 7 8 9 10 11 12 13
+SET(ROBOT_SUBDIRS 0 1 2 3 4 5 6 7 8 9 10 11 12 13
                       trb1-boxer-trbrs trb1-sector-rb1 trb1-spirit-rb1lt
 					  trb1-cavallo-360rb trb1-silber-rblk trb1-taipan-rb1 trb1-zaxxon-rb
                       tracks)
 
-ROBOT_DATA(NAME simplix_trb1 SHIPPREFIX simplix_trb1
-           SHIPFILES ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT_DATA(NAME simplix_trb1 PREFIX simplix_trb1
+           FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 # MP5
-SET(ROBOT_SHIPSUBDIRS 0 1 2 3 4 5 mp5-fmc tracks)
+SET(ROBOT_SUBDIRS 0 1 2 3 4 5 mp5-fmc tracks)
 
-ROBOT_DATA(NAME simplix_mp5 SHIPPREFIX simplix_mp5
-           SHIPFILES ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+ROBOT_DATA(NAME simplix_mp5 PREFIX simplix_mp5
+           FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 
 # Work-in-progress / unofficial simplix instances.
 IF(NOT OPTION_OFFICIAL_ONLY)
 
-	SET(ROBOT_SHIPSUBDIRS 0 1 2 3 4 5 6 7 8 9 mpa1-murasama tracks)
+	SET(ROBOT_SUBDIRS 0 1 2 3 4 5 6 7 8 9 mpa1-murasama tracks)
 
-	ROBOT_DATA(NAME simplix_mpa1 SHIPPREFIX simplix_mpa1
-			   SHIPFILES ${ROBOT_SHIP} SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+	ROBOT_DATA(NAME simplix_mpa1 PREFIX simplix_mpa1
+			   FILES ${ROBOT_FILES} SUBDIRS ${ROBOT_SUBDIRS})
 
 ENDIF()
\ No newline at end of file
diff --git a/src/drivers/usr_36GP/CMakeLists.txt b/src/drivers/usr_36GP/CMakeLists.txt
index 3962d5e0b..f060984c4 100644
--- a/src/drivers/usr_36GP/CMakeLists.txt
+++ b/src/drivers/usr_36GP/CMakeLists.txt
@@ -8,9 +8,9 @@ SET(ROBOT_INTERFACE LEGACY WELCOME)
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp driver.cpp opponent.cpp spline.cpp pit.cpp
 	strategy.cpp cardata.cpp raceline.cpp)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIPSUBDIRS cars 1 2 3 4 5 6 7 8 9 10 11 12 )
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS cars 1 2 3 4 5 6 7 8 9 10 11 12 )
 
 ROBOT(NAME ${ROBOT_NAME} INTERFACE ${ROBOT_INTERFACE}
-	SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP}
-	SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+	SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES}
+	SUBDIRS ${ROBOT_SUBDIRS})
diff --git a/src/drivers/usr_ls1/CMakeLists.txt b/src/drivers/usr_ls1/CMakeLists.txt
index 625fcb1d9..9c2e28af2 100644
--- a/src/drivers/usr_ls1/CMakeLists.txt
+++ b/src/drivers/usr_ls1/CMakeLists.txt
@@ -8,9 +8,9 @@ SET(ROBOT_INTERFACE LEGACY WELCOME)
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp driver.cpp opponent.cpp spline.cpp pit.cpp
 	strategy.cpp cardata.cpp raceline.cpp)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIPSUBDIRS cars 1 2 3 4 7 8)
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS cars 1 2 3 4 7 8)
 
 ROBOT(NAME ${ROBOT_NAME} INTERFACE ${ROBOT_INTERFACE}
-	SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP}
-	SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+	SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES}
+	SUBDIRS ${ROBOT_SUBDIRS})
diff --git a/src/drivers/usr_sc/CMakeLists.txt b/src/drivers/usr_sc/CMakeLists.txt
index 61397889f..9b4dd04c2 100644
--- a/src/drivers/usr_sc/CMakeLists.txt
+++ b/src/drivers/usr_sc/CMakeLists.txt
@@ -8,9 +8,9 @@ SET(ROBOT_INTERFACE LEGACY WELCOME)
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp driver.cpp opponent.cpp spline.cpp pit.cpp
 	strategy.cpp cardata.cpp raceline.cpp)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIPSUBDIRS cars 1 2 3 4 5 6 7 8 9 10 11 12)
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS cars 1 2 3 4 5 6 7 8 9 10 11 12)
 
 ROBOT(NAME ${ROBOT_NAME} INTERFACE ${ROBOT_INTERFACE}
-	SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP}
-	SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+	SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES}
+	SUBDIRS ${ROBOT_SUBDIRS})
diff --git a/src/drivers/usr_trb1/CMakeLists.txt b/src/drivers/usr_trb1/CMakeLists.txt
index 4400a5b93..d8d74b9a5 100644
--- a/src/drivers/usr_trb1/CMakeLists.txt
+++ b/src/drivers/usr_trb1/CMakeLists.txt
@@ -8,9 +8,9 @@ SET(ROBOT_INTERFACE LEGACY WELCOME)
 SET(ROBOT_SOURCES ${ROBOT_NAME}.cpp driver.cpp opponent.cpp spline.cpp pit.cpp
 	strategy.cpp cardata.cpp raceline.cpp)
 
-SET(ROBOT_SHIP logo.rgb)
-SET(ROBOT_SHIPSUBDIRS cars 1 2 3 4 5 6 7 8 9 10 11 12 13 14)
+SET(ROBOT_FILES logo.rgb)
+SET(ROBOT_SUBDIRS cars 1 2 3 4 5 6 7 8 9 10 11 12 13 14)
 
 ROBOT(NAME ${ROBOT_NAME} INTERFACE ${ROBOT_INTERFACE}
-	SOURCES ${ROBOT_SOURCES} SHIP ${ROBOT_SHIP}
-	SHIPSUBDIRS ${ROBOT_SHIPSUBDIRS})
+	SOURCES ${ROBOT_SOURCES} FILES ${ROBOT_FILES}
+	SUBDIRS ${ROBOT_SUBDIRS})