diff --git a/.github/workflows/preview.yaml b/.github/workflows/preview.yaml
index 247cc0d0..6f2ff3cd 100644
--- a/.github/workflows/preview.yaml
+++ b/.github/workflows/preview.yaml
@@ -41,11 +41,11 @@ jobs:
         with:
           python-version: 3.11
 
-      # Install clang + libc++ (needed for C++17 build with Bazel)
-      - name: Install clang and libc++
+      # Install clang + libstdc++ (needed for C++17 build with Bazel)
+      - name: Install clang and libstdc++
         run: |
           sudo apt-get update
-          sudo apt-get install -y clang libc++-dev libc++abi-dev
+          sudo apt-get install -y clang libstdc++-14-dev
 
       # Mount Bazel cache
       - name: Mount bazel caches
diff --git a/libs/api/include/rtbot/OperatorJson.h b/libs/api/include/rtbot/OperatorJson.h
index 8936156c..17da8241 100644
--- a/libs/api/include/rtbot/OperatorJson.h
+++ b/libs/api/include/rtbot/OperatorJson.h
@@ -285,7 +285,7 @@ class OperatorJson {
     } else if (type == "Add") {
       j["value"] = std::dynamic_pointer_cast<Add>(op)->get_value();
     } else if (type == "Ignore") {
-      j["value"] = std::dynamic_pointer_cast<Ignore>(op)->get_count();
+      j["count"] = std::dynamic_pointer_cast<Ignore>(op)->get_count();
     } else if (type == "Linear") {
       j["coefficients"] = std::dynamic_pointer_cast<Linear>(op)->get_coefficients();
     } else if (type == "PeakDetector") {
diff --git a/libs/api/src/bindings.cpp b/libs/api/src/bindings.cpp
index 7451fb65..bc721086 100644
--- a/libs/api/src/bindings.cpp
+++ b/libs/api/src/bindings.cpp
@@ -20,9 +20,13 @@ using json = nlohmann::json;
 
 void to_json(json& j, const ProgramMsgBatch& batch) {
   j = json::object();
-  for (const auto& [op_id, op_batch] : batch) {
+  for (const auto& op_kv : batch) {
+    const auto& op_id = op_kv.first;
+    const auto& op_batch = op_kv.second;
     j[op_id] = json::object();
-    for (const auto& [port_name, msgs] : op_batch) {
+    for (const auto& port_kv : op_batch) {
+      const auto& port_name = port_kv.first;
+      const auto& msgs = port_kv.second;
       j[op_id][port_name] = json::array();
       for (const auto& msg : msgs) {
         if (auto* num_msg = dynamic_cast<const Message<NumberData>*>(msg.get())) {
diff --git a/libs/core/include/rtbot/Input.h b/libs/core/include/rtbot/Input.h
index 8607cf01..b2f2b3d1 100644
--- a/libs/core/include/rtbot/Input.h
+++ b/libs/core/include/rtbot/Input.h
@@ -20,7 +20,7 @@ class Input : public Operator {
       if (!PortType::is_valid_port_type(type)) {
         throw std::runtime_error("Unknown port type: " + type);
       }
-      PortType::add_port(*this, type, true, true);
+      PortType::add_port(*this, type, true, false, true);
       last_sent_times_.push_back(0);
       port_type_names_.push_back(type);
     }
diff --git a/libs/core/include/rtbot/Join.h b/libs/core/include/rtbot/Join.h
index 39d90f13..50f80a05 100644
--- a/libs/core/include/rtbot/Join.h
+++ b/libs/core/include/rtbot/Join.h
@@ -30,7 +30,7 @@ class Join : public Operator {
         throw std::runtime_error("Unknown port type: " + type);
       }
 
-      PortType::add_port(*this, type, true, false);  // input only
+      PortType::add_port(*this, type, true, false, false);  // input only
       data_time_tracker_[num_data_ports() - 1] = std::set<timestamp_t>();
       port_type_names_.push_back(type);
     }
@@ -40,7 +40,7 @@ class Join : public Operator {
       if (!PortType::is_valid_port_type(type)) {
         throw std::runtime_error("Unknown port type: " + type);
       }
-      PortType::add_port(*this, type, false, true);  // output only
+      PortType::add_port(*this, type, false, false, true);  // output only
     }
   }
 
@@ -55,7 +55,7 @@ class Join : public Operator {
         throw std::runtime_error("Unknown port type: " + type);
       }
 
-      PortType::add_port(*this, type, true, true);
+      PortType::add_port(*this, type, true, false, true);
       data_time_tracker_[num_data_ports() - 1] = std::set<timestamp_t>();
       port_type_names_.push_back(type);
     }
@@ -70,7 +70,7 @@ class Join : public Operator {
 
     std::string port_type = PortType::get_port_type<T>();
     for (size_t i = 0; i < num_ports; ++i) {
-      PortType::add_port(*this, port_type, true, true);
+      PortType::add_port(*this, port_type, true, false, true);
       data_time_tracker_[i] = std::set<timestamp_t>();
       port_type_names_.push_back(port_type);
     }
diff --git a/libs/core/include/rtbot/Output.h b/libs/core/include/rtbot/Output.h
index d2363b46..b9ebdb8d 100644
--- a/libs/core/include/rtbot/Output.h
+++ b/libs/core/include/rtbot/Output.h
@@ -26,7 +26,7 @@ class Output : public Operator {
       port_type_names_.push_back(type);
 
       // Add input port and matching output port
-      PortType::add_port(*this, type, true, true);  // input port
+      PortType::add_port(*this, type, true, false, true);  // input port
     }
   }
 
diff --git a/libs/core/include/rtbot/Pipeline.h b/libs/core/include/rtbot/Pipeline.h
index 934cd195..59219d85 100644
--- a/libs/core/include/rtbot/Pipeline.h
+++ b/libs/core/include/rtbot/Pipeline.h
@@ -32,7 +32,7 @@ class Pipeline : public Operator {
         throw std::runtime_error("Unknown input port type: " + type);
       }
       // Add data input port
-      PortType::add_port(*this, type, true, false);
+      PortType::add_port(*this, type, true, false, false);
       input_port_types_.push_back(type);
     }
 
@@ -42,7 +42,7 @@ class Pipeline : public Operator {
         throw std::runtime_error("Unknown output port type: " + type);
       }
       // Add output port
-      PortType::add_port(*this, type, false, true);
+      PortType::add_port(*this, type, false, false, true);
       output_port_types_.push_back(type);
     }
   }
diff --git a/libs/core/include/rtbot/PortType.h b/libs/core/include/rtbot/PortType.h
index 55adeafe..d99ccf86 100644
--- a/libs/core/include/rtbot/PortType.h
+++ b/libs/core/include/rtbot/PortType.h
@@ -70,29 +70,30 @@ class PortType {
 
   // Helper method to add port of specified type to an operator
   template <typename OperatorType>
-  static void add_port(OperatorType& op, const std::string& port_type, bool is_data = true, bool add_output = false) {
+  static void add_port(OperatorType& op, const std::string& port_type, bool is_data = true, bool is_control = false,
+                       bool add_output = false) {
     if (port_type == NUMBER) {
       if (is_data)
         op.template add_data_port<NumberData>();
-      else
+      else if (is_control)
         op.template add_control_port<NumberData>();
       if (add_output) op.template add_output_port<NumberData>();
     } else if (port_type == BOOLEAN) {
       if (is_data)
         op.template add_data_port<BooleanData>();
-      else
+      else if (is_control)
         op.template add_control_port<BooleanData>();
       if (add_output) op.template add_output_port<BooleanData>();
     } else if (port_type == VECTOR_NUMBER) {
       if (is_data)
         op.template add_data_port<VectorNumberData>();
-      else
+      else if (is_control)
         op.template add_control_port<VectorNumberData>();
       if (add_output) op.template add_output_port<VectorNumberData>();
     } else if (port_type == VECTOR_BOOLEAN) {
       if (is_data)
         op.template add_data_port<VectorBooleanData>();
-      else
+      else if (is_control)
         op.template add_control_port<VectorBooleanData>();
       if (add_output) op.template add_output_port<VectorBooleanData>();
     } else {