I recently bought the Lego NXT. While I was impressed with the ease of use of the graphical software that comes with it, I found it too difficult to write complex software. So I quickly worked my way through a series of options. First I tried RobotCwhich while very nice, didn't seem to have any support for arrays and structures. Next I looked at Not Quite C which looked pretty much like what I wanted but only worked with the RCX not NXT. Next I tried LeJOS which looked like a nice Java interface, but this again appeared to only support the RCX not NXT. Then I looked at NeXT Byte Code which seemed very flexible but primitive (e.g. all global variables, no built-in stack). Finally, I read on Amazon.com that a new book is coming out for NXT that includes Java support , but it is not out yet.
Have I exhausted all the options that are available today? If not, and someone can point me in the right direction, it would be appreciated. Also, are there options being developed others know of (e.g. NQC for NXT)? All I really want is language like C or Java with support for building complex data types and tasks/threads.
Thanks in advance.