Release v 16.02.09

FtcRobotController/FtcRobotController.iml

@@ -1,22 +1,19 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<module external.linked.project.id=":FtcRobotController" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$/.." external.system.id="GRADLE" external.system.module.group="ftc_app" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
+<module external.linked.project.id="FtcRobotController" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="GRADLE" external.system.module.group="" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
   <component name="FacetManager">
     <facet type="android-gradle" name="Android-Gradle">
       <configuration>
-        <option name="GRADLE_PROJECT_PATH" value=":FtcRobotController" />
+        <option name="GRADLE_PROJECT_PATH" value=":" />
       </configuration>
     </facet>
     <facet type="android" name="Android">
       <configuration>
-        <option name="SELECTED_BUILD_VARIANT" value="debug" />
+        <option name="SELECTED_BUILD_VARIANT" value="release" />
         <option name="SELECTED_TEST_ARTIFACT" value="_android_test_" />
-        <option name="ASSEMBLE_TASK_NAME" value="assembleDebug" />
-        <option name="COMPILE_JAVA_TASK_NAME" value="compileDebugSources" />
-        <option name="ASSEMBLE_TEST_TASK_NAME" value="assembleDebugAndroidTest" />
-        <option name="COMPILE_JAVA_TEST_TASK_NAME" value="compileDebugAndroidTestSources" />
+        <option name="ASSEMBLE_TASK_NAME" value="assembleRelease" />
+        <option name="COMPILE_JAVA_TASK_NAME" value="compileReleaseSources" />
         <afterSyncTasks>
-          <task>generateDebugAndroidTestSources</task>
-          <task>generateDebugSources</task>
+          <task>generateReleaseSources</task>
         </afterSyncTasks>
         <option name="ALLOW_USER_CONFIGURATION" value="false" />
         <option name="MANIFEST_FILE_RELATIVE_PATH" value="/src/main/AndroidManifest.xml" />
@@ -27,29 +24,23 @@
     </facet>
   </component>
   <component name="NewModuleRootManager" LANGUAGE_LEVEL="JDK_1_6" inherit-compiler-output="false">
-    <output url="file://$MODULE_DIR$/build/intermediates/classes/debug" />
+    <output url="file://$MODULE_DIR$/build/intermediates/classes/release" />
     <output-test url="file://$MODULE_DIR$/build/intermediates/classes/androidTest/debug" />
     <exclude-output />
     <content url="file://$MODULE_DIR$">
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/r/debug" isTestSource="false" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/aidl/debug" isTestSource="false" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/buildConfig/debug" isTestSource="false" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/rs/debug" isTestSource="false" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/res/rs/debug" type="java-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/res/generated/debug" type="java-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/r/androidTest/debug" isTestSource="true" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/aidl/androidTest/debug" isTestSource="true" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/buildConfig/androidTest/debug" isTestSource="true" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/rs/androidTest/debug" isTestSource="true" generated="true" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/res/rs/androidTest/debug" type="java-test-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/build/generated/res/generated/androidTest/debug" type="java-test-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/src/debug/res" type="java-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/src/debug/resources" type="java-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/src/debug/assets" type="java-resource" />
-      <sourceFolder url="file://$MODULE_DIR$/src/debug/aidl" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/src/debug/java" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/src/debug/jni" isTestSource="false" />
-      <sourceFolder url="file://$MODULE_DIR$/src/debug/rs" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/r/release" isTestSource="false" generated="true" />
+      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/aidl/release" isTestSource="false" generated="true" />
+      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/buildConfig/release" isTestSource="false" generated="true" />
+      <sourceFolder url="file://$MODULE_DIR$/build/generated/source/rs/release" isTestSource="false" generated="true" />
+      <sourceFolder url="file://$MODULE_DIR$/build/generated/res/rs/release" type="java-resource" />
+      <sourceFolder url="file://$MODULE_DIR$/build/generated/res/generated/release" type="java-resource" />
+      <sourceFolder url="file://$MODULE_DIR$/src/release/res" type="java-resource" />
+      <sourceFolder url="file://$MODULE_DIR$/src/release/resources" type="java-resource" />
+      <sourceFolder url="file://$MODULE_DIR$/src/release/assets" type="java-resource" />
+      <sourceFolder url="file://$MODULE_DIR$/src/release/aidl" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/src/release/java" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/src/release/jni" isTestSource="false" />
+      <sourceFolder url="file://$MODULE_DIR$/src/release/rs" isTestSource="false" />
       <sourceFolder url="file://$MODULE_DIR$/src/main/res" type="java-resource" />
       <sourceFolder url="file://$MODULE_DIR$/src/main/resources" type="java-resource" />
       <sourceFolder url="file://$MODULE_DIR$/src/main/assets" type="java-resource" />
@@ -101,8 +92,5 @@
     <orderEntry type="library" exported="" name="WirelessP2p-release-" level="project" />
     <orderEntry type="library" exported="" name="Hardware-release-" level="project" />
     <orderEntry type="library" exported="" name="RobotCore-release-" level="project" />
-    <orderEntry type="library" exported="" name="effects-android-19" level="project" />
-    <orderEntry type="library" exported="" name="usb-android-19" level="project" />
-    <orderEntry type="library" exported="" name="maps-android-19" level="project" />
   </component>
 </module>

FtcRobotController/LICENSE

@@ -1,10 +1,10 @@
 License information
 
 ================================================================================
-FtcDriverStation, FtcRobotController, FtcCommon, Hardware, and RobotCore have
-the following license:
+FtcDriverStation, FtcRobotController, FtcCommon, Hardware, RobotCore
+ModernRobotics, Analytics, and WirelessP2p have the following license:
 
-Copyright (c) 2014, 2015 Qualcomm Technologies Inc
+Copyright (c) 2014-2016 Qualcomm Technologies Inc
 
 All rights reserved.
 
@@ -38,29 +38,4 @@ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-Copyright (c) 2014, 2015 Qualcomm Technologies Inc
-
-================================================================================
-ModernRobotics, Analitics, and WirelessP2p have the following license:
-
-Copyright (c) 2014, 2015 Qualcomm Technologies, Inc. All rights reserved.
-Confidential & Proprietary - Qualcomm Technologies, Inc. ("QTI")
-
-The party receiving this software directly from QTI (the "Recipient") may use
-this software as reasonably necessary solely for the purposes set forth in the
-agreement between the Recipient and QTI (the "Agreement"). The software may be
-used in source code form solely by the Recipient's employees (if any) authorized
-by the Agreement. Unless expressly authorized in the Agreement, the Recipient
-may not sublicense, assign, transfer or otherwise provide the source code to any
-third party. Qualcomm Technologies, Inc. retains all ownership rights in and to
-the software
-
-Qualcomm Technologies Inc., will periodically collect anonymous information
-about the device this software is installed on such as the make, model, and
-software versions, but no information that identifies you.
-
-This notice supersedes any other QTI notices contained within the software
-except copyright notices indicating different years of publication for different
-portions of the software. This notice does not supersede the application of any
-third party copyright notice to that third party's code
 

FtcRobotController/build.gradle

@@ -5,7 +5,7 @@ android {
         minSdkVersion 16
         targetSdkVersion 19
     }
-    compileSdkVersion 'Google Inc.:Google APIs:19'
+    compileSdkVersion 19
     buildToolsVersion '21.1.2'
 }
 

FtcRobotController/src/main/AndroidManifest.xml

@@ -2,8 +2,8 @@
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
           package="com.qualcomm.ftcrobotcontroller"
-          android:versionCode="6"
-          android:versionName="1.5">
+          android:versionCode="7"
+          android:versionName="1.6">
 
 
   <uses-permission

FtcRobotController/src/main/java/com/qualcomm/ftcrobotcontroller/FtcRobotControllerActivity.java

@@ -39,6 +39,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import android.content.ServiceConnection;
 import android.content.SharedPreferences;
 import android.content.res.Configuration;
+import android.hardware.usb.UsbDevice;
 import android.hardware.usb.UsbManager;
 import android.net.wifi.WifiManager;
 import android.os.Bundle;
@@ -72,6 +73,8 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import java.io.FileInputStream;
 import java.io.FileNotFoundException;
 import java.io.Serializable;
+import java.util.Queue;
+import java.util.concurrent.ConcurrentLinkedQueue;
 
 public class FtcRobotControllerActivity extends Activity {
 
@@ -104,6 +107,7 @@ public class FtcRobotControllerActivity extends Activity {
   protected FtcRobotControllerService controllerService;
 
   protected FtcEventLoop eventLoop;
+  protected Queue<UsbDevice> receivedUsbAttachmentNotifications;
 
   protected class RobotRestarter implements Restarter {
 
@@ -129,16 +133,45 @@ public void onServiceDisconnected(ComponentName name) {
   @Override
   protected void onNewIntent(Intent intent) {
     super.onNewIntent(intent);
-    if (UsbManager.ACTION_USB_ACCESSORY_ATTACHED.equals(intent.getAction())) {
-      // a new USB device has been attached
-      DbgLog.msg("USB Device attached; app restart may be needed");
+
+    if (UsbManager.ACTION_USB_DEVICE_ATTACHED.equals(intent.getAction())) {
+      UsbDevice usbDevice = intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
+      if (usbDevice != null) {  // paranoia
+        // We might get attachment notifications before the event loop is set up, so
+        // we hold on to them and pass them along only when we're good and ready.
+        if (receivedUsbAttachmentNotifications != null) { // *total* paranoia
+          receivedUsbAttachmentNotifications.add(usbDevice);
+          passReceivedUsbAttachmentsToEventLoop();
+        }
+      }
+    }
+  }
+
+  protected void passReceivedUsbAttachmentsToEventLoop() {
+    if (this.eventLoop != null) {
+      for (;;) {
+        UsbDevice usbDevice = receivedUsbAttachmentNotifications.poll();
+        if (usbDevice == null)
+          break;
+        this.eventLoop.onUsbDeviceAttached(usbDevice);
+      }
+    }
+    else {
+      // Paranoia: we don't want the pending list to grow without bound when we don't
+      // (yet) have an event loop
+      while (receivedUsbAttachmentNotifications.size() > 100) {
+        receivedUsbAttachmentNotifications.poll();
+      }
     }
   }
 
   @Override
   protected void onCreate(Bundle savedInstanceState) {
     super.onCreate(savedInstanceState);
 
+    receivedUsbAttachmentNotifications = new ConcurrentLinkedQueue<UsbDevice>();
+    eventLoop = null;
+
     setContentView(R.layout.activity_ftc_controller);
 
     utility = new Utility(this);
@@ -336,6 +369,8 @@ private void requestRobotSetup() {
 
     controllerService.setCallback(callback);
     controllerService.setupRobot(eventLoop);
+
+    passReceivedUsbAttachmentsToEventLoop();
   }
 
   private FileInputStream fileSetup() {

FtcRobotController/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes/LinearI2cAddressChange.java

@@ -31,6 +31,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 
 package com.qualcomm.ftcrobotcontroller.opmodes;
 
+import com.qualcomm.hardware.modernrobotics.ModernRoboticsUsbDeviceInterfaceModule;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.hardware.DeviceInterfaceModule;
 import com.qualcomm.robotcore.hardware.IrSeekerSensor;
@@ -106,7 +107,7 @@ public void runOpMode() throws InterruptedException {
     // I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
     // Different hardware may have different rules.
     // Be sure to read the requirements for the hardware you're using!
-    IrSeekerSensor.throwIfModernRoboticsI2cAddressIsInvalid(newAddress);
+    ModernRoboticsUsbDeviceInterfaceModule.throwIfModernRoboticsI2cAddressIsInvalid(newAddress);
 
     // wait for the start button to be pressed
     waitForStart();

FtcRobotController/src/main/res/layout/activity_ftc_controller.xml

@@ -126,7 +126,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
       android:textColor="#990000"
       android:textStyle="bold"
       android:minLines="2"
-      android:maxLines="4"
+      android:maxLines="6"
       android:text="" />
 
     <TextView

README.md

@@ -18,6 +18,29 @@ For technical questions regarding the SDK, please visit the FTC Technology forum
 
   http://ftcforum.usfirst.org/forumdisplay.php?156-FTC-Technology
 
+
+**************************************************************************************
+
+Release 16.02.09
+
+ * Improved battery checker feature so that voltage values get refreshed regularly (every 250 msec) on Driver Station (DS) user interface.
+ * Improved software so that Robot Controller (RC) is much more resilient and “self-healing” to USB disconnects:
+    - If user attempts to start/restart RC with one or more module missing, it will display a warning but still start up.
+    - When running an op mode, if one or more modules gets disconnected, the RC & DS will display warnings,and robot will keep on working in spite of the missing module(s).
+    - If a disconnected module gets physically reconnected the RC will auto detect the module and the user will regain control of the recently connected module.
+    - Warning messages are more helpful (identifies the type of module that’s missing plus its USB serial number).   
+ * Code changes to fix the null gamepad reference when users try to reference the gamepads in the init() portion of their op mode.
+ * NXT light sensor output is now properly scaled.  Note that teams might have to readjust their light threshold values in their op modes.
+ * On DS user interface, gamepad icon for a driver will disappear if the matching gamepad is disconnected or if that gamepad gets designated as a different driver.
+ * Robot Protocol (ROBOCOL) version number info is displayed in About screen on RC and DS apps.
+ * Incorporated a display filter on pairing screen to filter out devices that don’t use the “<TEAM NUMBER>-“ format. This filter can be turned off to show all WiFi Direct devices.
+ * Updated text in License file.
+ * Fixed formatting error in OpticalDistanceSensor.toString().
+ * Fixed issue on with a blank (“”) device name that would disrupt WiFi Direct Pairing.
+ * Made a change so that the WiFi info and battery info can be displayed more quickly on the DS upon connecting to RC.
+ * Improved javadoc generation.
+ * Modified code to make it easier to support language localization in the future.
+
 **************************************************************************************
 
 Release 16.01.04