Autonomous mode

.gitignore

@@ -40,6 +40,7 @@ captures/
 
 # IntelliJ
 *.iml
+.idea/
 .idea/workspace.xml
 .idea/tasks.xml
 .idea/gradle.xml

FtcRobotController/build.gradle

@@ -13,20 +13,12 @@ android {
         buildConfigField "String", "BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
     }
 
-    compileSdkVersion 28
+    compileSdkVersion 29
 
     compileOptions {
         sourceCompatibility JavaVersion.VERSION_1_7
         targetCompatibility JavaVersion.VERSION_1_7
     }
 }
 
-repositories {
-    maven { url = "https://dl.bintray.com/first-tech-challenge/ftcsdk/" }
-
-    flatDir {
-        dirs '../libs'
-    }
-}
-
-apply from: 'build.release.gradle'
+apply from: '../build.dependencies.gradle'

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="38"
-          android:versionName="6.0">
+          android:versionCode="40"
+          android:versionName="6.2">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 
@@ -13,7 +13,8 @@
     android:extractNativeLibs="true"
     android:icon="@drawable/ic_launcher"
     android:label="@string/app_name"
-    android:theme="@style/AppThemeRedRC" >
+    android:theme="@style/AppThemeRedRC"
+    android:usesCleartextTraffic="true">
 
     <!-- Indicates to the ControlHubUpdater what the latest version of the Control Hub is that this app supports -->
     <meta-data

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetection.java

@@ -102,10 +102,8 @@ public void runOpMode() {
             // If your target is at distance greater than 50 cm (20") you can adjust the magnification value
             // to artificially zoom in to the center of image.  For best results, the "aspectRatio" argument
             // should be set to the value of the images used to create the TensorFlow Object Detection model
-            // (typically 1.78 or 16/9).
-
-            // Uncomment the following line if you want to adjust the magnification and/or the aspect ratio of the input images.
-            //tfod.setZoom(2.5, 1.78);
+            // (typically 16/9).
+            tfod.setZoom(2.5, 16.0/9.0);
         }
 
         /** Wait for the game to begin */

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionSwitchableCameras.java

@@ -111,10 +111,8 @@ public void runOpMode() {
             // If your target is at distance greater than 50 cm (20") you can adjust the magnification value
             // to artificially zoom in to the center of image.  For best results, the "aspectRatio" argument
             // should be set to the value of the images used to create the TensorFlow Object Detection model
-            // (typically 1.78 or 16/9).
-
-            // Uncomment the following line if you want to adjust the magnification and/or the aspect ratio of the input images.
-            //tfod.setZoom(2.5, 1.78);
+            // (typically 16/9).
+            tfod.setZoom(2.5, 16.0/9.0);
         }
 
         /** Wait for the game to begin */

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptTensorFlowObjectDetectionWebcam.java

@@ -102,10 +102,8 @@ public void runOpMode() {
             // If your target is at distance greater than 50 cm (20") you can adjust the magnification value
             // to artificially zoom in to the center of image.  For best results, the "aspectRatio" argument
             // should be set to the value of the images used to create the TensorFlow Object Detection model
-            // (typically 1.78 or 16/9).
-
-            // Uncomment the following line if you want to adjust the magnification and/or the aspect ratio of the input images.
-            //tfod.setZoom(2.5, 1.78);
+            // (typically 16/9).
+            tfod.setZoom(2.5, 16.0/9.0);
         }
 
         /** Wait for the game to begin */

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptVuforiaUltimateGoalNavigationWebcam.java

@@ -48,9 +48,8 @@
 
 import static org.firstinspires.ftc.robotcore.external.navigation.AngleUnit.DEGREES;
 import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XYZ;
-import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.YZX;
+import static org.firstinspires.ftc.robotcore.external.navigation.AxesOrder.XZY;
 import static org.firstinspires.ftc.robotcore.external.navigation.AxesReference.EXTRINSIC;
-import static org.firstinspires.ftc.robotcore.external.navigation.VuforiaLocalizer.CameraDirection.BACK;
 
 /**
  * This 2020-2021 OpMode illustrates the basics of using the Vuforia localizer to determine
@@ -89,10 +88,6 @@
 @Disabled
 public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
 
-    // IMPORTANT: If you are using a USB WebCam, you must select CAMERA_CHOICE = BACK; and PHONE_IS_PORTRAIT = false;
-    private static final VuforiaLocalizer.CameraDirection CAMERA_CHOICE = BACK;
-    private static final boolean PHONE_IS_PORTRAIT = false  ;
-
     /*
      * IMPORTANT: You need to obtain your own license key to use Vuforia. The string below with which
      * 'parameters.vuforiaLicenseKey' is initialized is for illustration only, and will not function.
@@ -140,8 +135,9 @@ public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
 
         /*
          * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
-         * We can pass Vuforia the handle to a camera preview resource (on the RC phone);
+         * We can pass Vuforia the handle to a camera preview resource (on the RC screen);
          * If no camera monitor is desired, use the parameter-less constructor instead (commented out below).
+         * Note: A preview window is required if you want to view the camera stream on the Driver Station Phone.
          */
         int cameraMonitorViewId = hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", hardwareMap.appContext.getPackageName());
         VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
@@ -207,55 +203,46 @@ public class ConceptVuforiaUltimateGoalNavigationWebcam extends LinearOpMode {
                 .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 0)));
         frontWallTarget.setLocation(OpenGLMatrix
                 .translation(-halfField, 0, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , 90)));
+                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, 90)));
 
         // The tower goal targets are located a quarter field length from the ends of the back perimeter wall.
         blueTowerGoalTarget.setLocation(OpenGLMatrix
                 .translation(halfField, quadField, mmTargetHeight)
-                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0 , -90)));
+                .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, -90)));
         redTowerGoalTarget.setLocation(OpenGLMatrix
                 .translation(halfField, -quadField, mmTargetHeight)
                 .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XYZ, DEGREES, 90, 0, -90)));
 
         //
         // Create a transformation matrix describing where the phone is on the robot.
         //
-        // NOTE !!!!  It's very important that you turn OFF your phone's Auto-Screen-Rotation option.
-        // Lock it into Portrait for these numbers to work.
-        //
         // Info:  The coordinate frame for the robot looks the same as the field.
         // The robot's "forward" direction is facing out along X axis, with the LEFT side facing out along the Y axis.
         // Z is UP on the robot.  This equates to a bearing angle of Zero degrees.
         //
-        // The phone starts out lying flat, with the screen facing Up and with the physical top of the phone
-        // pointing to the LEFT side of the Robot.
-        // The two examples below assume that the camera is facing forward out the front of the robot.
-
-        // We need to rotate the camera around it's long axis to bring the correct camera forward.
-        if (CAMERA_CHOICE == BACK) {
-            phoneYRotate = -90;
-        } else {
-            phoneYRotate = 90;
-        }
-
-        // Rotate the phone vertical about the X axis if it's in portrait mode
-        if (PHONE_IS_PORTRAIT) {
-            phoneXRotate = 90 ;
-        }
+        // For a WebCam, the default starting orientation of the camera is looking UP (pointing in the Z direction),
+        // with the wide (horizontal) axis of the camera aligned with the X axis, and
+        // the Narrow (vertical) axis of the camera aligned with the Y axis
+        //
+        // But, this example assumes that the camera is actually facing forward out the front of the robot.
+        // So, the "default" camera position requires two rotations to get it oriented correctly.
+        // 1) First it must be rotated +90 degrees around the X axis to get it horizontal (it's now facing out the right side of the robot)
+        // 2) Next it must be be rotated +90 degrees (counter-clockwise) around the Z axis to face forward.
+        //
+        // Finally the camera can be translated to its actual mounting position on the robot.
+        //      In this example, it is centered (left to right), but 4" forward of the middle of the robot, and 8" above ground level.
 
-        // Next, translate the camera lens to where it is on the robot.
-        // In this example, it is centered (left to right), but forward of the middle of the robot, and above ground level.
         final float CAMERA_FORWARD_DISPLACEMENT  = 4.0f * mmPerInch;   // eg: Camera is 4 Inches in front of robot-center
         final float CAMERA_VERTICAL_DISPLACEMENT = 8.0f * mmPerInch;   // eg: Camera is 8 Inches above ground
         final float CAMERA_LEFT_DISPLACEMENT     = 0;     // eg: Camera is ON the robot's center line
 
-        OpenGLMatrix robotFromCamera = OpenGLMatrix
+        OpenGLMatrix cameraLocationOnRobot = OpenGLMatrix
                     .translation(CAMERA_FORWARD_DISPLACEMENT, CAMERA_LEFT_DISPLACEMENT, CAMERA_VERTICAL_DISPLACEMENT)
-                    .multiplied(Orientation.getRotationMatrix(EXTRINSIC, YZX, DEGREES, phoneYRotate, phoneZRotate, phoneXRotate));
+                    .multiplied(Orientation.getRotationMatrix(EXTRINSIC, XZY, DEGREES, 90, 90, 0));
 
         /**  Let all the trackable listeners know where the phone is.  */
         for (VuforiaTrackable trackable : allTrackables) {
-            ((VuforiaTrackableDefaultListener) trackable.getListener()).setPhoneInformation(robotFromCamera, parameters.cameraDirection);
+            ((VuforiaTrackableDefaultListener) trackable.getListener()).setCameraLocationOnRobot(parameters.cameraName, cameraLocationOnRobot);
         }
 
         // WARNING:

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/readme.md

@@ -2,9 +2,12 @@
 ## Caution
 No Team-specific code should be placed or modified in this ``.../samples`` folder.
 
-Full or partial Samples should be Copied from here, and then Pasted into
-the team's folder, using the Android Studio cut and paste commands.
-This automatically changes all file and class names to be consistent.
+Samples should be Copied from here, and then Pasted into the team's 
+[/TeamCode/src/main/java/org/firstinspires/ftc/teamcode](../../../../../../../../../../TeamCode/src/main/java/org/firstinspires/ftc/teamcode)
+ folder, using the Android Studio cut and paste commands.  This automatically changes all file and
+class names to be consistent.  From there, the sample can be modified to suit the team's needs.
+
+For more detailed instructions see the /teamcode readme.  
 
 ### Naming of Samples
 

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java

@@ -112,6 +112,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import org.firstinspires.ftc.robotcore.internal.network.WifiMuteEvent;
 import org.firstinspires.ftc.robotcore.internal.network.WifiMuteStateMachine;
 import org.firstinspires.ftc.robotcore.internal.opmode.ClassManager;
+import org.firstinspires.ftc.robotcore.internal.system.AppAliveNotifier;
 import org.firstinspires.ftc.robotcore.internal.system.AppUtil;
 import org.firstinspires.ftc.robotcore.internal.system.Assert;
 import org.firstinspires.ftc.robotcore.internal.system.PreferencesHelper;
@@ -379,6 +380,9 @@ public boolean onMenuItemClick(MenuItem item) {
     }
 
     FtcAboutActivity.setBuildTimeFromBuildConfig(BuildConfig.BUILD_TIME);
+
+    // check to see if there is a preferred Wi-Fi to use.
+    checkPreferredChannel();
   }
 
   protected UpdateUI createUpdateUI() {
@@ -400,17 +404,6 @@ protected void onStart() {
     super.onStart();
     RobotLog.vv(TAG, "onStart()");
 
-    // If we're start()ing after a stop(), then shut the old robot down so
-    // we can refresh it with new state (e.g., with new hw configurations)
-    shutdownRobot();
-
-    updateUIAndRequestRobotSetup();
-
-    cfgFileMgr.getActiveConfigAndUpdateUI();
-
-    // check to see if there is a preferred Wi-Fi to use.
-    checkPreferredChannel();
-
     entireScreenLayout.setOnTouchListener(new View.OnTouchListener() {
       @Override
       public boolean onTouch(View v, MotionEvent event) {
@@ -603,6 +596,9 @@ else if (id == R.id.action_exit_app) {
         }
       }
 
+      // Allow the user to use the Control Hub operating system's UI, instead of relaunching the app
+      AppAliveNotifier.getInstance().disableAppWatchdogUntilNextAppStart();
+
       //Finally, nuke the VM from orbit
       AppUtil.getInstance().exitApplication();
 
@@ -653,7 +649,9 @@ protected void onActivityResult(int request, int result, Intent intent) {
     // was some historical confusion about launch codes here, so we err safely
     if (request == RequestCode.CONFIGURE_ROBOT_CONTROLLER.ordinal() || request == RequestCode.SETTINGS_ROBOT_CONTROLLER.ordinal()) {
       // We always do a refresh, whether it was a cancel or an OK, for robustness
+      shutdownRobot();
       cfgFileMgr.getActiveConfigAndUpdateUI();
+      updateUIAndRequestRobotSetup();
     }
   }