Merge pull request FIRST-Tech-Challenge#22 from FIRST-Tech-Challenge/v5.1

SkyStone v5.1

Author: CalKestis

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="32"
-          android:versionName="5.0">
+          android:versionCode="33"
+          android:versionName="5.1">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -39,16 +39,16 @@
 
 /**
  *
- * This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARK Minis.
- * To use this example, connect two REV SPARK Minis into servo ports on the Expansion Hub. On the
- * robot configuration, use the drop down list under 'Servos' to select 'REV SPARK Mini Controller'
+ * This OpMode executes a basic Tank Drive Teleop for a two wheeled robot using two REV SPARKminis.
+ * To use this example, connect two REV SPARKminis into servo ports on the Expansion Hub. On the
+ * robot configuration, use the drop down list under 'Servos' to select 'REV SPARKmini Controller'
  * and name them 'left_drive' and 'right_drive'.
  *
  * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
  * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
  */
 
-@TeleOp(name="REV SPARK Mini Simple Drive Example", group="Concept")
+@TeleOp(name="REV SPARKmini Simple Drive Example", group="Concept")
 @Disabled
 public class ConceptRevSPARKMini extends LinearOpMode {
 

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

@@ -0,0 +1,123 @@
+/* Copyright (c) 2018 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; 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.
+ */
+
+package org.firstinspires.ftc.robotcontroller.external.samples;
+
+import android.content.Context;
+
+import com.qualcomm.ftccommon.SoundPlayer;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+
+/**
+ * This file demonstrates how to play one of the several SKYSTONE/Star Wars sounds loaded into the SDK.
+ * It does this by creating a simple "chooser" controlled by the gamepad Up Down buttons.
+ * This code also prevents sounds from stacking up by setting a "playing" flag, which is cleared when the sound finishes playing.
+ *
+ * Use Android Studios to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this opmode to the Driver Station OpMode list
+ *
+ * Operation:
+ *      Use the DPAD to change the selected sound, and the Right Bumper to play it.
+ */
+
+@TeleOp(name="SKYSTONE Sounds", group="Concept")
+@Disabled
+public class ConceptSoundsSKYSTONE extends LinearOpMode {
+
+    // List of available sound resources
+    String  sounds[] =  {"ss_alarm", "ss_bb8_down", "ss_bb8_up", "ss_darth_vader", "ss_fly_by",
+            "ss_mf_fail", "ss_laser", "ss_laser_burst", "ss_light_saber", "ss_light_saber_long", "ss_light_saber_short",
+            "ss_light_speed", "ss_mine", "ss_power_up", "ss_r2d2_up", "ss_roger_roger", "ss_siren", "ss_wookie" };
+    boolean soundPlaying = false;
+
+    @Override
+    public void runOpMode() {
+
+        // Variables for choosing from the available sounds
+        int     soundIndex      = 0;
+        int     soundID         = -1;
+        boolean was_dpad_up     = false;
+        boolean was_dpad_down   = false;
+
+        Context myApp = hardwareMap.appContext;
+
+        // create a sound parameter that holds the desired player parameters.
+        SoundPlayer.PlaySoundParams params = new SoundPlayer.PlaySoundParams();
+        params.loopControl = 0;
+        params.waitForNonLoopingSoundsToFinish = true;
+
+        // In this sample, we will skip waiting for the user to press play, and start displaying sound choices right away
+        while (!isStopRequested()) {
+
+            // Look for DPAD presses to change the selection
+            if (gamepad1.dpad_down && !was_dpad_down) {
+                // Go to next sound (with list wrap) and display it
+                soundIndex = (soundIndex + 1) % sounds.length;
+            }
+
+            if (gamepad1.dpad_up && !was_dpad_up) {
+                // Go to previous sound (with list wrap) and display it
+                soundIndex = (soundIndex + sounds.length - 1) % sounds.length;
+            }
+
+            // Look for trigger to see if we should play sound
+            // Only start a new sound if we are currently not playing one.
+            if (gamepad1.right_bumper && !soundPlaying) {
+
+                // Determine Resource IDs for the sounds you want to play, and make sure it's valid.
+                if ((soundID = myApp.getResources().getIdentifier(sounds[soundIndex], "raw", myApp.getPackageName())) != 0){
+
+                    // Signal that the sound is now playing.
+                    soundPlaying = true;
+
+                    // Start playing, and also Create a callback that will clear the playing flag when the sound is complete.
+                    SoundPlayer.getInstance().startPlaying(myApp, soundID, params, null,
+                            new Runnable() {
+                                public void run() {
+                                    soundPlaying = false;
+                                }} );
+                }
+            }
+
+            // Remember the last state of the dpad to detect changes.
+            was_dpad_up     = gamepad1.dpad_up;
+            was_dpad_down   = gamepad1.dpad_down;
+
+            // Display the current sound choice, and the playing status.
+            telemetry.addData("", "Use DPAD up/down to choose sound.");
+            telemetry.addData("", "Press Right Bumper to play sound.");
+            telemetry.addData("", "");
+            telemetry.addData("Sound >", sounds[soundIndex]);
+            telemetry.addData("Status >", soundPlaying ? "Playing" : "Stopped");
+            telemetry.update();
+        }
+    }
+}

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

@@ -58,10 +58,22 @@ public class SensorREVColorDistance extends LinearOpMode {
 
     /**
      * Note that the REV Robotics Color-Distance incorporates two sensors into one device.
-     * It has a light/distance (range) sensor.  It also has an RGB color sensor.
-     * The light/distance sensor saturates at around 2" (5cm).  This means that targets that are 2"
+     * It has an IR proximity sensor which is used to calculate distance and an RGB color sensor.
+     * 
+     * There will be some variation in the values measured depending on whether you are using a
+     * V3 color sensor versus the older V2 and V1 sensors, as the V3 is based around a different chip.
+     *
+     * For V1/V2, the light/distance sensor saturates at around 2" (5cm).  This means that targets that are 2"
      * or closer will display the same value for distance/light detected.
      *
+     * For V3, the distance sensor as configured can handle distances between 0.25" (~0.6cm) and 6" (~15cm).
+     * Any target closer than 0.25" will dislay as 0.25" and any target farther than 6" will display as 6".
+     *
+     * Note that the distance sensor function of both chips is built around an IR proximity sensor, which is
+     * sensitive to ambient light and the reflectivity of the surface against which you are measuring. If
+     * very accurate distance is required you should consider calibrating the raw optical values read from the
+     * chip to your exact situation.
+     *
      * Although you configure a single REV Robotics Color-Distance sensor in your configuration file,
      * you can treat the sensor as two separate sensors that share the same name in your op mode.
      *
@@ -70,7 +82,7 @@ public class SensorREVColorDistance extends LinearOpMode {
      * color of the screen to match the detected color.
      *
      * In this example, we  also use the distance sensor to display the distance
-     * to the target object.  Note that the distance sensor saturates at around 2" (5 cm).
+     * to the target object.
      *
      */
     ColorSensor sensorColor;

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

@@ -88,6 +88,8 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import com.qualcomm.robotcore.eventloop.opmode.OpModeRegister;
 import com.qualcomm.robotcore.hardware.configuration.LynxConstants;
 import com.qualcomm.robotcore.hardware.configuration.Utility;
+import com.qualcomm.robotcore.robot.Robot;
+import com.qualcomm.robotcore.robot.RobotState;
 import com.qualcomm.robotcore.util.Device;
 import com.qualcomm.robotcore.util.Dimmer;
 import com.qualcomm.robotcore.util.ImmersiveMode;
@@ -100,7 +102,6 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import org.firstinspires.ftc.ftccommon.external.SoundPlayingRobotMonitor;
 import org.firstinspires.ftc.ftccommon.internal.FtcRobotControllerWatchdogService;
 import org.firstinspires.ftc.ftccommon.internal.ProgramAndManageActivity;
-import org.firstinspires.ftc.onbotjava.OnBotJavaClassLoader;
 import org.firstinspires.ftc.onbotjava.OnBotJavaHelperImpl;
 import org.firstinspires.ftc.onbotjava.OnBotJavaProgrammingMode;
 import org.firstinspires.ftc.robotcore.external.navigation.MotionDetection;
@@ -544,6 +545,26 @@ public boolean onCreateOptionsMenu(Menu menu) {
     return true;
   }
 
+  private boolean isRobotRunning() {
+    if (controllerService == null) {
+      return false;
+    }
+
+    Robot robot = controllerService.getRobot();
+
+    if ((robot == null) || (robot.eventLoopManager == null)) {
+      return false;
+    }
+
+    RobotState robotState = robot.eventLoopManager.state;
+
+    if (robotState != RobotState.RUNNING) {
+      return false;
+    } else {
+      return true;
+    }
+  }
+
   @Override
   public boolean onOptionsItemSelected(MenuItem item) {
     int id = item.getItemId();
@@ -562,10 +583,14 @@ public boolean onOptionsItemSelected(MenuItem item) {
       }
       return true;
     } else if (id == R.id.action_program_and_manage) {
-      Intent programmingModeIntent = new Intent(AppUtil.getDefContext(), ProgramAndManageActivity.class);
-      RobotControllerWebInfo webInfo = programmingModeManager.getWebServer().getConnectionInformation();
-      programmingModeIntent.putExtra(LaunchActivityConstantsList.RC_WEB_INFO, webInfo.toJson());
-      startActivity(programmingModeIntent);
+      if (isRobotRunning()) {
+        Intent programmingModeIntent = new Intent(AppUtil.getDefContext(), ProgramAndManageActivity.class);
+        RobotControllerWebInfo webInfo = programmingModeManager.getWebServer().getConnectionInformation();
+        programmingModeIntent.putExtra(LaunchActivityConstantsList.RC_WEB_INFO, webInfo.toJson());
+        startActivity(programmingModeIntent);
+      } else {
+        AppUtil.getInstance().showToast(UILocation.ONLY_LOCAL, context.getString(R.string.toastWifiUpBeforeProgrammingMode));
+      }
     } else if (id == R.id.action_inspection_mode) {
       Intent inspectionModeIntent = new Intent(AppUtil.getDefContext(), RcInspectionActivity.class);
       startActivity(inspectionModeIntent);

FtcRobotController/src/main/res/values/strings.xml

@@ -55,6 +55,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   <string name="toastWifiConfigurationComplete">Configuration Complete</string>
   <string name="toastRestartingRobot">Restarting Robot</string>
   <string name="toastConfigureRobotBeforeProgrammingMode">You must Configure Robot before starting Programming Mode.</string>
+  <string name="toastWifiUpBeforeProgrammingMode">The Robot Controller must be fully up and running before starting Programming Mode.  Is Wifi turned on in settings?</string>
 
   <!-- for interpreting pref_app_theme contents. may be override in merged resources -->
   <integer-array name="app_theme_ids">