Merge pull request FIRST-Tech-Challenge#990 from FIRST-Tech-Challenge…

…/20240701-085519-release-candidate

FtcRobotController v9.2

FtcRobotController/src/main/AndroidManifest.xml

@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
           xmlns:tools="http://schemas.android.com/tools"
-    android:versionCode="53"
-          android:versionName="9.1">
+    android:versionCode="54"
+          android:versionName="9.2">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -0,0 +1,104 @@
+/* Copyright (c) 2024 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 com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+/**
+ * This OpMode demonstrates the basics of using multiple vision portals simultaneously
+ */
+@TeleOp(name = "Concept: AprilTagMultiPortal", group = "Concept")
+@Disabled
+public class ConceptAprilTagMultiPortal extends LinearOpMode
+{
+    VisionPortal portal1;
+    VisionPortal portal2;
+
+    AprilTagProcessor aprilTagProcessor1;
+    AprilTagProcessor aprilTagProcessor2;
+
+    @Override
+    public void runOpMode() throws InterruptedException
+    {
+        // Because we want to show two camera feeds simultaneously, we need to inform
+        // the SDK that we want it to split the camera monitor area into two smaller
+        // areas for us. It will then give us View IDs which we can pass to the individual
+        // vision portals to allow them to properly hook into the UI in tandem.
+        int[] viewIds = VisionPortal.makeMultiPortalView(2, VisionPortal.MultiPortalLayout.VERTICAL);
+
+        // We extract the two view IDs from the array to make our lives a little easier later.
+        // NB: the array is 2 long because we asked for 2 portals up above.
+        int portal1ViewId = viewIds[0];
+        int portal2ViewId = viewIds[1];
+
+        // If we want to run AprilTag detection on two portals simultaneously,
+        // we need to create two distinct instances of the AprilTag processor,
+        // one for each portal. If you want to see more detail about different
+        // options that you have when creating these processors, go check out
+        // the ConceptAprilTag OpMode.
+        aprilTagProcessor1 = AprilTagProcessor.easyCreateWithDefaults();
+        aprilTagProcessor2 = AprilTagProcessor.easyCreateWithDefaults();
+
+        // Now we build both portals. The CRITICAL thing to notice here is the call to
+        // setLiveViewContainerId(), where we pass in the IDs we received earlier from
+        // makeMultiPortalView().
+        portal1 = new VisionPortal.Builder()
+                .setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"))
+                .setLiveViewContainerId(portal1ViewId)
+                .addProcessor(aprilTagProcessor1)
+                .build();
+        portal2 = new VisionPortal.Builder()
+                .setCamera(hardwareMap.get(WebcamName.class, "Webcam 2"))
+                .setLiveViewContainerId(portal2ViewId)
+                .addProcessor(aprilTagProcessor2)
+                .build();
+
+        waitForStart();
+
+        // Main Loop
+        while (opModeIsActive())
+        {
+            // Just show some basic telemetry to demonstrate both processors are working in parallel
+            // on their respective cameras. If you want to see more detail about the information you
+            // can get back from the processor, you should look at ConceptAprilTag.
+            telemetry.addData("Number of tags in Camera 1", aprilTagProcessor1.getDetections().size());
+            telemetry.addData("Number of tags in Camera 2", aprilTagProcessor2.getDetections().size());
+            telemetry.update();
+            sleep(20);
+        }
+    }
+}