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Merge SDK v8.2
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rbrott committed Aug 20, 2023
2 parents 9db94c0 + 660a2f6 commit 3fc724e
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8 changes: 4 additions & 4 deletions .github/CONTRIBUTING.md
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Expand Up @@ -18,7 +18,7 @@ If what you've read so far makes little sense, there are some very good git lear
[Git Book](https://git-scm.com/book/en/v2)
[Interactive Git Tutorial](https://try.github.io)

##### Guidlines for experienced GIT users.
### Guidlines for experienced GIT users.

If you are absolutely certain that you want to push the big green button above, read on. Otherwise back _slowly away from keyboard_.

Expand All @@ -38,9 +38,9 @@ This section guides you through filing a bug report. The better the report the

#### Before submitting a bug report

- Check the [forums](http://ftcforum.usfirst.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.
- Check the [forums](http://ftcforum.firstinspires.org/forum.php) to see if someone else has run into the problem and whether there is an official solution that doesn't require a new SDK.

- Perform a search of current [issues](https://github.com/ftctechnh/ftc_app/issues) to see if the problem has already been reported. If so, add a comment to the existing issue instead of creating a new one.
- Perform a search of current [issues](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues) to see if the problem has already been reported. If so, add a comment to the existing issue instead of creating a new one.

#### How Do I Submit A (Good) Bug Report?

Expand All @@ -65,4 +65,4 @@ FIRST volunteers are awesome. You all have great ideas and we want to hear them

Enhancements should be broadly applicable to a large majority of teams, should not force teams to change their workflow, and should provide real value to the mission of FIRST as it relates to engaging youth in engineering activities.

The best way to get momentum behind new features is to post a description of your idea in the forums. Build community support for it. The FTC Technology Team monitors the forums. We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.
The best way to get momentum behind new features is to post a description of your idea in the discussions section of this repository. Build community support for it. The FTC Technology Team monitors the discussions. We'll hear you and if there's a large enough call for the feature it's very likely to get put on the list for a future release.
18 changes: 6 additions & 12 deletions .gitignore
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Expand Up @@ -9,8 +9,9 @@
# Files for the ART/Dalvik VM
*.dex

# Java class files
# Java/JDK files
*.class
*.hprof

# Generated files
bin/
Expand Down Expand Up @@ -40,17 +41,10 @@ captures/

# IntelliJ
*.iml
.idea/workspace.xml
.idea/tasks.xml
.idea/gradle.xml
.idea/assetWizardSettings.xml
.idea/dictionaries
.idea/libraries
# Android Studio 3 in .gitignore file.
.idea/caches
.idea/modules.xml
# Comment next line if keeping position of elements in Navigation Editor is relevant for you
.idea/navEditor.xml
.idea/

# For Mac users
.DS_Store

# Keystore files
# Uncomment the following lines if you do not want to check your keystore files in.
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6 changes: 3 additions & 3 deletions FtcRobotController/build.gradle
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Expand Up @@ -8,7 +8,7 @@ apply plugin: 'com.android.library'
android {

defaultConfig {
minSdkVersion 23
minSdkVersion 24
//noinspection ExpiredTargetSdkVersion
targetSdkVersion 28
buildConfigField "String", "APP_BUILD_TIME", '"' + (new SimpleDateFormat("yyyy-MM-dd'T'HH:mm:ss.SSSZ", Locale.ROOT).format(new Date())) + '"'
Expand All @@ -17,8 +17,8 @@ android {
compileSdkVersion 29

compileOptions {
sourceCompatibility JavaVersion.VERSION_1_7
targetCompatibility JavaVersion.VERSION_1_7
sourceCompatibility JavaVersion.VERSION_1_8
targetCompatibility JavaVersion.VERSION_1_8
}
namespace = 'com.qualcomm.ftcrobotcontroller'
}
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4 changes: 2 additions & 2 deletions FtcRobotController/src/main/AndroidManifest.xml
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@@ -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="49"
android:versionName="8.1.1">
android:versionCode="50"
android:versionName="8.2">

<uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />

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@@ -0,0 +1,192 @@
/* Copyright (c) 2023 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 java.util.List;
import android.util.Size;
import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
import org.firstinspires.ftc.vision.VisionPortal;
import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
import org.firstinspires.ftc.vision.apriltag.AprilTagGameDatabase;

/**
* This 2023-2024 OpMode illustrates the basics of AprilTag recognition and pose estimation,
* including Java Builder structures for specifying Vision parameters.
*
* Use Android Studio 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 = "Concept: AprilTag", group = "Concept")
@Disabled
public class ConceptAprilTag extends LinearOpMode {

private static final boolean USE_WEBCAM = true; // true for webcam, false for phone camera

/**
* {@link #aprilTag} is the variable to store our instance of the AprilTag processor.
*/
private AprilTagProcessor aprilTag;

/**
* {@link #visionPortal} is the variable to store our instance of the vision portal.
*/
private VisionPortal visionPortal;

@Override
public void runOpMode() {

initAprilTag();

// Wait for the DS start button to be touched.
telemetry.addData("DS preview on/off", "3 dots, Camera Stream");
telemetry.addData(">", "Touch Play to start OpMode");
telemetry.update();
waitForStart();

if (opModeIsActive()) {
while (opModeIsActive()) {

telemetryAprilTag();

// Push telemetry to the Driver Station.
telemetry.update();

// Save CPU resources; can resume streaming when needed.
if (gamepad1.dpad_down) {
visionPortal.stopStreaming();
} else if (gamepad1.dpad_up) {
visionPortal.resumeStreaming();
}

// Share the CPU.
sleep(20);
}
}

// Save more CPU resources when camera is no longer needed.
visionPortal.close();

} // end method runOpMode()

/**
* Initialize the AprilTag processor.
*/
private void initAprilTag() {

// Create the AprilTag processor.
aprilTag = new AprilTagProcessor.Builder()
//.setDrawAxes(false)
//.setDrawCubeProjection(false)
//.setDrawTagOutline(true)
//.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
//.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
//.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)

// == CAMERA CALIBRATION ==
// If you do not manually specify calibration parameters, the SDK will attempt
// to load a predefined calibration for your camera.
//.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)

// ... these parameters are fx, fy, cx, cy.

.build();

// Create the vision portal by using a builder.
VisionPortal.Builder builder = new VisionPortal.Builder();

// Set the camera (webcam vs. built-in RC phone camera).
if (USE_WEBCAM) {
builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
} else {
builder.setCamera(BuiltinCameraDirection.BACK);
}

// Choose a camera resolution. Not all cameras support all resolutions.
//builder.setCameraResolution(new Size(640, 480));

// Enable the RC preview (LiveView). Set "false" to omit camera monitoring.
//builder.enableCameraMonitoring(true);

// Set the stream format; MJPEG uses less bandwidth than default YUY2.
//builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);

// Choose whether or not LiveView stops if no processors are enabled.
// If set "true", monitor shows solid orange screen if no processors enabled.
// If set "false", monitor shows camera view without annotations.
//builder.setAutoStopLiveView(false);

// Set and enable the processor.
builder.addProcessor(aprilTag);

// Build the Vision Portal, using the above settings.
visionPortal = builder.build();

// Disable or re-enable the aprilTag processor at any time.
//visionPortal.setProcessorEnabled(aprilTag, true);

} // end method initAprilTag()


/**
* Function to add telemetry about AprilTag detections.
*/
private void telemetryAprilTag() {

List<AprilTagDetection> currentDetections = aprilTag.getDetections();
telemetry.addData("# AprilTags Detected", currentDetections.size());

// Step through the list of detections and display info for each one.
for (AprilTagDetection detection : currentDetections) {
if (detection.metadata != null) {
telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
} else {
telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
telemetry.addLine(String.format("Center %6.0f %6.0f (pixels)", detection.center.x, detection.center.y));
}
} // end for() loop

// Add "key" information to telemetry
telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
telemetry.addLine("RBE = Range, Bearing & Elevation");

} // end method telemetryAprilTag()

} // end class
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