Update to 6.2, fix #13 (master)

.gitignore

@@ -51,6 +51,7 @@ captures/
 .idea/modules.xml
 # Comment next line if keeping position of elements in Navigation Editor is relevant for you
 .idea/navEditor.xml
+.idea/shelf/*
 
 # Keystore files
 # Uncomment the following lines if you do not want to check your keystore files in.
@@ -85,5 +86,3 @@ lint/generated/
 lint/outputs/
 lint/tmp/
 # lint/reports/
-
-VuForiaKey.java

FtcRobotController/build.gradle

@@ -33,4 +33,4 @@ repositories {
     }
 }
 
-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="39"
-          android:versionName="6.1">
+          android:versionCode="40"
+          android:versionName="6.2">
 
   <uses-permission android:name="android.permission.RECEIVE_BOOT_COMPLETED" />
 

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

@@ -382,6 +382,9 @@ public boolean onMenuItemClick(MenuItem item) {
     }
 
     FtcAboutActivity.setBuildTimeFromBuildConfig(BuildConfig.BUILD_TIME);
+
+    // check to see if there is a preferred Wi-Fi to use.
+    checkPreferredChannel();
     FtcDashboard.start();
   }
 
@@ -404,17 +407,6 @@ 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) {
@@ -662,7 +654,9 @@ 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();
     }
   }
 

TeamCode/build.gradle

@@ -13,6 +13,7 @@
 
 // Include common definitions from above.
 apply from: '../build.common.gradle'
+apply from: '../build.dependencies.gradle'
 
 repositories {
     google()
@@ -23,6 +24,8 @@ dependencies {
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
     compileOnly 'org.projectlombok:lombok:1.18.16'
   	annotationProcessor 'org.projectlombok:lombok:1.18.16'
+    implementation 'com.acmerobotics.roadrunner:core:0.5.3'
+    implementation 'org.apache.commons:commons-math3:3.6.1'
 }
 
 buildscript {
@@ -40,4 +43,4 @@ buildscript {
 android {
     defaultConfig {
     }
-}
+}

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/API/Sensor.java

@@ -325,7 +325,8 @@ public static void initVuforia(String webcamName) {
         /*
          * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
          */
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(R.id.cameraMonitorViewId);
+        int cameraMonitorViewId = Robot.linearOpMode.hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", Robot.linearOpMode.hardwareMap.appContext.getPackageName());
+        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
 
         parameters.vuforiaLicenseKey = VUFORIA_KEY;
         parameters.cameraName = Robot.sensor.getWebcam(webcamName);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpMode/TeleOp/ConceptTensorFlowObjectDetectionWebcam.java

@@ -153,7 +153,8 @@ private void initVuforia() {
         /*
          * Configure Vuforia by creating a Parameter object, and passing it to the Vuforia engine.
          */
-        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(R.id.cameraMonitorViewId);
+        int cameraMonitorViewId = Robot.linearOpMode.hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", Robot.linearOpMode.hardwareMap.appContext.getPackageName());
+        VuforiaLocalizer.Parameters parameters = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
 
         parameters.vuforiaLicenseKey = VUFORIA_KEY;
         parameters.cameraName = Robot.sensor.getWebcam(Naming.WEBCAM_0);

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/OpMode/TeleOp/VuforiaStreamOpMode.java

@@ -30,7 +30,9 @@ public void runOpMode() throws InterruptedException {
         // gives Vuforia more time to exit before the watchdog notices
         msStuckDetectStop = 2500;
 
-        VuforiaLocalizer.Parameters vuforiaParams = new VuforiaLocalizer.Parameters(R.id.cameraMonitorViewId);
+        int cameraMonitorViewId = Robot.linearOpMode.hardwareMap.appContext.getResources().getIdentifier("cameraMonitorViewId", "id", Robot.linearOpMode.hardwareMap.appContext.getPackageName());
+        VuforiaLocalizer.Parameters vuforiaParams = new VuforiaLocalizer.Parameters(cameraMonitorViewId);
+
         vuforiaParams.cameraName = Robot.sensor.getWebcam(Naming.WEBCAM_0);
         vuforiaParams.vuforiaLicenseKey = VUFORIA_LICENSE_KEY;
         vuforiaParams.cameraDirection = VuforiaLocalizer.CameraDirection.BACK;

build.common.gradle

@@ -24,6 +24,21 @@ android {
     compileSdkVersion 29
 
     signingConfigs {
+        release {
+            def apkStoreFile = System.getenv("APK_SIGNING_STORE_FILE")
+            if (apkStoreFile != null) {
+                keyAlias System.getenv("APK_SIGNING_KEY_ALIAS")
+                keyPassword System.getenv("APK_SIGNING_KEY_PASSWORD")
+                storeFile file(System.getenv("APK_SIGNING_STORE_FILE"))
+                storePassword System.getenv("APK_SIGNING_STORE_PASSWORD")
+            } else {
+                keyAlias 'androiddebugkey'
+                keyPassword 'android'
+                storeFile rootProject.file('libs/ftc.debug.keystore')
+                storePassword 'android'
+            }
+        }
+
         debug {
             keyAlias 'androiddebugkey'
             keyPassword 'android'
@@ -82,8 +97,8 @@ android {
     // http://google.github.io/android-gradle-dsl/current/com.android.build.gradle.internal.dsl.BuildType.html
     buildTypes {
         release {
-            // Disable debugging for release versions so it can be uploaded to Google Play.
-            //debuggable true
+            signingConfig signingConfigs.release
+
             ndk {
                 abiFilters "armeabi-v7a", "arm64-v8a"
             }
@@ -107,12 +122,11 @@ android {
         jni.srcDirs = []
         jniLibs.srcDir rootProject.file('libs')
     }
+    ndkVersion '21.3.6528147'
 }
 
 repositories {
     flatDir {
         dirs rootProject.file('libs')
     }
-}
-apply from: 'build.release.gradle'
-apply plugin: 'kotlin-android'
+}

build.dependencies.gradle

@@ -0,0 +1,25 @@
+
+repositories {
+    mavenCentral()
+    google() // Needed for androidx
+    jcenter()  // Needed for tensorflow-lite
+    flatDir {
+        dirs rootProject.file('libs')
+    }
+    maven { url = 'https://maven.brott.dev/' }
+}
+
+dependencies {
+    implementation 'org.firstinspires.ftc:Inspection:6.2.1'
+    implementation 'org.firstinspires.ftc:Blocks:6.2.1'
+    implementation 'org.firstinspires.ftc:RobotCore:6.2.1'
+    implementation 'org.firstinspires.ftc:RobotServer:6.2.1'
+    implementation 'org.firstinspires.ftc:OnBotJava:6.2.1'
+    implementation 'org.firstinspires.ftc:Hardware:6.2.1'
+    implementation 'org.firstinspires.ftc:FtcCommon:6.2.1'
+    implementation 'org.firstinspires.ftc:tfod:1.0.2'
+    implementation 'org.tensorflow:tensorflow-lite:1.10.0'
+    implementation 'androidx.appcompat:appcompat:1.2.0'
+    implementation 'com.acmerobotics.dashboard:dashboard:0.4.1'
+}
+