merge MentorSandbox -> master

Former-commit-id: 2c1e299ca638aea914177e35507aedf40290b0a6
Former-commit-id: c916336

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="5"
-          android:versionName="1.25">
+          android:versionCode="6"
+          android:versionName="1.5.2">
 
 
   <uses-permission
@@ -12,6 +12,9 @@
   <uses-permission
     android:name="android.permission.CHANGE_WIFI_STATE"
     android:required="true" />
+  <uses-permission
+      android:name="android.permission.WAKE_LOCK"
+      android:required="true" />
   <uses-permission
     android:name="android.permission.ACCESS_NETWORK_STATE"
     android:required="true" />
@@ -46,8 +49,12 @@
       <intent-filter>
         <action android:name="android.intent.action.MAIN" />
         <category android:name="android.intent.category.LAUNCHER" />
+      </intent-filter>
+
+      <intent-filter>
         <action android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED" />
       </intent-filter>
+
       <meta-data
         android:name="android.hardware.usb.action.USB_DEVICE_ATTACHED"
         android:resource="@xml/device_filter" />

FtcRobotController/src/main/java/com/qualcomm/ftcrobotcontroller/FtcRobotControllerActivity.java

@@ -39,7 +39,11 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import android.content.ServiceConnection;
 import android.content.SharedPreferences;
 import android.content.res.Configuration;
+import android.hardware.usb.UsbDevice;
 import android.hardware.usb.UsbManager;
+import android.net.wifi.WifiManager;
+import android.os.Bundle;
+import android.os.IBinder;
 import android.net.wifi.p2p.WifiP2pDevice;
 import android.os.*;
 import android.preference.PreferenceManager;
@@ -78,6 +82,8 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import java.io.FileInputStream;
 import java.io.FileNotFoundException;
 import java.io.Serializable;
+import java.util.Queue;
+import java.util.concurrent.ConcurrentLinkedQueue;
 import java.util.regex.Pattern;
 
 import org.swerverobotics.library.*;
@@ -91,6 +97,7 @@ public class FtcRobotControllerActivity extends Activity {
 
   public static final String CONFIGURE_FILENAME = "CONFIGURE_FILENAME";
 
+  protected WifiManager.WifiLock wifiLock;
   protected SharedPreferences preferences;
 
   protected UpdateUI.Callback callback;
@@ -115,6 +122,7 @@ public class FtcRobotControllerActivity extends Activity {
   protected FtcRobotControllerService controllerService;
 
   protected FtcEventLoop eventLoop;
+  protected Queue<UsbDevice> receivedUsbAttachmentNotifications;
 
   protected class RobotRestarter implements Restarter {
 
@@ -140,16 +148,45 @@ public void onServiceDisconnected(ComponentName name) {
   @Override
   protected void onNewIntent(Intent intent) {
     super.onNewIntent(intent);
-    if (UsbManager.ACTION_USB_ACCESSORY_ATTACHED.equals(intent.getAction())) {
-      // a new USB device has been attached
-      DbgLog.msg("USB Device attached; app restart may be needed");
+
+    if (UsbManager.ACTION_USB_DEVICE_ATTACHED.equals(intent.getAction())) {
+      UsbDevice usbDevice = intent.getParcelableExtra(UsbManager.EXTRA_DEVICE);
+      if (usbDevice != null) {  // paranoia
+        // We might get attachment notifications before the event loop is set up, so
+        // we hold on to them and pass them along only when we're good and ready.
+        if (receivedUsbAttachmentNotifications != null) { // *total* paranoia
+          receivedUsbAttachmentNotifications.add(usbDevice);
+          passReceivedUsbAttachmentsToEventLoop();
+        }
+      }
+    }
+  }
+
+  protected void passReceivedUsbAttachmentsToEventLoop() {
+    if (this.eventLoop != null) {
+      for (;;) {
+        UsbDevice usbDevice = receivedUsbAttachmentNotifications.poll();
+        if (usbDevice == null)
+          break;
+        this.eventLoop.onUsbDeviceAttached(usbDevice);
+      }
+    }
+    else {
+      // Paranoia: we don't want the pending list to grow without bound when we don't
+      // (yet) have an event loop
+      while (receivedUsbAttachmentNotifications.size() > 100) {
+        receivedUsbAttachmentNotifications.poll();
+      }
     }
   }
 
   @Override
   protected void onCreate(Bundle savedInstanceState) {
     super.onCreate(savedInstanceState);
 
+    receivedUsbAttachmentNotifications = new ConcurrentLinkedQueue<UsbDevice>();
+    eventLoop = null;
+
     setContentView(R.layout.activity_ftc_controller);
 
     utility = new Utility(this);
@@ -186,6 +223,9 @@ public void onClick(View v) {
     PreferenceManager.setDefaultValues(this, R.xml.preferences, false);
     preferences = PreferenceManager.getDefaultSharedPreferences(this);
 
+    WifiManager wifiManager = (WifiManager) getSystemService(Context.WIFI_SERVICE);
+    wifiLock = wifiManager.createWifiLock(WifiManager.WIFI_MODE_FULL_HIGH_PERF, "");
+
     hittingMenuButtonBrightensScreen();
 
     if (USE_DEVICE_EMULATION) { HardwareFactory.enableDeviceEmulation(); }
@@ -206,13 +246,14 @@ protected void onStart() {
     callback.wifiDirectUpdate(WifiDirectAssistant.Event.DISCONNECTED);
 
     entireScreenLayout.setOnTouchListener(new View.OnTouchListener() {
-      @Override
-      public boolean onTouch(View v, MotionEvent event) {
-        dimmer.handleDimTimer();
-        return false;
+    @Override
+    public boolean onTouch(View v, MotionEvent event) {
+      dimmer.handleDimTimer();
+      return false;
       }
     });
 
+    wifiLock.acquire();
   }
 
   @Override
@@ -232,6 +273,8 @@ protected void onStop() {
     if (controllerService != null) unbindService(connection);
 
     RobotLog.cancelWriteLogcatToDisk(this);
+
+    wifiLock.release();
   }
 
   @Override
@@ -289,10 +332,10 @@ public boolean onOptionsItemSelected(MenuItem item) {
         startActivity(viewLogsIntent);
         return true;
     }
-    return super.onOptionsItemSelected(item);
-  }
+        return super.onOptionsItemSelected(item);
+    }
 
-@Override
+  @Override
   public void onConfigurationChanged(Configuration newConfig) {
     super.onConfigurationChanged(newConfig);
     // don't destroy assets on screen rotation
@@ -346,6 +389,8 @@ private void requestRobotSetup() {
 
     controllerService.setCallback(callback);
     controllerService.setupRobot(eventLoop);
+
+    passReceivedUsbAttachmentsToEventLoop();
   }
 
   private FileInputStream fileSetup() {
@@ -501,11 +546,18 @@ public synchronized static void installIfNecessary(FtcRobotControllerService ser
         public void onStateChange(RobotState newState)
             {
             this.prevMonitor.onStateChange(newState);
+
             RobotStateTransitionNotifier.onRobotStateChange(newState);
 
             if (newState == RobotState.RUNNING)
                 this.activity.nameVerifier.verifyLegalPhoneNames();
             }
+
+        @Override
+        public void onErrorOrWarning()
+          {
+          this.prevMonitor.onErrorOrWarning();
+          }
         }
 
     class SwervePhoneNameVerifier
@@ -654,12 +706,12 @@ public void run()
                     {
                     activity.textWifiDirectPassphrase.setText(message);
                     }
-                });
-                }
+    });
+  }
 
             }
         }
-  }
+}