merge MentorSandbox -> master

Former-commit-id: 05d463594a648c8e11722a26eb51e69da83219c1
Former-commit-id: 7e6f129

FtcRobotController/FtcRobotController.iml

@@ -87,7 +87,7 @@
       <excludeFolder url="file://$MODULE_DIR$/build/outputs" />
       <excludeFolder url="file://$MODULE_DIR$/build/tmp" />
     </content>
-    <orderEntry type="jdk" jdkName="Android 4.4.2 Google APIs" jdkType="Android SDK" />
+    <orderEntry type="jdk" jdkName="Android API 19 Platform" jdkType="Android SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
     <orderEntry type="library" exported="" name="RobotCore-release-" level="project" />
     <orderEntry type="library" exported="" name="ModernRobotics-release-" level="project" />

FtcRobotController/build.gradle

@@ -1,41 +1,28 @@
 apply plugin: 'com.android.library'
 
 android {
+    compileSdkVersion 19
+    buildToolsVersion '21.1.2'
+
     defaultConfig {
         minSdkVersion 16
         targetSdkVersion 19
     }
-    compileSdkVersion 'Google Inc.:Google APIs:19'
-    buildToolsVersion '21.1.2'
-}
-
-buildscript {
-    repositories {
-        jcenter()
-    }
-    dependencies {
-        classpath 'com.android.tools.build:gradle:1.2.3'
-
-        // NOTE: Do not place your application dependencies here; they belong
-        // in the individual module build.gradle files
+    buildTypes {
+        release {
+            debuggable true
+        }
+        debug {
+            debuggable true
+        }
     }
 }
-
 repositories {
     flatDir {
         dirs 'libs'
     }
 }
 
-allprojects {
-    repositories {
-        jcenter()
-        flatDir {
-            dirs 'out'
-        }
-    }
-}
-
 dependencies {
     compile files('libs/android-support-v4.jar')
     compile (name:'RobotCore-release', ext:'aar')

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

@@ -334,7 +334,7 @@ private void requestRobotSetup() {
     modernRoboticsFactory.setXmlInputStream(fis);
     factory = modernRoboticsFactory;
 
-    eventLoop = new FtcEventLoop(factory, new FtcOpModeRegister(), callback, this);
+    eventLoop = new SwerveFtcEventLoop(factory, new FtcOpModeRegister(), callback, this);
 
     controllerService.setCallback(callback);
     controllerService.setupRobot(eventLoop);
@@ -420,22 +420,22 @@ static class SwerveEventLoopMonitor implements EventLoopManager.EventLoopMonitor
             }
 
         // Make sure we're installed in the in the hook of the current event loop
-        public synchronized static void installIfNecessary(FtcRobotControllerService service)
+        public synchronized static boolean installIfNecessary(FtcRobotControllerService service)
             {
             if (service == null)
-                return;
+                return false;
 
-            Robot robot = robotOfFtcRobotControllerService(service);
+            Robot robot = MemberUtil.robotOfFtcRobotControllerService(service);
             if (robot == null)
-                return;
+                return false;
 
-            EventLoopManager eventLoopManager = eventLoopManagerOfRobot(robot);
+            EventLoopManager eventLoopManager = MemberUtil.eventLoopManagerOfRobot(robot);
             if (eventLoopManager == null)
-                return;
+                return false;
 
-            EventLoopManager.EventLoopMonitor monitor = monitorOfEventLoopManager(eventLoopManager);
+            EventLoopManager.EventLoopMonitor monitor = MemberUtil.monitorOfEventLoopManager(eventLoopManager);
             if (monitor == null)
-                return;
+                return false;
 
             if (monitor instanceof SwerveEventLoopMonitor)
                 {
@@ -446,100 +446,90 @@ public synchronized static void installIfNecessary(FtcRobotControllerService ser
                 SwerveEventLoopMonitor newMonitor = new SwerveEventLoopMonitor(monitor);
                 eventLoopManager.setMonitor(newMonitor);
                 }
+
+            return true;
             }
 
-        //----------------------------------------------------------------------------------------------
+        //------------------------------------------------------------------------------------------
         // Notifications
-        //----------------------------------------------------------------------------------------------
+        //------------------------------------------------------------------------------------------
 
         @Override
         public void onStateChange(RobotState newState)
             {
             this.prevMonitor.onStateChange(newState);
-            RobotStateTransitionNotifier.onEventLoopStateChange(newState);
+            RobotStateTransitionNotifier.onRobotStateChange(newState);
             }
 
-        //----------------------------------------------------------------------------------------------
-        // Skullduggery
-        //----------------------------------------------------------------------------------------------
-
-        public static Robot robotOfFtcRobotControllerService(FtcRobotControllerService service)
-  {
-            return Util.<Robot>getLocalPrivateObjectField(service, 2);
-            }
-        public static EventLoopManager eventLoopManagerOfRobot(Robot robot)
-            {
-            return Util.<EventLoopManager>getLocalPrivateObjectField(robot, 0);
-            }
-        public static EventLoopManager.EventLoopMonitor monitorOfEventLoopManager(EventLoopManager manager)
-            {
-            return Util.<EventLoopManager.EventLoopMonitor>getLocalPrivateObjectField(manager, 8);
-            }
         }
 
     class SwerveUpdateUIHook extends UpdateUI
     // Hook used to augment the user interface
         {
-        //----------------------------------------------------------------------------------------------
+        //------------------------------------------------------------------------------------------
         // State
-        //----------------------------------------------------------------------------------------------
+        //------------------------------------------------------------------------------------------
 
-  FtcRobotControllerActivity activity;
-  FtcRobotControllerService  controllerService;
+        FtcRobotControllerActivity activity;
+        FtcRobotControllerService  controllerService;
 
-        //----------------------------------------------------------------------------------------------
+        //------------------------------------------------------------------------------------------
         // Construction
-        //----------------------------------------------------------------------------------------------
+        //------------------------------------------------------------------------------------------
 
         SwerveUpdateUIHook(FtcRobotControllerActivity activity, Dimmer dimmer)
-    {
-    super(activity, dimmer);
-    this.activity = activity;
-    this.controllerService = null;
-    }
+            {
+            super(activity, dimmer);
+            this.activity = activity;
+            this.controllerService = null;
+            }
 
         @Override
         public void setControllerService(FtcRobotControllerService controllerService)
-    {
-    super.setControllerService(controllerService);
-    this.controllerService = controllerService;
-    }
+            {
+            super.setControllerService(controllerService);
+            this.controllerService = controllerService;
+            }
+
+        //------------------------------------------------------------------------------------------
+        // Operations
+        //------------------------------------------------------------------------------------------
 
-        //----------------------------------------------------------------------------------------------
-  // Operations
-        //----------------------------------------------------------------------------------------------
+        class CallbackHook extends UpdateUI.Callback
+            {
+            //--------------------------------------------------------------------------------------
+            // Operations
+            //--------------------------------------------------------------------------------------
 
-  class CallbackHook extends UpdateUI.Callback
-    {
             @Override
             public void robotUpdate(final String status)
                 {
                 super.robotUpdate(status);
+                RobotStateTransitionNotifier.onRobotUpdate(status);
 
                 // Make sure we get to see all the robot state transitions
                 SwerveEventLoopMonitor.installIfNecessary(controllerService);
                 }
 
             @Override
             public void wifiDirectUpdate(WifiDirectAssistant.Event event)
-      {
-      super.wifiDirectUpdate(event);
+                {
+                super.wifiDirectUpdate(event);
 
-      final String message = controllerService == null
-                    ? ""
-                    : String.format("Wifi Direct passphrase: %s", controllerService.getWifiDirectAssistant().getPassphrase());
+                final String message = controllerService == null
+                        ? ""
+                        : String.format("Wifi Direct passphrase: %s", controllerService.getWifiDirectAssistant().getPassphrase());
 
                 SwerveUpdateUIHook.this.activity.runOnUiThread(new Runnable()
-      {
-                    @Override
-                    public void run()
-        {
-        activity.textWifiDirectPassphrase.setText(message);
+                    {
+                    @Override public void run()
+                        {
+                        activity.textWifiDirectPassphrase.setText(message);
+                        }
+                    });
+                }
+            }
         }
-      });
-      }
-    }
-  }
   }
 
 

SwerveRoboticsLibrary/build.gradle

@@ -8,7 +8,7 @@ android {
         minSdkVersion 16
         targetSdkVersion 19
         versionCode 1
-        versionName "0.6"
+        versionName "1.0"
     }
     buildTypes {
         release {

SwerveRoboticsLibrary/doc/javadoc/index-all.html

@@ -862,7 +862,7 @@ <h2 class="title">M</h2>
 <dd>&nbsp;</dd>
 <dt><a href="org/usfirst/ftc/exampleteam/yourcodehere/MyRobotControllerAdministration.html" title="class in org.usfirst.ftc.exampleteam.yourcodehere"><span class="typeNameLink">MyRobotControllerAdministration</span></a> - Class in <a href="org/usfirst/ftc/exampleteam/yourcodehere/package-summary.html">org.usfirst.ftc.exampleteam.yourcodehere</a></dt>
 <dd>
-<div class="block">MyRobotControllerAdministration is a container for 'administrative' methods that intereract
+<div class="block">MyRobotControllerAdministration is a container for 'administrative' methods that interact
  with the Swerve library.</div>
 </dd>
 <dt><span class="memberNameLink"><a href="org/usfirst/ftc/exampleteam/yourcodehere/MyRobotControllerAdministration.html#MyRobotControllerAdministration--">MyRobotControllerAdministration()</a></span> - Constructor for class <a href="org/usfirst/ftc/exampleteam/yourcodehere/MyRobotControllerAdministration.html" title="class in org.usfirst.ftc.exampleteam.yourcodehere">MyRobotControllerAdministration</a></dt>
@@ -1021,6 +1021,8 @@ <h2 class="title">P</h2>
 <dd>
 <div class="block">Advanced: a hook for subclasses</div>
 </dd>
+<dt><span class="memberNameLink"><a href="org/swerverobotics/library/examples/SynchMotorLoopPerf.html#powerMotors-double-">powerMotors(double)</a></span> - Method in class <a href="org/swerverobotics/library/examples/SynchMotorLoopPerf.html" title="class in org.swerverobotics.library.examples">SynchMotorLoopPerf</a></dt>
+<dd>&nbsp;</dd>
 <dt><span class="memberNameLink"><a href="org/swerverobotics/library/SynchronousOpMode.html#preInitHook--">preInitHook()</a></span> - Method in class <a href="org/swerverobotics/library/SynchronousOpMode.html" title="class in org.swerverobotics.library">SynchronousOpMode</a></dt>
 <dd>
 <div class="block">Advanced: the various 'hook' calls calls preInitHook(), postInitHook(), preLoopHook(), 

SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/examples/SynchMotorLoopPerf.html

@@ -17,7 +17,7 @@
     catch(err) {
     }
 //-->
-var methods = {"i0":10};
+var methods = {"i0":10,"i1":10};
 var tabs = {65535:["t0","All Methods"],2:["t2","Instance Methods"],8:["t4","Concrete Methods"]};
 var altColor = "altColor";
 var rowColor = "rowColor";
@@ -128,7 +128,9 @@ <h2 title="Class SynchMotorLoopPerf" class="title">Class SynchMotorLoopPerf</h2>
 extends <a href="../../../../org/swerverobotics/library/SynchronousOpMode.html" title="class in org.swerverobotics.library">SynchronousOpMode</a></pre>
 <div class="block">An op mode that investigates how many loop() cycles it takes to do full
  mode switching on a motor controller. Each main loop cycle does both
- a read and a write to the motor.</div>
+ a read and a write to the motor.
+
+ This OpMode expects two motors, named 'motorLeft' and 'motorRight'.</div>
 </li>
 </ul>
 </div>
@@ -192,6 +194,10 @@ <h3>Method Summary</h3>
 <div class="block">Implement main() (in a subclass) to contain your robot logic.</div>
 </td>
 </tr>
+<tr id="i1" class="rowColor">
+<td class="colFirst"><code>void</code></td>
+<td class="colLast"><code><span class="memberNameLink"><a href="../../../../org/swerverobotics/library/examples/SynchMotorLoopPerf.html#powerMotors-double-">powerMotors</a></span>(double&nbsp;power)</code>&nbsp;</td>
+</tr>
 </table>
 <ul class="blockList">
 <li class="blockList"><a name="methods.inherited.from.class.SynchronousOpMode">
@@ -248,7 +254,7 @@ <h3>Method Detail</h3>
 <a name="main--">
 <!--   -->
 </a>
-<ul class="blockListLast">
+<ul class="blockList">
 <li class="blockList">
 <h4>main</h4>
 <pre>public&nbsp;void&nbsp;main()
@@ -285,6 +291,15 @@ <h4>main</h4>
 </dl>
 </li>
 </ul>
+<a name="powerMotors-double-">
+<!--   -->
+</a>
+<ul class="blockListLast">
+<li class="blockList">
+<h4>powerMotors</h4>
+<pre>public&nbsp;void&nbsp;powerMotors(double&nbsp;power)</pre>
+</li>
+</ul>
 </li>
 </ul>
 </li>

SwerveRoboticsLibrary/doc/javadoc/org/swerverobotics/library/interfaces/package-tree.html

@@ -113,27 +113,27 @@ <h2 title="Interface Hierarchy">Interface Hierarchy</h2>
 </ul>
 <h2 title="Annotation Type Hierarchy">Annotation Type Hierarchy</h2>
 <ul>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/OpModeRegistrar.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">OpModeRegistrar</span></a> (implements java.lang.annotation.Annotation)</li>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/TeleOp.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">TeleOp</span></a> (implements java.lang.annotation.Annotation)</li>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/OnRobotRunning.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">OnRobotRunning</span></a> (implements java.lang.annotation.Annotation)</li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/Disabled.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">Disabled</span></a> (implements java.lang.annotation.Annotation)</li>
 <li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/OnRobotStartupFailure.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">OnRobotStartupFailure</span></a> (implements java.lang.annotation.Annotation)</li>
 <li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/Autonomous.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">Autonomous</span></a> (implements java.lang.annotation.Annotation)</li>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/Disabled.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">Disabled</span></a> (implements java.lang.annotation.Annotation)</li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/TeleOp.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">TeleOp</span></a> (implements java.lang.annotation.Annotation)</li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/OpModeRegistrar.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">OpModeRegistrar</span></a> (implements java.lang.annotation.Annotation)</li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/OnRobotRunning.html" title="annotation in org.swerverobotics.library.interfaces"><span class="typeNameLink">OnRobotRunning</span></a> (implements java.lang.annotation.Annotation)</li>
 </ul>
 <h2 title="Enum Hierarchy">Enum Hierarchy</h2>
 <ul>
 <li type="circle">java.lang.Object
 <ul>
 <li type="circle">java.lang.Enum&lt;E&gt; (implements java.lang.Comparable&lt;T&gt;, java.io.Serializable)
 <ul>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/II2cDeviceClient.READ_MODE.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">II2cDeviceClient.READ_MODE</span></a></li>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.PITCHMODE.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.PITCHMODE</span></a></li>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.ANGLEUNIT.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.ANGLEUNIT</span></a></li>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.TEMPUNIT.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.TEMPUNIT</span></a></li>
 <li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.REGISTER.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.REGISTER</span></a></li>
 <li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.I2CADDR.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.I2CADDR</span></a></li>
-<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.ACCELUNIT.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.ACCELUNIT</span></a></li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.ANGLEUNIT.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.ANGLEUNIT</span></a></li>
 <li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.SENSOR_MODE.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.SENSOR_MODE</span></a></li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/II2cDeviceClient.READ_MODE.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">II2cDeviceClient.READ_MODE</span></a></li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.ACCELUNIT.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.ACCELUNIT</span></a></li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.PITCHMODE.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.PITCHMODE</span></a></li>
+<li type="circle"><a href="../../../../org/swerverobotics/library/interfaces/IBNO055IMU.TEMPUNIT.html" title="enum in org.swerverobotics.library.interfaces"><span class="typeNameLink">IBNO055IMU.TEMPUNIT</span></a></li>
 </ul>
 </li>
 </ul>

SwerveRoboticsLibrary/doc/javadoc/org/usfirst/ftc/exampleteam/yourcodehere/MyRobotControllerAdministration.html

@@ -109,7 +109,7 @@ <h2 title="Class MyRobotControllerAdministration" class="title">Class MyRobotCon
 <br>
 <pre>public class <span class="typeNameLabel">MyRobotControllerAdministration</span>
 extends java.lang.Object</pre>
-<div class="block">MyRobotControllerAdministration is a container for 'administrative' methods that intereract
+<div class="block">MyRobotControllerAdministration is a container for 'administrative' methods that interact
  with the Swerve library. You don't <em>have to</em> put your administrative methods in a separate
  class as we do here, but it does help keep them neat and tidy. Administrative methods are
  each tagged with a Java annotation that connotes and bestows their significance; see the