merge MentorSandbox -> Master

Former-commit-id: 1c4b6b24a8386018899a4af9d7e630ed6136a541
Former-commit-id: 853d458

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

@@ -64,6 +64,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import com.qualcomm.ftcrobotcontroller.opmodes.FtcOpModeRegister;
 import com.qualcomm.hardware.HardwareFactory;
 import com.qualcomm.robotcore.eventloop.EventLoopManager;
+import com.qualcomm.robotcore.exception.RobotCoreException;
 import com.qualcomm.robotcore.hardware.configuration.Utility;
 import com.qualcomm.robotcore.robocol.*;
 import com.qualcomm.robotcore.robot.Robot;
@@ -476,28 +477,7 @@ public synchronized static void installIfNecessary(FtcRobotControllerService ser
 
             // Ok, the EventLoopManager is up and running. Install our hooks if we haven't already done so
 
-            // Make sure our event loop manager has a thread-safe socket. Doing so will allow us
-            // to explore the possibility of sending telemetry from other than the loop() thread.
-            RobocolDatagramSocket socket = MemberUtil.socketOfEventLoopManager(eventLoopManager);
-            if (socket != null)
-                {
-                if (socket instanceof ThreadSafeRobocolDatagramSocket)
-                    {
-                    }
-                else
-                    {
-                    // We should be inserting this hook before the socket manages to do anything
-                    assertTrue(!BuildConfig.DEBUG || socket.getState() == RobocolDatagramSocket.State.CLOSED);
-
-                    // Stuff in a replacement, thread-safe, socket.
-                    RobocolDatagramSocket newSocket = new ThreadSafeRobocolDatagramSocket();
-                    MemberUtil.setSocketOfEventLoopManager(eventLoopManager, newSocket);
-                    robot.socket = newSocket;
-                    Log.v(SynchronousOpMode.LOGGING_TAG, "installed ThreadSafeRobocolDatagramSocket");
-                    }
-                }
-
-            EventLoopManager.EventLoopMonitor monitor = MemberUtil.monitorOfEventLoopManager(eventLoopManager);
+            EventLoopManager.EventLoopMonitor monitor = eventLoopManager.getMonitor();
             if (monitor != null)
                 {
                 if (monitor instanceof SwerveEventLoopMonitorHook)
@@ -566,10 +546,7 @@ void verifyLegalPhoneNames()
                     {
                     if (!legalRCNamePattern.matcher(robotControllerName).matches())
                         {
-                        if (containsNewline(robotControllerName))
-                            reportWifiDirectError("robot controller name \"%s\" contains a carriage return: PLEASE FIX immediately", withoutNewlines(robotControllerName));
-                        else
-                            reportWifiDirectError("\"%s\" is not a legal robot controller name (see <RS02>)", robotControllerName);
+                        reportWifiDirectError("\"%s\" is not a legal robot controller name (see <RS02>)", robotControllerName);
                         }
                     }
 
@@ -582,10 +559,7 @@ void verifyLegalPhoneNames()
                         {
                         if (!legalDSNamePattern.matcher(peer.deviceName).matches())
                             {
-                            if (containsNewline(peer.deviceName))
-                                reportWifiDirectError("driver station name \"%s\" contains a carriage return: PLEASE FIX immediately", withoutNewlines(peer.deviceName));
-                            else
-                                reportWifiDirectError("\"%s\" is not a legal driver station name (see <RS02>)", peer.deviceName);
+                            reportWifiDirectError("\"%s\" is not a legal driver station name (see <RS02>)", peer.deviceName);
                             }
                         }
                     }
@@ -596,25 +570,6 @@ void verifyLegalPhoneNames()
         // Utility
         //------------------------------------------------------------------------------------------
 
-        boolean containsNewline(String name)
-            {
-            return name.contains("\n") || name.contains("\r");
-            }
-        String withoutNewlines(String name)
-            {
-            StringBuilder result = new StringBuilder();
-            for (int ich = 0; ich < name.length(); ich++)
-                {
-                char ch = name.charAt(ich);
-                switch (ch)
-                    {
-                    case '\r':case '\n': break;
-                    default: result.append(ch); break;
-                    }
-                }
-            return result.toString();
-            }
-
         /** Is this peer a driver station? If in doubt, answer 'no'*/
         boolean isDriverStation(WifiP2pDevice peer)
             {

FtcRobotController/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes/LinearI2cAddressChange.java

@@ -36,6 +36,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import com.qualcomm.robotcore.hardware.IrSeekerSensor;
 import com.qualcomm.robotcore.util.RobotLog;
 import com.qualcomm.robotcore.util.TypeConversion;
+import com.qualcomm.robotcore.util.Util;
 
 import java.util.concurrent.locks.Lock;
 
@@ -106,7 +107,7 @@ public void runOpMode() throws InterruptedException {
     // I2c addresses on Modern Robotics devices must be divisible by 2, and between 0x7e and 0x10
     // Different hardware may have different rules.
     // Be sure to read the requirements for the hardware you're using!
-    IrSeekerSensor.throwIfModernRoboticsI2cAddressIsInvalid(newAddress);
+    Util.throwIfModernRoboticsI2cAddressIsInvalid(newAddress);
 
     // wait for the start button to be pressed
     waitForStart();

FtcRobotController/src/main/java/com/qualcomm/ftcrobotcontroller/opmodes/MatrixControllerDemo.java

@@ -31,7 +31,7 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 
 package com.qualcomm.ftcrobotcontroller.opmodes;
 
-import com.qualcomm.hardware.MatrixDcMotorController;
+import com.qualcomm.hardware.matrix.*;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorController;

SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/SynchronousOpMode.java

@@ -338,20 +338,21 @@ public final boolean updateGamepads()
     /** Capture the gamepad state so that it will be available for a later updateGamepads() */
     private void captureGamepadState()
         {
+        // We conservatively indicate that things have changed
         boolean changed1 = true, changed2 = true;
         //
         if (this.gamepad1Captured == null)
             this.gamepad1Captured = new Gamepad();
-        else
+        else if (super.gamepad1 != null)
             changed1 = !gamepadsSame(this.gamepad1Captured, super.gamepad1);
         //
         if (this.gamepad2Captured == null)
             this.gamepad2Captured = new Gamepad();
-        else
+        else if (super.gamepad2 != null)
             changed2 = !gamepadsSame(this.gamepad2Captured, super.gamepad2);
         //
-        gamepadAssign(this.gamepad1Captured, super.gamepad1);
-        gamepadAssign(this.gamepad2Captured, super.gamepad2);
+        if (super.gamepad1 != null) gamepadAssign(this.gamepad1Captured, super.gamepad1);
+        if (super.gamepad2 != null) gamepadAssign(this.gamepad2Captured, super.gamepad2);
         //
         boolean changed = changed1 || changed2;
         //

SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/TelemetryDashboardAndLog.java

@@ -251,10 +251,10 @@ private void clearComposedLines()
 
     private static String getKey(int iLine)
         {
-        // At present (Aug 8, 2015), the driver station both sorts by the key we return here
-        // but also DISPLAYS it! Ugh. So we try to conserve space. And we use Unicode characters
-        // that don't actually take up space on the display.
-        return String.format("%c", 0x180 + iLine);
+        // Keys must be unique. If they start with nul, then they're not shown on the driver display.
+        // Historically, they were always shown, and sorted, so we used an increasing sequence
+        // of unrenderable strings.
+        return String.format("\0%c", 0x180 + iLine);
         }
 
      /**
@@ -357,6 +357,7 @@ private synchronized boolean update(int msUpdateInterval, boolean userRequest, b
             // Build an object to carry our telemetry data.
             // Transmit same to the driver station.
             Telemetry transmitter = new Telemetry();
+            transmitter.setSorted(false);
             //
             for (int i = 0; i < keys.size(); i++)
                 {

SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/AdaFruitTCS34725ColorSensor.java

@@ -1,6 +1,7 @@
 package org.swerverobotics.library.internal;
 
 import android.graphics.Color;
+import com.qualcomm.hardware.adafruit.*;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.hardware.*;
 import com.qualcomm.robotcore.util.*;
@@ -18,7 +19,7 @@
  * https://www.adafruit.com/products/1334?&main_page=product_info&products_id=1334
  * https://github.com/adafruit/Adafruit_TCS34725
  */
-public class AdaFruitTCS34725ColorSensor extends ColorSensor implements IOpModeStateTransitionEvents
+public class AdaFruitTCS34725ColorSensor implements ColorSensor, IOpModeStateTransitionEvents
     {
     //----------------------------------------------------------------------------------------------
     // State
@@ -132,7 +133,7 @@ public static ColorSensor create(OpMode context, ColorSensor target)
         int port;
         int i2cAddr8Bit;
 
-        if (target instanceof com.qualcomm.hardware.AdafruitI2cColorSensor)
+        if (target instanceof AdafruitI2cColorSensor)
             {
             controller  = MemberUtil.deviceInterfaceModuleOfAdaFruitColorSensor(target);
             port        = MemberUtil.portOfAdaFruitColorSensor(target);

SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/AnnotatedOpModeRegistrar.java

@@ -169,29 +169,12 @@ else if (lhs.isAnnotationPresent(Autonomous.class) && rhs.isAnnotationPresent(Au
                 }
             }
 
-        // Check that the overall length of the OpMode names doesn't exceed the (paltry) length
-        // that can be transmitted from the robot controller to the driver station.
-        // See FtcEventLoop.sendOpModeList().
-        StringBuilder nameBuilder = new StringBuilder();
+        // Finally, register all the OpModes
         for (Class<OpMode> opMode : opModesToRegister)
             {
-            if (nameBuilder.length() > 0) nameBuilder.append(com.qualcomm.robotcore.util.Util.ASCII_RECORD_SEPARATOR);
-            nameBuilder.append(getOpModeName(opMode));
-            }
-        if (TypeConversion.stringToUtf8(nameBuilder.toString()).length >= Command.MAX_COMMAND_LENGTH)    // see Command.Command
-            {
-            reportOpModeConfigurationError("OpMode names are too long to be sent to the Driver Station");
-            this.opModeManager.register("OpMode names too long", OpModeNamesTooLong.class);
-            }
-        else
-            {
-            // Finally, register all the OpModes
-            for (Class<OpMode> opMode : opModesToRegister)
-                {
-                String name = getOpModeName(opMode);
-                this.opModeManager.register(name, opMode);
-                Log.d(LOGGING_TAG, String.format("registered {%s} as {%s}", opMode.getSimpleName(), name));
-                }
+            String name = getOpModeName(opMode);
+            this.opModeManager.register(name, opMode);
+            Log.d(LOGGING_TAG, String.format("registered {%s} as {%s}", opMode.getSimpleName(), name));
             }
         }
 

SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernController.java

@@ -1,7 +1,7 @@
 package org.swerverobotics.library.internal;
 
 import android.util.Log;
-import com.qualcomm.hardware.*;
+import com.qualcomm.hardware.modernrobotics.*;
 import com.qualcomm.modernrobotics.*;
 import com.qualcomm.robotcore.eventloop.*;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
@@ -47,26 +47,18 @@ enum WRITE_STATUS { IDLE, DIRTY, READ };
 
     public EasyModernController(OpMode context, ModernRoboticsUsbDevice target, ReadWriteRunnableHandy readWriteRunnable) throws RobotCoreException, InterruptedException
         {
-        // We *have to* give a live ReadWriteRunnable to our parent constructor, so we grudgingly do so
-        super(target.getSerialNumber(), SwerveThreadContext.getEventLoopManager(), readWriteRunnable);
-
-        // Wait until the thing actually gets going. We need it to get to the point where the
-        // 'this.running=true' has at least been set so that the 'this.running=false' we are
-        // about to do in the close() in next line down will sequence correctly against it.
-        readWriteRunnable.waitUntilRunGetsGoing();
-
-        // Then shut it down right away, because we want to start disarmed until we fully configure
-        closeModernRoboticsUsbDevice(this);
+        // Note that we don't give a ReadWriteRunnable to our parent constructor. This essentially just sets the serial number
+        super(target.getSerialNumber(), SwerveThreadContext.getEventLoopManager(), null);
 
         // Initialize the rest of our state
         this.context          = context;
         this.eventLoopManager = SwerveThreadContext.getEventLoopManager();
         this.isArmed          = false;
         this.writeStatus      = WRITE_STATUS.IDLE;
 
-        ReadWriteRunnableStandard readWriteRunnableStandard = MemberUtil.getReadWriteRunnableModernRoboticsUsbDevice(target);
-        ReadWriteRunnableUsbHandler handler                 = MemberUtil.getHandlerOfReadWriteRunnableStandard(readWriteRunnableStandard);
-        this.robotUsbDevice                                 = MemberUtil.getRobotUsbDeviceOfReadWriteRunnableUsbHandler(handler);
+        ReadWriteRunnableStandard   targetReadWriteRunnable = (ReadWriteRunnableStandard)MemberUtil.getReadWriteRunnableModernRoboticsUsbDevice(target);
+        ReadWriteRunnableUsbHandler targetHandler           = MemberUtil.getHandlerOfReadWriteRunnableStandard(targetReadWriteRunnable);
+        this.robotUsbDevice                                 = MemberUtil.getRobotUsbDeviceOfReadWriteRunnableUsbHandler(targetHandler);
         }
 
     //----------------------------------------------------------------------------------------------
@@ -87,23 +79,21 @@ static void closeModernRoboticsUsbDevice(ModernRoboticsUsbDevice usbDevice)
         {
         // Get access to the state
         ExecutorService service = MemberUtil.getExecutorServiceModernRoboticsUsbDevice(usbDevice);
-        ReadWriteRunnableStandard readWriteRunnableStandard = MemberUtil.getReadWriteRunnableModernRoboticsUsbDevice(usbDevice);
 
         // Stop accepting new work
         service.shutdown();
 
-        // Set a dummy handler so that we don't end up closing the actual FT_device.
-        // Note that this overwrites a 'final' member variable, so there's a slight
-        // risk of running into optimization problems, but we live with that.
-        RobotUsbDevice robotUsbDevice = new DummyRobotUsbDevice();
-        ReadWriteRunnableUsbHandler dummyHandler = new ReadWriteRunnableUsbHandler(robotUsbDevice);
-        MemberUtil.setHandlerOfReadWriteRunnableStandard(readWriteRunnableStandard, dummyHandler);
-
-        // Set 'running' to false; this fixes a race condition
-        MemberUtil.setRunningReadWriteRunnableStandard(readWriteRunnableStandard, false);
+        ReadWriteRunnableStandard readWriteRunnableStandard = (ReadWriteRunnableStandard)MemberUtil.getReadWriteRunnableModernRoboticsUsbDevice(usbDevice);
+        if (readWriteRunnableStandard != null)
+            {
+            // Set a dummy handler so that we don't end up closing the actual FT_device.
+            RobotUsbDevice robotUsbDevice = new DummyRobotUsbDevice();
+            ReadWriteRunnableUsbHandler dummyHandler = new ReadWriteRunnableUsbHandler(robotUsbDevice);
+            MemberUtil.setHandlerOfReadWriteRunnableStandard(readWriteRunnableStandard, dummyHandler);
 
-        // Ok: actually carry out the close
-        readWriteRunnableStandard.close();
+            // Ok: actually carry out the close
+            readWriteRunnableStandard.close();
+            }
 
         // Wait until the thread terminates
         Util.awaitTermination(service);
@@ -118,9 +108,9 @@ void installReadWriteRunnable(ModernRoboticsUsbDevice usbDevice, int cbMonitor,
             //
             MemberUtil.setExecutorServiceModernRoboticsUsbDevice(usbDevice, service);
             MemberUtil.setReadWriteRunnableModernRoboticsUsbDevice(usbDevice, rwRunnable);
+            rwRunnable.setCallback(usbDevice);
             service.execute(rwRunnable);
             rwRunnable.blockUntilReady();
-            rwRunnable.setCallback(usbDevice);
             this.eventLoopManager.registerSyncdDevice(rwRunnable);
             }
         catch (Exception e)
@@ -272,42 +262,6 @@ static class DummyRobotUsbDevice implements RobotUsbDevice
             }
         }
 
-    /**
-     * A handler that let's you know when it's had methods called on it
-     */
-    static class InterlockingReadWriteRunnableUsbHandler extends ReadWriteRunnableUsbHandler
-        {
-        private ManualResetEvent methodCalled = new ManualResetEvent(false);
-
-        public InterlockingReadWriteRunnableUsbHandler(RobotUsbDevice device)
-            {
-            super(device);
-            }
-
-        @Override public void purge(RobotUsbDevice.Channel channel) throws RobotCoreException
-            {
-            methodCalled.set();
-            super.purge(channel);
-            }
-
-        @Override public void read(int address, byte[] buffer) throws RobotCoreException, InterruptedException
-            {
-            methodCalled.set();
-            super.read(address, buffer);
-            }
-
-        @Override public void write(int address, byte[] buffer) throws RobotCoreException, InterruptedException
-            {
-            methodCalled.set();
-            super.write(address, buffer);
-            }
-
-        void awaitMethodCall() throws InterruptedException
-            {
-            this.methodCalled.waitOne();
-            }
-        }
-
     /**
      * This class is a ReadWriteRunnableStandard but one that doesn't report any errors
      * due to connection failures in its blockUntilReady(). And you can interlock with its
@@ -318,14 +272,6 @@ static class ReadWriteRunnableHandy extends ReadWriteRunnableStandard
         public ReadWriteRunnableHandy(SerialNumber serialNumber, RobotUsbDevice device, int monitorLength, int startAddress, boolean debug)
             {
             super(serialNumber, device, monitorLength, startAddress, debug);
-            InterlockingReadWriteRunnableUsbHandler handler = new InterlockingReadWriteRunnableUsbHandler(device);
-            MemberUtil.setHandlerOfReadWriteRunnableStandard(this, handler);
-            }
-
-        void waitUntilRunGetsGoing() throws InterruptedException
-        // We ideally want to wait until after 'running' is set and the log is written
-            {
-            ((InterlockingReadWriteRunnableUsbHandler)this.usbHandler).awaitMethodCall();
             }
 
         @Override public void run()

SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernMotorController.java

@@ -1,7 +1,7 @@
 package org.swerverobotics.library.internal;
 
 import android.util.Log;
-import com.qualcomm.hardware.*;
+import com.qualcomm.hardware.modernrobotics.*;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.exception.*;
 import com.qualcomm.robotcore.hardware.*;

SwerveRoboticsLibrary/src/main/java/org/swerverobotics/library/internal/EasyModernServoController.java

@@ -1,7 +1,7 @@
 package org.swerverobotics.library.internal;
 
 import android.util.Log;
-import com.qualcomm.hardware.*;
+import com.qualcomm.hardware.modernrobotics.*;
 import com.qualcomm.robotcore.eventloop.opmode.OpMode;
 import com.qualcomm.robotcore.exception.*;
 import com.qualcomm.robotcore.hardware.*;