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Merge in FtcRobotController 8.0

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cyberarm
2022-09-20 11:50:02 -05:00
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@@ -54,10 +54,57 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
# Release Information
## Version 8.0 (20220907-131644)
### Breaking Changes
* Increases the Robocol version.
* This means an 8.0 or later Robot Controller or Driver Station will not be able to communicate with a 7.2 or earlier Driver Station or Robot Controller.
* If you forget to update both apps at the same time, an error message will be shown explaining which app is older and should be updated.
* Initializing I2C devices now happens when you retrieve them from the `HardwareMap` for the first time.
* Previously, all I2C devices would be initialized before the Op Mode even began executing,
whether you were actually going to use them or not. This could result in reduced performance and
unnecessary warnings.
* With this change, it is very important for Java users to retrieve all needed devices from the
`HardwareMap` **during the Init phase of the Op Mode**. Namely, declare a variable for each hardware
device the Op Mode will use, and assign a value to each. Do not do this during the Run phase, or your
Op Mode may briefly hang while the devices you are retrieving get initialized.
* Op Modes that do not use all of the I2C devices specified in the configuration file should take
less time to initialize. Op Modes that do use all of the specified I2C devices should take the
same amount of time as previously.
* Fixes [issue #251](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/251) by changing the order in which axis rotation rates are read from the angular velocity vector in the BNO055 IMU driver.
* Deprecates `pitchMode` in `BNO055IMU.Parameters`.
* Setting `pitchMode` to `PitchMode.WINDOWS` would break the coordinate conventions used by the driver.
* Moves `OpModeManagerImpl` to the `com.qualcomm.robotcore.eventloop.opmode` package.
* This breaks third party libraries EasyOpenCV (version 1.5.1 and earlier) and FTC Dashboard (version 0.4.4 and earlier).
* Deletes the deprecated `OpMode` method `resetStartTime()` (use `resetRuntime()` instead).
* Deletes the protected `LinearOpMode.LinearOpModeHelper` class (which was not meant for use by Op Modes).
* Removes I2C Device (Synchronous) config type (deprecated since 2018)
### Enhancements
* Uncaught exceptions in Op Modes no longer require a Restart Robot
* A blue screen popping up with a stacktrace is not an SDK error; this replaces the red text in the telemetry area.
* Since the very first SDK release, Op Mode crashes have put the robot into "EMERGENCY STOP" state, only showing the first line of the exception, and requiring the user to press "Restart Robot" to continue
* Exceptions during an Op Mode now open a popup window with the same color scheme as the log viewer, containing 15 lines of the exception stacktrace to allow easily tracing down the offending line without needing to connect to view logs over ADB or scroll through large amounts of logs in the log viewer.
* The exception text in the popup window is both zoomable and scrollable just like a webpage.
* Pressing the "OK" button in the popup window will return to the main screen of the Driver Station and allow an Op Mode to be run again immediately, without the need to perform a "Restart Robot"
* Adds new Java sample to demonstrate using a hardware class to abstract robot actuators, and share them across multiple Op Modes.
* Sample Op Mode is [/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/ConceptExternalHardwareClass.java](ConceptExternalHardwareClass.java)
* Abstracted hardware class is [/FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/external/samples/RobotHardware.java](RobotHardware.java))
* Updates RobotAutoDriveByGyro_Linear Java sample to use REV Control/Expansion hub IMU.
* Updates Vuforia samples to reference PowerPlay assets and have correct names and field locations of image targets.
* Updates TensorFlow samples to reference PowerPlay assets.
* Adds opt-in support for Java 8 language features to the OnBotJava editor.
* To opt in, open the OnBotJava Settings, and check `Enable beta Java 8 support`.
* Note that Java 8 code will only compile when the Robot Controller runs Android 7.0 Nougat or later.
* Please report issues [here](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues).
* In OnBotJava, clicking on build errors now correctly jumps to the correct location.
* Improves OnBotJava autocomplete behavior, to provide better completion options in most cases.
* Adds a QR code to the Robot Controller Inspection Report when viewed from the Driver Station for scanning by inspectors at competition.
* Improves I2C performance and reliability in some scenarios.
## Version 7.2 (20220723-130006)
### Breaking Changes
* Updates the build tooling. For Android Studio users, this change requires Android Studio Chipmunk 2021.2.1.
* Removes support for devices that are not competition legal, including Modern Robotics Core Control Modules, the Matrix Controller, and HiTechnic/NXT controllers and sensors. Support remains for Modern Robotics I2C sensors.
@@ -78,8 +125,8 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
* Allows disabling bluetooth radio from inspection screen
* Improves warning messages when I2C devices are not responding
* Adds support for controlling the RGB LED present on PS4/Etpark gamepads from OpModes
* Removes legacy Pushbot references from OpMode samples. Renames "Pushbot" samples to "Robot". Motor directions reversed to be compatible with "direct Drive" drive train.
* Removes legacy Pushbot references from OpMode samples. Renames "Pushbot" samples to "Robot". Motor directions reversed to be compatible with "direct Drive" drive train.
### Bug fixes
* Fixes [issue #316](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/316) (MatrixF.inverted() returned an incorrectly-sized matrix for 1x1 and 2x2 matrixes).
@@ -209,14 +256,14 @@ The readme.md file located in the [/TeamCode/src/main/java/org/firstinspires/ftc
Cannot open OpModes in v6.1 Blocks offline editor
* Fixes [FtcRobotController issue #79](https://github.com/FIRST-Tech-Challenge/FtcRobotController/issues/79)
6.1 causes a soft reboot on the Motorola E5 Play
* Fixes issue where the Control Hub OS's watchdog would restart the Robot Controller app if
* Fixes issue where the Control Hub OS's watchdog would restart the Robot Controller app if
the Control Hub was not able to communicate with its internal Expansion Hub
* Fixes certain I2C devices not showing up in the appropriate `HardwareMap` fields (such as `hardwareMap.colorSensor`)
* Fixes certain I2C devices not showing up in the appropriate `HardwareMap` fields (such as `hardwareMap.colorSensor`)
* Fixes issue where performing a Wi-Fi factory reset on the Control Hub would not set the Wi-Fi band to 2.4 GHz
* Fixes issue where OnBotJava might fail to create a new file if the option to "Setup Code for Configured Hardware" was selected
* Fixes issue where performing certain operations after an Op Mode crashes would temporarily break Control/Expansion Hub communication
* Fixes issue where a Control Hub with a configured USB-connected Expansion Hub would not work if the Expansion Hub was missing at startup
* Fixes potential issues caused by having mismatched Control/Expansion Hub firmware versions
* Fixes potential issues caused by having mismatched Control/Expansion Hub firmware versions
* Fixes [ftc_app issue 673](https://github.com/ftctechnh/ftc_app/issues/673) Latest matchlog is being deleted instead of old ones by RobotLog
* Fixes ConceptVuforiaUltimateGoalNavigationWebcam sample opmode by correctly orienting camera on robot.
* Fixes issue where logcat would be spammed with InterruptedExceptions when stop is requested from the Driver Station (this behavior was accidentally introduced in v5.3). This change has no impact on functionality.