#6

.github/workflowHelpers/collect_reports.py

@@ -0,0 +1,22 @@
+import os
+import shutil
+import sys
+from pathlib import Path
+
+target = Path(sys.argv[1])
+if target.exists():
+    shutil.rmtree(target)
+target.mkdir()
+
+for path, dirs, files in os.walk('.'):
+    path2 = Path(path)
+    if tuple(path2.parts[-3:]) == ('build', 'reports', 'tests'):
+        print(f'collecting {str(path2)}')
+        rel = path2.relative_to('.')
+        beforeIdentifier = '_'.join(rel.parts[:-3])
+        beforeDir = (target / beforeIdentifier)
+        beforeDir.mkdir(exist_ok=True)
+        for dir_ in dirs:
+            print(f'adding {dir_}')
+            copyTarget = beforeDir / dir_
+            shutil.copytree(path2 / dir_, copyTarget)

.github/workflows/android.yml

@@ -26,7 +26,7 @@ jobs:
       run: |
         cp TeamCode/build/outputs/apk/debug/TeamCode-debug.apk build-debug.apk
     - name: Export artifact
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
       with:
           name: build-debug.apk
           path: build-debug.apk

.github/workflows/unitTest.yml

@@ -17,21 +17,22 @@ jobs:
           java-version: '17'
           distribution: 'temurin'
           cache: gradle
+      - name: set up Python 3.11
+        uses: actions/setup-python@v3
+        with:
+          python-version: '3.11'
 
       - name: Grant execute permission for gradlew
         run: chmod +x gradlew
       - name: Test with Gradle
         id: test
-        continue-on-error: true
         run: ./gradlew --no-build-cache cleanTest test
-      - name: Copy report
-        if: ${{ failure() }}
-        id: copyFail
-        continue-on-error: true
-        run: cp -r build/reports/tests/ testReports
+      - name: Collect reports
+        if: '!cancelled()'
+        run: python .github/workflowHelpers/collect_reports.py testReports
       - name: Export artifact
-        if: ${{ failure() && steps.copyFail.outcome != 'failure' }}
-        uses: actions/upload-artifact@v2
+        if: '!cancelled()'
+        uses: actions/upload-artifact@v3
         with:
           name: test-reports
           path: testReports/

.gitignore

@@ -80,5 +80,7 @@ lint/outputs/
 lint/tmp/
 # lint/reports/
 
+# GHA Test reports
+testReports/
 # weird unittest scratches
 .attach_pid*

TeamCode/build.gradle

@@ -14,11 +14,12 @@
 // Include common definitions from above.
 apply from: '../build.common.gradle'
 apply from: '../build.dependencies.gradle'
+apply plugin: 'org.jetbrains.kotlin.android'
 
 android {
     namespace = 'org.firstinspires.ftc.teamcode'
     androidResources {
-        noCompress 'tflite'
+        noCompress += ['tflite']
     }
 
     packagingOptions {
@@ -27,6 +28,9 @@ android {
         }
         jniLibs.useLegacyPackaging true
     }
+    kotlinOptions {
+        jvmTarget = '1.8'
+    }
 }
 
 tasks.withType(Test).configureEach {
@@ -44,6 +48,8 @@ java.testResultsDir = layout.buildDirectory.dir("junit-xml")
 
 dependencies {
     implementation project(':FtcRobotController')
+    implementation project(path: ':multitask')
 //    testImplementation 'junit:junit:4.13.2'
     annotationProcessor files('lib/OpModeAnnotationProcessor.jar')
+    testImplementation 'org.jetbrains.kotlin:kotlin-test'
 }

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/AprilTagSample.java

@@ -0,0 +1,194 @@
+/* Copyright (c) 2023 FIRST. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted (subject to the limitations in the disclaimer below) provided that
+ * the following conditions are met:
+ *
+ * Redistributions of source code must retain the above copyright notice, this list
+ * of conditions and the following disclaimer.
+ *
+ * Redistributions in binary form must reproduce the above copyright notice, this
+ * list of conditions and the following disclaimer in the documentation and/or
+ * other materials provided with the distribution.
+ *
+ * Neither the name of FIRST nor the names of its contributors may be used to endorse or
+ * promote products derived from this software without specific prior written permission.
+ *
+ * NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY THIS
+ * LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+package org.firstinspires.ftc.teamcode;
+
+import android.annotation.SuppressLint;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.qualcomm.robotcore.eventloop.opmode.Disabled;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.robotcore.external.hardware.camera.BuiltinCameraDirection;
+import org.firstinspires.ftc.robotcore.external.hardware.camera.WebcamName;
+import org.firstinspires.ftc.vision.VisionPortal;
+import org.firstinspires.ftc.vision.VisionProcessor;
+import org.firstinspires.ftc.vision.apriltag.AprilTagDetection;
+import org.firstinspires.ftc.vision.apriltag.AprilTagProcessor;
+
+import java.util.List;
+
+/*
+ * This OpMode illustrates the basics of AprilTag recognition and pose estimation,
+ * including Java Builder structures for specifying Vision parameters.
+ *
+ * Use Android Studio to Copy this Class, and Paste it into your team's code folder with a new name.
+ * Remove or comment out the @Disabled line to add this OpMode to the Driver Station OpMode list.
+ */
+@TeleOp(name = "AprilTagSample")
+public class AprilTagSample extends LinearOpMode {
+
+    private static final boolean USE_WEBCAM = true;  // true for webcam, false for phone camera
+
+    /**
+     * The variable to store our instance of the AprilTag processor.
+     */
+    private AprilTagProcessor aprilTag;
+
+    /**
+     * The variable to store our instance of the vision portal.
+     */
+    private VisionPortal visionPortal;
+
+    @Override
+    public void runOpMode() {
+
+        initAprilTag();
+
+        // Wait for the DS start button to be touched.
+        telemetry.addData("Access preview", "3 dots, Camera Stream");
+        telemetry.addData(">", "Touch Play to start OpMode");
+        telemetry.update();
+        waitForStart();
+
+        if (opModeIsActive()) {
+            while (opModeIsActive()) {
+
+                telemetryAprilTag();
+
+                // Push telemetry to the Driver Station.
+                telemetry.update();
+
+                // Save CPU resources; can resume streaming when needed.
+                if (gamepad1.dpad_down) {
+                    visionPortal.stopStreaming();
+                } else if (gamepad1.dpad_up) {
+                    visionPortal.resumeStreaming();
+                }
+
+                // Share the CPU.
+                sleep(20);
+            }
+        }
+
+        // Save more CPU resources when camera is no longer needed.
+        visionPortal.close();
+
+    }   // end method runOpMode()
+
+    /**
+     * Initialize the AprilTag processor.
+     */
+    private void initAprilTag() {
+
+        // Create the AprilTag processor.
+        aprilTag = new AprilTagProcessor.Builder()
+            .setDrawAxes(true)
+            .setDrawCubeProjection(true)
+            .setDrawTagOutline(true)
+            //.setTagFamily(AprilTagProcessor.TagFamily.TAG_36h11)
+            //.setTagLibrary(AprilTagGameDatabase.getCenterStageTagLibrary())
+            //.setOutputUnits(DistanceUnit.INCH, AngleUnit.DEGREES)
+
+            // == CAMERA CALIBRATION ==
+            // If you do not manually specify calibration parameters, the SDK will attempt
+            // to load a predefined calibration for your camera.
+            //.setLensIntrinsics(578.272, 578.272, 402.145, 221.506)
+
+            // ... these parameters are fx, fy, cx, cy.
+
+            .build();
+
+        // Create the vision portal by using a builder.
+        VisionPortal.Builder builder = new VisionPortal.Builder();
+
+        // Set the camera (webcam vs. built-in RC phone camera).
+        if (USE_WEBCAM) {
+            builder.setCamera(hardwareMap.get(WebcamName.class, "Webcam 1"));
+        } else {
+            builder.setCamera(BuiltinCameraDirection.BACK);
+        }
+
+        // Choose a camera resolution. Not all cameras support all resolutions.
+        //builder.setCameraResolution(new Size(640, 480));
+
+        // Enable the RC preview (LiveView).  Set "false" to omit camera monitoring.
+        //builder.enableCameraMonitoring(true);
+
+        // Set the stream format; MJPEG uses less bandwidth than default YUY2.
+        //builder.setStreamFormat(VisionPortal.StreamFormat.YUY2);
+
+        // Choose whether or not LiveView stops if no processors are enabled.
+        // If set "true", monitor shows solid orange screen if no processors enabled.
+        // If set "false", monitor shows camera view without annotations.
+        //builder.setAutoStopLiveView(false);
+
+        // Set and enable the processor.
+        builder.addProcessor(aprilTag);
+
+        // Build the Vision Portal, using the above settings.
+        visionPortal = builder.build();
+
+        // Disable or re-enable the aprilTag processor at any time.
+        //visionPortal.setProcessorEnabled(aprilTag, true);
+
+    }   // end method initAprilTag()
+
+
+    /**
+     * Add telemetry about AprilTag detections.
+     */
+    @SuppressLint("DefaultLocale")
+    private void telemetryAprilTag() {
+
+        List<AprilTagDetection> currentDetections = aprilTag.getDetections();
+        telemetry.addData("# AprilTags Detected", currentDetections.size());
+
+        // Step through the list of detections and display info for each one.
+        for (AprilTagDetection detection : currentDetections) {
+            if (detection.metadata != null) {
+                telemetry.addLine(String.format("\n==== (ID %d) %s", detection.id, detection.metadata.name));
+                telemetry.addLine(String.format("XYZ %6.1f %6.1f %6.1f  (inch)", detection.ftcPose.x, detection.ftcPose.y, detection.ftcPose.z));
+                telemetry.addLine(String.format("PRY %6.1f %6.1f %6.1f  (deg)", detection.ftcPose.pitch, detection.ftcPose.roll, detection.ftcPose.yaw));
+                telemetry.addLine(String.format("RBE %6.1f %6.1f %6.1f  (inch, deg, deg)", detection.ftcPose.range, detection.ftcPose.bearing, detection.ftcPose.elevation));
+            } else {
+                telemetry.addLine(String.format("\n==== (ID %d) Unknown", detection.id));
+                telemetry.addLine(String.format("Center %6.0f %6.0f   (pixels)", detection.center.x, detection.center.y));
+            }
+        }   // end for() loop
+
+        // Add "key" information to telemetry
+        telemetry.addLine("\nkey:\nXYZ = X (Right), Y (Forward), Z (Up) dist.");
+        telemetry.addLine("PRY = Pitch, Roll & Yaw (XYZ Rotation)");
+        telemetry.addLine("RBE = Range, Bearing & Elevation");
+
+    }   // end method telemetryAprilTag()
+
+}   // end class