Learn where some of the network sysctl variables fit into the Linux/Kernel network flow. Translations: 🇷🇺

NOTICE This repository contains the public FTC SDK for the SKYSTONE (2019-2020) competition season. If you are looking for the current season's FTC SDK software, please visit the new and permanent home of the public FTC SDK: FtcRobotController repository Welcome! This GitHub repository contains the source code that is used to build an Android app to control a FIRST Tech Challenge competition robot. To use this SDK, download/clone the entire project to your local computer. Getting Started If you are new to robotics or new to the FIRST Tech Challenge, then you should consider reviewing the FTC Blocks Tutorial to get familiar with how to use the control system: FTC Blocks Online Tutorial Even if you are an advanced Java programmer, it is helpful to start with the FTC Blocks tutorial, and then migrate to the OnBot Java Tool or to Android Studio afterwards. Downloading the Project If you are an Android Studio programmer, there are several ways to download this repo. Note that if you use the Blocks or OnBot Java Tool to program your robot, then you do not need to download this repository. If you are a git user, you can clone the most current version of the repository: git clone https://github.com/FIRST-Tech-Challenge/SKYSTONE.git Or, if you prefer, you can use the "Download Zip" button available through the main repository page. Downloading the project as a .ZIP file will keep the size of the download manageable. You can also download the project folder (as a .zip or .tar.gz archive file) from the Downloads subsection of the Releases page for this repository. Once you have downloaded and uncompressed (if needed) your folder, you can use Android Studio to import the folder ("Import project (Eclipse ADT, Gradle, etc.)"). Getting Help User Documentation and Tutorials FIRST maintains online documentation with information and tutorials on how to use the FIRST Tech Challenge software and robot control system. You can access this documentation using the following link: SKYSTONE Online Documentation Note that the online documentation is an "evergreen" document that is constantly being updated and edited. It contains the most current information about the FIRST Tech Challenge software and control system. Javadoc Reference Material The Javadoc reference documentation for the FTC SDK is now available online. Click on the following link to view the FTC SDK Javadoc documentation as a live website: FTC Javadoc Documentation Documentation for the FTC SDK is also included with this repository. There is a subfolder called "doc" which contains several subfolders: The folder "apk" contains the .apk files for the FTC Driver Station and FTC Robot Controller apps. The folder "javadoc" contains the JavaDoc user documentation for the FTC SDK. Online User Forum For technical questions regarding the Control System or the FTC SDK, please visit the FTC Technology forum: FTC Technology Forum Release Information Version 5.5 (20200824-090813) Version 5.5 requires Android Studio 4.0 or later. New features Adds support for calling custom Java classes from Blocks OpModes (fixes SkyStone issue #161). Classes must be in the org.firstinspires.ftc.teamcode package. Methods must be public static and have no more than 21 parameters. Parameters declared as OpMode, LinearOpMode, Telemetry, and HardwareMap are supported and the argument is provided automatically, regardless of the order of the parameters. On the block, the sockets for those parameters are automatically filled in. Parameters declared as char or java.lang.Character will accept any block that returns text and will only use the first character in the text. Parameters declared as boolean or java.lang.Boolean will accept any block that returns boolean. Parameters declared as byte, java.lang.Byte, short, java.lang.Short, int, java.lang.Integer, long, or java.lang.Long, will accept any block that returns a number and will round that value to the nearest whole number. Parameters declared as float, java.lang.Float, double, java.lang.Double will accept any block that returns a number. Adds telemetry API method for setting display format Classic Monospace HTML (certain tags only) Adds blocks support for switching cameras. Adds Blocks support for TensorFlow Object Detection with a custom model. Adds support for uploading a custom TensorFlow Object Detection model in the Manage page, which is especially useful for Blocks and OnBotJava users. Shows new Control Hub blink codes when the WiFi band is switched using the Control Hub's button (only possible on Control Hub OS 1.1.2) Adds new warnings which can be disabled in the Advanced RC Settings Mismatched app versions warning Unnecessary 2.4 GHz WiFi usage warning REV Hub is running outdated firmware (older than version 1.8.2) Adds support for Sony PS4 gamepad, and reworks how gamepads work on the Driver Station Removes preference which sets gamepad type based on driver position. Replaced with menu which allows specifying type for gamepads with unknown VID and PID Attempts to auto-detect gamepad type based on USB VID and PID If gamepad VID and PID is not known, use type specified by user for that VID and PID If gamepad VID and PID is not known AND the user has not specified a type for that VID and PID, an educated guess is made about how to map the gamepad Driver Station will now attempt to automatically recover from a gamepad disconnecting, and re-assign it to the position it was assigned to when it dropped If only one gamepad is assigned and it drops: it can be recovered If two gamepads are assigned, and have different VID/PID signatures, and only one drops: it will be recovered If two gamepads are assigned, and have different VID/PID signatures, and BOTH drop: both will be recovered If two gamepads are assigned, and have the same VID/PID signatures, and only one drops: it will be recovered If two gamepads are assigned, and have the same VID/PID signatures, and BOTH drop: neither will be recovered, because of the ambiguity of the gamepads when they re-appear on the USB bus. There is currently one known edge case: if there are two gamepads with the same VID/PID signature plugged in, but only one is assigned, and they BOTH drop, it's a 50-50 chance of which one will be chosen for automatic recovery to the assigned position: it is determined by whichever one is re-enumerated first by the USB bus controller. Adds landscape user interface to Driver Station New feature: practice timer with audio cues New feature (Control Hub only): wireless network connection strength indicator (0-5 bars) New feature (Control Hub only): tapping on the ping/channel display will switch to an alternate display showing radio RX dBm and link speed (tap again to switch back) The layout will NOT autorotate. You can switch the layout from the Driver Station's settings menu. Breaking changes Removes support for Android versions 4.4 through 5.1 (KitKat and Lollipop). The minSdkVersion is now 23. Removes the deprecated LinearOpMode methods waitOneFullHardwareCycle() and waitForNextHardwareCycle() Enhancements Handles RS485 address of Control Hub automatically The Control Hub is automatically given a reserved address Existing configuration files will continue to work All addresses in the range of 1-10 are still available for Expansion Hubs The Control Hub light will now normally be solid green, without blinking to indicate the address The Control Hub will not be shown on the Expansion Hub Address Change settings page Improves REV Hub firmware updater The user can now choose between all available firmware update files Version 1.8.2 of the REV Hub firmware is bundled into the Robot Controller app. Text was added to clarify that Expansion Hubs can only be updated via USB. Firmware update speed was reduced to improve reliability Allows REV Hub firmware to be updated directly from the Manage webpage Improves log viewer on Robot Controller Horizontal scrolling support (no longer word wrapped) Supports pinch-to-zoom Uses a monospaced font Error messages are highlighted New color scheme Attempts to force-stop a runaway/stuck OpMode without restarting the entire app Not all types of runaway conditions are stoppable, but if the user code attempts to talk to hardware during the runaway, the system should be able to capture it. Makes various tweaks to the Self Inspect screen Renames "OS version" entry to "Android version" Renames "WiFi Direct Name" to "WiFi Name" Adds Control Hub OS version, when viewing the report of a Control Hub Hides the airplane mode entry, when viewing the report of a Control Hub Removes check for ZTE Speed Channel Changer Shows firmware version for all Expansion and Control Hubs Reworks network settings portion of Manage page All network settings are now applied with a single click The WiFi Direct channel of phone-based Robot Controllers can now be changed from the Manage page WiFi channels are filtered by band (2.4 vs 5 GHz) and whether they overlap with other channels The current WiFi channel is pre-selected on phone-based Robot Controllers, and Control Hubs running OS 1.1.2 or later. On Control Hubs running OS 1.1.2 or later, you can choose to have the system automatically select a channel on the 5 GHz band Improves OnBotJava New light and dark themes replace the old themes (chaos, github, chrome,...) the new default theme is light and will be used when you first update to this version OnBotJava now has a tabbed editor Read-only offline mode Improves function of "exit" menu item on Robot Controller and Driver Station Now guaranteed to be fully stopped and unloaded from memory Shows a warning message if a LinearOpMode exists prematurely due to failure to monitor for the start condition Improves error message shown when the Driver Station and Robot Controller are incompatible with each other Driver Station OpMode Control Panel now disabled while a Restart Robot is in progress Disables advanced settings related to WiFi direct when the Robot Controller is a Control Hub. Tint phone battery icons on Driver Station when low/critical. Uses names "Control Hub Portal" and "Control Hub" (when appropriate) in new configuration files Improve I2C read performance Very large improvement on Control Hub; up to ~2x faster with small (e.g. 6 byte) reads Not as apparent on Expansion Hubs connected to a phone Update/refresh build infrastructure Update to 'androidx' support library from 'com.android.support:appcompat', which is end-of-life Update targetSdkVersion and compileSdkVersion to 28 Update Android Studio's Android plugin to latest Fix reported build timestamp in 'About' screen Add sample illustrating manual webcam use: ConceptWebcam Bug fixes Fixes SkyStone issue #248 Fixes SkyStone issue #232 and modifies bulk caching semantics to allow for cache-preserving MANUAL/AUTO transitions. Improves performance when REV 2M distance sensor is unplugged Improves readability of Toast messages on certain devices Allows a Driver Station to connect to a Robot Controller after another has disconnected Improves generation of fake serial numbers for UVC cameras which do not provide a real serial number Previously some devices would assign such cameras a serial of 0:0 and fail to open and start streaming Fixes ftc_app issue #638. Fixes a slew of bugs with the Vuforia camera monitor including: Fixes bug where preview could be displayed with a wonky aspect ratio Fixes bug where preview could be cut off in landscape Fixes bug where preview got totally messed up when rotating phone Fixes bug where crosshair could drift off target when using webcams Fixes issue in UVC driver on some devices (ftc_app 681) if streaming was started/stopped multiple times in a row Issue manifested as kernel panic on devices which do not have this kernel patch. On affected devices which do have the patch, the issue was manifest as simply a failure to start streaming. The Tech Team believes that the root cause of the issue is a bug in the Linux kernel XHCI driver. A workaround was implemented in the SDK UVC driver. Fixes bug in UVC driver where often half the frames from the camera would be dropped (e.g. only 15FPS delivered during a streaming session configured for 30FPS). Fixes issue where TensorFlow Object Detection would show results whose confidence was lower than the minimum confidence parameter. Fixes a potential exploitation issue of CVE-2019-11358 in OnBotJava Fixes changing the address of an Expansion Hub with additional Expansion Hubs connected to it Preserves the Control Hub's network connection when "Restart Robot" is selected Fixes issue where device scans would fail while the Robot was restarting Fix RenderScript usage Use androidx.renderscript variant: increased compatibility Use RenderScript in Java mode, not native: simplifies build Fixes webcam-frame-to-bitmap conversion problem: alpha channel wasn't being initialized, only R, G, & B Fixes possible arithmetic overflow in Deadline Fixes deadlock in Vuforia webcam support which could cause 5-second delays when stopping OpMode Version 5.4 (20200108-101156) Fixes SkyStone issue #88 Adds an inspection item that notes when a robot controller (Control Hub) is using the factory default password. Fixes SkyStone issue #61 Fixes SkyStone issue #142 Fixes ftc_app issue #417 by adding more current and voltage monitoring capabilities for REV Hubs. Fixes a crash sometimes caused by OnBotJava activity Improves OnBotJava autosave functionality ftc_app #738 Fixes system responsiveness issue when an Expansion Hub is disconnected Fixes issue where IMU initialization could prevent Op Modes from stopping Fixes issue where AndroidTextToSpeech.speak() would fail if it was called too early Adds telemetry.speak() methods and blocks, which cause the Driver Station (if also updated) to speak text Adds and improves Expansion Hub-related warnings Improves Expansion Hub low battery warning Displays the warning immediately after the hub reports it Specifies whether the condition is current or occurred temporarily during an OpMode run Displays which hubs reported low battery Displays warning when hub loses and regains power during an OpMode run Fixes the hub's LED pattern after this condition Displays warning when Expansion Hub is not responding to commands Specifies whether the condition is current or occurred temporarily during an OpMode run Clarifies warning when Expansion Hub is not present at startup Specifies that this condition requires a Robot Restart before the hub can be used. The hub light will now accurately reflect this state Improves logging and reduces log spam during these conditions Syncs the Control Hub time and timezone to a connected web browser programming the robot, if a Driver Station is not available. Adds bulk read functionality for REV Hubs A bulk caching mode must be set at the Hub level with LynxModule#setBulkCachingMode(). This applies to all relevant SDK hardware classes that reference that Hub. The following following Hub bulk caching modes are available: BulkCachingMode.OFF (default): All hardware calls operate as usual. Bulk data can read through LynxModule#getBulkData() and processed manually. BulkCachingMode.AUTO: Applicable hardware calls are served from a bulk read cache that is cleared/refreshed automatically to ensure identical commands don't hit the same cache. The cache can also be cleared manually with LynxModule#clearBulkCache(), although this is not recommended. (advanced users) BulkCachingMode.MANUAL: Same as BulkCachingMode.AUTO except the cache is never cleared automatically. To avoid getting stale data, the cache must be manually cleared at the beginning of each loop body or as the user deems appropriate. Removes PIDF Annotation values added in Rev 5.3 (to AndyMark, goBILDA and TETRIX motor configurations). The new motor types will still be available but their Default control behavior will revert back to Rev 5.2 Adds new ConceptMotorBulkRead sample Opmode to demonstrate and compare Motor Bulk-Read modes for reducing I/O latencies. Version 5.3 (20191004-112306) Fixes external USB/UVC webcam support Makes various bugfixes and improvements to Blocks page, including but not limited to: Many visual tweaks Browser zoom and window resize behave better Resizing the Java preview pane works better and more consistently across browsers The Java preview pane consistently gets scrollbars when needed The Java preview pane is hidden by default on phones Internet Explorer 11 should work Large dropdown lists display properly on lower res screens Disabled buttons are now visually identifiable as disabled A warning is shown if a user selects a TFOD sample, but their device is not compatible Warning messages in a Blocks op mode are now visible by default. Adds goBILDA 5201 and 5202 motors to Robot Configurator Adds PIDF Annotation values to AndyMark, goBILDA and TETRIX motor configurations. This has the effect of causing the RUN_USING_ENCODERS and RUN_TO_POSITION modes to use PIDF vs PID closed loop control on these motors. This should provide more responsive, yet stable, speed control. PIDF adds Feedforward control to the basic PID control loop. Feedforward is useful when controlling a motor's speed because it "anticipates" how much the control voltage must change to achieve a new speed set-point, rather than requiring the integrated error to change sufficiently. The PIDF values were chosen to provide responsive, yet stable, speed control on a lightly loaded motor. The more heavily a motor is loaded (drag or friction), the more noticable the PIDF improvement will be. Fixes startup crash on Android 10 Fixes ftc_app issue #712 (thanks to FROGbots-4634) Fixes ftc_app issue #542 Allows "A" and lowercase letters when naming device through RC and DS apps. Version 5.2 (20190905-083277) Fixes extra-wide margins on settings activities, and placement of the new configuration button Adds Skystone Vuforia image target data. Includes sample Skystone Vuforia Navigation op modes (Java). Includes sample Skystone Vuforia Navigation op modes (Blocks). Adds TensorFlow inference model (.tflite) for Skystone game elements. Includes sample Skystone TensorFlow op modes (Java). Includes sample Skystone TensorFlow op modes (Blocks). Removes older (season-specific) sample op modes. Includes 64-bit support (to comply with Google Play requirements). Protects against Stuck OpModes when a Restart Robot is requested. (Thanks to FROGbots-4634) (ftc_app issue #709) Blocks related changes: Fixes bug with blocks generated code when hardware device name is a java or javascript reserved word. Shows generated java code for blocks, even when hardware items are missing from the active configuration. Displays warning icon when outdated Vuforia and TensorFlow blocks are used (SkyStone issue #27) Version 5.1 (20190820-222104) Defines default PIDF parameters for the following motors: REV Core Hex Motor REV 20:1 HD Hex Motor REV 40:1 HD Hex Motor Adds back button when running on a device without a system back button (such as a Control Hub) Allows a REV Control Hub to update the firmware on a REV Expansion Hub via USB Fixes SkyStone issue #9 Fixes ftc_app issue #715 Prevents extra DS User clicks by filtering based on current state. Prevents incorrect DS UI state changes when receiving new OpMode list from RC Adds support for REV Color Sensor V3 Adds a manual-refresh DS Camera Stream for remotely viewing RC camera frames. To show the stream on the DS, initialize but do not run a stream-enabled opmode, select the Camera Stream option in the DS menu, and tap the image to refresh. This feature is automatically enabled when using Vuforia or TFOD—no additional RC configuration is required for typical use cases. To hide the stream, select the same menu item again. Note that gamepads are disabled and the selected opmode cannot be started while the stream is open as a safety precaution. To use custom streams, consult the API docs for CameraStreamServer#setSource and CameraStreamSource. Adds many Star Wars sounds to RobotController resources. Added SKYSTONE Sounds Chooser Sample Program. Switches out startup, connect chimes, and error/warning sounds for Star Wars sounds Updates OnBot Java to use a WebSocket for communication with the robot The OnBot Java page no longer has to do a full refresh when a user switches from editing one file to another Known issues: Camera Stream The Vuforia camera stream inherits the issues present in the phone preview (namely ftc_app issue #574). This problem does not affect the TFOD camera stream even though it receives frames from Vuforia. The orientation of the stream frames may not always match the phone preview. For now, these frames may be rotated manually via a custom CameraStreamSource if desired. OnBotJava Browser back button may not always work correctly It's possible for a build to be queued, but not started. The OnBot Java build console will display a warning if this occurs. A user might not realize they are editing a different file if the user inadvertently switches from one file to another since this switch is now seamless. The name of the currently open file is displayed in the browser tab. Version 5.0 (built on 19.06.14) Support for the REV Robotics Control Hub. Adds a Java preview pane to the Blocks editor. Adds a new offline export feature to the Blocks editor. Display wifi channel in Network circle on Driver Station. Adds calibration for Logitech C270 Updates build tooling and target SDK. Compliance with Google's permissions infrastructure (Required after build tooling update). Keep Alives to mitigate the Motorola wifi scanning problem. Telemetry substitute no longer necessary. Improves Vuforia error reporting. Fixes ftctechnh/ftc_app issues 621, 713. Miscellaneous bug fixes and improvements. Version 4.3 (built on 18.10.31) Includes missing TensorFlow-related libraries and files. Version 4.2 (built on 18.10.30) Includes fix to avoid deadlock situation with WatchdogMonitor which could result in USB communication errors. Comm error appeared to require that user disconnect USB cable and restart the Robot Controller app to recover. robotControllerLog.txt would have error messages that included the words "E RobotCore: lynx xmit lock: #### abandoning lock:" Includes fix to correctly list the parent module address for a REV Robotics Expansion Hub in a configuration (.xml) file. Bug in versions 4.0 and 4.1 would incorrect list the address module for a parent REV Robotics device as "1". If the parent module had a higher address value than the daisy-chained module, then this bug would prevent the Robot Controller from communicating with the downstream Expansion Hub. Added requirement for ACCESS_COARSE_LOCATION to allow a Driver Station running Android Oreo to scan for Wi-Fi Direct devices. Added google() repo to build.gradle because aapt2 must be downloaded from the google() repository beginning with version 3.2 of the Android Gradle Plugin. Important Note: Android Studio users will need to be connected to the Internet the first time build the ftc_app project. Internet connectivity is required for the first build so the appropriate files can be downloaded from the Google repository. Users should not need to be connected to the Internet for subsequent builds. This should also fix buid issue where Android Studio would complain that it "Could not find com.android.tools.lint:lint-gradle:26.1.4" (or similar). Added support for REV Spark Mini motor controller as part of the configuration menu for a servo/PWM port on the REV Expansion Hub. Provide examples for playing audio files in an Op Mode. Block Development Tool Changes Includes a fix for a problem with the Velocity blocks that were reported in the FTC Technology forum (Blocks Programming subforum). Change the "Save completed successfully." message to a white color so it will contrast with a green background. Fixed the "Download image" feature so it will work if there are text blocks in the op mode. Introduce support for Google's TensorFlow Lite technology for object detetion for 2018-2019 game. TensorFlow lite can recognize Gold Mineral and Silver Mineral from 2018-2019 game. Example Java and Block op modes are included to show how to determine the relative position of the gold block (left, center, right). Version 4.1 (released on 18.09.24) Changes include: Fix to prevent crash when deprecated configuration annotations are used. Change to allow FTC Robot Controller APK to be auto-updated using FIRST Global Control Hub update scripts. Removed samples for non supported / non legal hardware. Improvements to Telemetry.addData block with "text" socket. Updated Blocks sample op mode list to include Rover Ruckus Vuforia example. Update SDK library version number. Version 4.0 (released on 18.09.12) Changes include: Initial support for UVC compatible cameras If UVC camera has a unique serial number, RC will detect and enumerate by serial number. If UVC camera lacks a unique serial number, RC will only support one camera of that type connected. Calibration settings for a few cameras are included (see TeamCode/src/main/res/xml/teamwebcamcalibrations.xml for details). User can upload calibration files from Program and Manage web interface. UVC cameras seem to draw a fair amount of electrical current from the USB bus. This does not appear to present any problems for the REV Robotics Control Hub. This does seem to create stability problems when using some cameras with an Android phone-based Robot Controller. FTC Tech Team is investigating options to mitigate this issue with the phone-based Robot Controllers. Updated sample Vuforia Navigation and VuMark Op Modes to demonstrate how to use an internal phone-based camera and an external UVC webcam. Support for improved motor control. REV Robotics Expansion Hub firmware 1.8 and greater will support a feed forward mechanism for closed loop motor control. FTC SDK has been modified to support PIDF coefficients (proportional, integral, derivative, and feed forward). FTC Blocks development tool modified to include PIDF programming blocks. Deprecated older PID-related methods and variables. REV's 1.8.x PIDF-related changes provide a more linear and accurate way to control a motor. Wireless Added 5GHz support for wireless channel changing for those devices that support it. Tested with Moto G5 and E4 phones. Also tested with other (currently non-approved) phones such as Samsung Galaxy S8. Improved Expansion Hub firmware update support in Robot Controller app Changes to make the system more robust during the firmware update process (when performed through Robot Controller app). User no longer has to disconnect a downstream daisy-chained Expansion Hub when updating an Expansion Hub's firmware. If user is updating an Expansion Hub's firmware through a USB connection, he/she does not have to disconnect RS485 connection to other Expansion Hubs. The user still must use a USB connection to update an Expansion Hub's firmware. The user cannot update the Expansion Hub firmware for a downstream device that is daisy chained through an RS485 connection. If an Expansion Hub accidentally gets "bricked" the Robot Controller app is now more likely to recognize the Hub when it scans the USB bus. Robot Controller app should be able to detect an Expansion Hub, even if it accidentally was bricked in a previous update attempt. Robot Controller app should be able to install the firmware onto the Hub, even if if accidentally was bricked in a previous update attempt. Resiliency FTC software can detect and enable an FTDI reset feature that is available with REV Robotics v1.8 Expansion Hub firmware and greater. When enabled, the Expansion Hub can detect if it hasn't communicated with the Robot Controller over the FTDI (USB) connection. If the Hub hasn't heard from the Robot Controller in a while, it will reset the FTDI connection. This action helps system recover from some ESD-induced disruptions. Various fixes to improve reliability of FTC software. Blocks Fixed errors with string and list indices in blocks export to java. Support for USB connected UVC webcams. Refactored optimized Blocks Vuforia code to support Rover Ruckus image targets. Added programming blocks to support PIDF (proportional, integral, derivative and feed forward) motor control. Added formatting options (under Telemetry and Miscellaneous categories) so user can set how many decimal places to display a numerical value. Support to play audio files (which are uploaded through Blocks web interface) on Driver Station in addition to the Robot Controller. Fixed bug with Download Image of Blocks feature. Support for REV Robotics Blinkin LED Controller. Support for REV Robotics 2m Distance Sensor. Added support for a REV Touch Sensor (no longer have to configure as a generic digital device). Added blocks for DcMotorEx methods. These are enhanced methods that you can use when supported by the motor controller hardware. The REV Robotics Expansion Hub supports these enhanced methods. Enhanced methods include methods to get/set motor velocity (in encoder pulses per second), get/set PIDF coefficients, etc.. Modest Improvements in Logging Decrease frequency of battery checker voltage statements. Removed non-FTC related log statements (wherever possible). Introduced a "Match Logging" feature. Under "Settings" a user can enable/disable this feature (it's disabled by default). If enabled, user provides a "Match Number" through the Driver Station user interface (top of the screen). The Match Number is used to create a log file specifically with log statements from that particular Op Mode run. Match log files are stored in /sdcard/FIRST/matlogs on the Robot Controller. Once an op mode run is complete, the Match Number is cleared. This is a convenient way to create a separate match log with statements only related to a specific op mode run. New Devices Support for REV Robotics Blinkin LED Controller. Support for REV Robotics 2m Distance Sensor. Added configuration option for REV 20:1 HD Hex Motor. Added support for a REV Touch Sensor (no longer have to configure as a generic digital device). Miscellaneous Fixed some errors in the definitions for acceleration and velocity in our javadoc documentation. Added ability to play audio files on Driver Station When user is configuring an Expansion Hub, the LED on the Expansion Hub will change blink pattern (purple-cyan) to indicate which Hub is currently being configured. Renamed I2cSensorType to I2cDeviceType. Added an external sample Op Mode that demonstrates localization using 2018-2019 (Rover Ruckus presented by QualComm) Vuforia targets. Added an external sample Op Mode that demonstrates how to use the REV Robotics 2m Laser Distance Sensor. Added an external sample Op Mode that demonstrates how to use the REV Robotics Blinkin LED Controller. Re-categorized external Java sample Op Modes to "TeleOp" instead of "Autonomous". Known issues: Initial support for UVC compatible cameras UVC cameras seem to draw significant amount of current from the USB bus. This does not appear to present any problems for the REV Robotics Control Hub. This does seem to create stability problems when using some cameras with an Android phone-based Robot Controller. FTC Tech Team is investigating options to mitigate this issue with the phone-based Robot Controllers. There might be a possible deadlock which causes the RC to become unresponsive when using a UVC webcam with a Nougat Android Robot Controller. Wireless When user selects a wireless channel, this channel does not necessarily persist if the phone is power cycled. Tech Team is hoping to eventually address this issue in a future release. Issue has been present since apps were introduced (i.e., it is not new with the v4.0 release). Wireless channel is not currently displayed for WiFi Direct connections. Miscellaneous The blink indication feature that shows which Expansion Hub is currently being configured does not work for a newly created configuration file. User has to first save a newly created configuration file and then close and re-edit the file in order for blink indicator to work. Version 3.6 (built on 17.12.18) Changes include: Blocks Changes Uses updated Google Blockly software to allow users to edit their op modes on Apple iOS devices (including iPad and iPhone). Improvement in Blocks tool to handle corrupt op mode files. Autonomous op modes should no longer get switched back to tele-op after re-opening them to be edited. The system can now detect type mismatches during runtime and alert the user with a message on the Driver Station. Updated javadoc documentation for setPower() method to reflect correct range of values (-1 to +1). Modified VuforiaLocalizerImpl to allow for user rendering of frames Added a user-overrideable onRenderFrame() method which gets called by the class's renderFrame() method. Version 3.5 (built on 17.10.30) Changes with version 3.5 include: Introduced a fix to prevent random op mode stops, which can occur after the Robot Controller app has been paused and then resumed (for example, when a user temporarily turns off the display of the Robot Controller phone, and then turns the screen back on). Introduced a fix to prevent random op mode stops, which were previously caused by random peer disconnect events on the Driver Station. Fixes issue where log files would be closed on pause of the RC or DS, but not re-opened upon resume. Fixes issue with battery handler (voltage) start/stop race. Fixes issue where Android Studio generated op modes would disappear from available list in certain situations. Fixes problem where OnBot Java would not build on REV Robotics Control Hub. Fixes problem where OnBot Java would not build if the date and time on the Robot Controller device was "rewound" (set to an earlier date/time). Improved error message on OnBot Java that occurs when renaming a file fails. Removed unneeded resources from android.jar binaries used by OnBot Java to reduce final size of Robot Controller app. Added MR_ANALOG_TOUCH_SENSOR block to Blocks Programming Tool. Version 3.4 (built on 17.09.06) Changes with version 3.4 include: Added telemetry.update() statement for BlankLinearOpMode template. Renamed sample Block op modes to be more consistent with Java samples. Added some additional sample Block op modes. Reworded OnBot Java readme slightly. Version 3.3 (built on 17.09.04) This version of the software includes improves for the FTC Blocks Programming Tool and the OnBot Java Programming Tool. Changes with verion 3.3 include: Android Studio ftc_app project has been updated to use Gradle Plugin 2.3.3. Android Studio ftc_app project is already using gradle 3.5 distribution. Robot Controller log has been renamed to /sdcard/RobotControllerLog.txt (note that this change was actually introduced w/ v3.2). Improvements in I2C reliability. Optimized I2C read for REV Expansion Hub, with v1.7 firmware or greater. Updated all external/samples (available through OnBot and in Android project folder). Vuforia Added support for VuMarks that will be used for the 2017-2018 season game. Blocks Update to latest Google Blockly release. Sample op modes can be selected as a template when creating new op mode. Fixed bug where the blocks would disappear temporarily when mouse button is held down. Added blocks for Range.clip and Range.scale. User can now disable/enable Block op modes. Fix to prevent occasional Blocks deadlock. OnBot Java Significant improvements with autocomplete function for OnBot Java editor. Sample op modes can be selected as a template when creating new op mode. Fixes and changes to complete hardware setup feature. Updated (and more useful) onBot welcome message. Known issues: Android Studio After updating to the new v3.3 Android Studio project folder, if you get error messages indicating "InvalidVirtualFileAccessException" then you might need to do a File->Invalidate Caches / Restart to clear the error. OnBot Java Sometimes when you push the build button to build all op modes, the RC returns an error message that the build failed. If you press the build button a second time, the build typically suceeds. Version 3.2 (built on 17.08.02) This version of the software introduces the "OnBot Java" Development Tool. Similar to the FTC Blocks Development Tool, the FTC OnBot Java Development Tool allows a user to create, edit and build op modes dynamically using only a Javascript-enabled web browser. The OnBot Java Development Tool is an integrated development environment (IDE) that is served up by the Robot Controller. Op modes are created and edited using a Javascript-enabled browser (Google Chromse is recommended). Op modes are saved on the Robot Controller Android device directly. The OnBot Java Development Tool provides a Java programming environment that does NOT need Android Studio. Changes with version 3.2 include: Enhanced web-based development tools Introduction of OnBot Java Development Tool. Web-based programming and management features are "always on" (user no longer needs to put Robot Controller into programming mode). Web-based management interface (where user can change Robot Controller name and also easily download Robot Controller log file). OnBot Java, Blocks and Management features available from web based interface. Blocks Programming Development Tool: Changed "LynxI2cColorRangeSensor" block to "REV Color/range sensor" block. Fixed tooltip for ColorSensor.isLightOn block. Added blocks for ColorSensor.getNormalizedColors and LynxI2cColorRangeSensor.getNormalizedColors. Added example op modes for digital touch sensor and REV Robotics Color Distance sensor. User selectable color themes. Includes many minor enhancements and fixes (too numerous to list). Known issues: Auto complete function is incomplete and does not support the following (for now): Access via this keyword Access via super keyword Members of the super cloass, not overridden by the class Any methods provided in the current class Inner classes Can't handle casted objects Any objects coming from an parenthetically enclosed expression Version 3.10 (built on 17.05.09) This version of the software provides support for the REV Robotics Expansion Hub. This version also includes improvements in the USB communication layer in an effort to enhance system resiliency. If you were using a 2.x version of the software previously, updating to version 3.1 requires that you also update your Driver Station software in addition to updating the Robot Controller software. Also note that in version 3.10 software, the setMaxSpeed and getMaxSpeed methods are no longer available (not deprecated, they have been removed from the SDK). Also note that the the new 3.x software incorporates motor profiles that a user can select as he/she configures the robot. Changes include: Blocks changes Added VuforiaTrackableDefaultListener.getPose and Vuforia.trackPose blocks. Added optimized blocks support for Vuforia extended tracking. Added atan2 block to the math category. Added useCompetitionFieldTargetLocations parameter to Vuforia.initialize block. If set to false, the target locations are placed at (0,0,0) with target orientation as specified in https://github.com/gearsincorg/FTCVuforiaDemo/blob/master/Robot_Navigation.java tutorial op mode. Incorporates additional improvements to USB comm layer to improve system resiliency (to recover from a greater number of communication disruptions). Additional Notes Regarding Version 3.00 (built on 17.04.13) In addition to the release changes listed below (see section labeled "Version 3.00 (built on 17.04.013)"), version 3.00 has the following important changes: Version 3.00 software uses a new version of the FTC Robocol (robot protocol). If you upgrade to v3.0 on the Robot Controller and/or Android Studio side, you must also upgrade the Driver Station software to match the new Robocol. Version 3.00 software removes the setMaxSpeed and getMaxSpeed methods from the DcMotor class. If you have an op mode that formerly used these methods, you will need to remove the references/calls to these methods. Instead, v3.0 provides the max speed information through the use of motor profiles that are selected by the user during robot configuration. Version 3.00 software currently does not have a mechanism to disable extra i2c sensors. We hope to re-introduce this function with a release in the near future. Version 3.00 (built on 17.04.13) *** Use this version of the software at YOUR OWN RISK!!! *** This software is being released as an "alpha" version. Use this version at your own risk! This pre-release software contains SIGNIFICANT changes, including changes to the Wi-Fi Direct pairing mechanism, rewrites of the I2C sensor classes, changes to the USB/FTDI layer, and the introduction of support for the REV Robotics Expansion Hub and the REV Robotics color-range-light sensor. These changes were implemented to improve the reliability and resiliency of the FTC control system. Please note, however, that version 3.00 is considered "alpha" code. This code is being released so that the FIRST community will have an opportunity to test the new REV Expansion Hub electronics module when it becomes available in May. The developers do not recommend using this code for critical applications (i.e., competition use). *** Use this version of the software at YOUR OWN RISK!!! *** Changes include: Major rework of sensor-related infrastructure. Includes rewriting sensor classes to implement synchronous I2C communication. Fix to reset Autonomous timer back to 30 seconds. Implementation of specific motor profiles for approved 12V motors (includes Tetrix, AndyMark, Matrix and REV models). Modest improvements to enhance Wi-Fi P2P pairing. Fixes telemetry log addition race. Publishes all the sources (not just a select few). Includes Block programming improvements Addition of optimized Vuforia blocks. Auto scrollbar to projects and sounds pages. Fixed blocks paste bug. Blocks execute after while-opModeIsActive loop (to allow for cleanup before exiting op mode). Added gyro integratedZValue block. Fixes bug with projects page for Firefox browser. Added IsSpeaking block to AndroidTextToSpeech. Implements support for the REV Robotics Expansion Hub Implements support for integral REV IMU (physically installed on I2C bus 0, uses same Bosch BNO055 9 axis absolute orientation sensor as Adafruit 9DOF abs orientation sensor). - Implements support for REV color/range/light sensor. Provides support to update Expansion Hub firmware through FTC SDK. Detects REV firmware version and records in log file. Includes support for REV Control Hub (note that the REV Control Hub is not yet approved for FTC use). Implements FTC Blocks programming support for REV Expansion Hub and sensor hardware. Detects and alerts when I2C device disconnect. Version 2.62 (built on 17.01.07) Added null pointer check before calling modeToByte() in finishModeSwitchIfNecessary method for ModernRoboticsUsbDcMotorController class. Changes to enhance Modern Robotics USB protocol robustness. Version 2.61 (released on 16.12.19) Blocks Programming mode changes: Fix to correct issue when an exception was thrown because an OpticalDistanceSensor object appears twice in the hardware map (the second time as a LightSensor). Version 2.6 (released on 16.12.16) Fixes for Gyro class: Improve (decrease) sensor refresh latency. fix isCalibrating issues. Blocks Programming mode changes: Blocks now ignores a device in the configuration xml if the name is empty. Other devices work in configuration work fine. Version 2.5 (internal release on released on 16.12.13) Blocks Programming mode changes: Added blocks support for AdafruitBNO055IMU. Added Download Op Mode button to FtcBocks.html. Added support for copying blocks in one OpMode and pasting them in an other OpMode. The clipboard content is stored on the phone, so the programming mode server must be running. Modified Utilities section of the toolbox. In Programming Mode, display information about the active connections. Fixed paste location when workspace has been scrolled. Added blocks support for the android Accelerometer. Fixed issue where Blocks Upload Op Mode truncated name at first dot. Added blocks support for Android SoundPool. Added type safety to blocks for Acceleration. Added type safety to blocks for AdafruitBNO055IMU.Parameters. Added type safety to blocks for AnalogInput. Added type safety to blocks for AngularVelocity. Added type safety to blocks for Color. Added type safety to blocks for ColorSensor. Added type safety to blocks for CompassSensor. Added type safety to blocks for CRServo. Added type safety to blocks for DigitalChannel. Added type safety to blocks for ElapsedTime. Added type safety to blocks for Gamepad. Added type safety to blocks for GyroSensor. Added type safety to blocks for IrSeekerSensor. Added type safety to blocks for LED. Added type safety to blocks for LightSensor. Added type safety to blocks for LinearOpMode. Added type safety to blocks for MagneticFlux. Added type safety to blocks for MatrixF. Added type safety to blocks for MrI2cCompassSensor. Added type safety to blocks for MrI2cRangeSensor. Added type safety to blocks for OpticalDistanceSensor. Added type safety to blocks for Orientation. Added type safety to blocks for Position. Added type safety to blocks for Quaternion. Added type safety to blocks for Servo. Added type safety to blocks for ServoController. Added type safety to blocks for Telemetry. Added type safety to blocks for Temperature. Added type safety to blocks for TouchSensor. Added type safety to blocks for UltrasonicSensor. Added type safety to blocks for VectorF. Added type safety to blocks for Velocity. Added type safety to blocks for VoltageSensor. Added type safety to blocks for VuforiaLocalizer.Parameters. Added type safety to blocks for VuforiaTrackable. Added type safety to blocks for VuforiaTrackables. Added type safety to blocks for enums in AdafruitBNO055IMU.Parameters. Added type safety to blocks for AndroidAccelerometer, AndroidGyroscope, AndroidOrientation, and AndroidTextToSpeech. Version 2.4 (released on 16.11.13) Fix to avoid crashing for nonexistent resources. Blocks Programming mode changes: Added blocks to support OpenGLMatrix, MatrixF, and VectorF. Added blocks to support AngleUnit, AxesOrder, AxesReference, CameraDirection, CameraMonitorFeedback, DistanceUnit, and TempUnit. Added blocks to support Acceleration. Added blocks to support LinearOpMode.getRuntime. Added blocks to support MagneticFlux and Position. Fixed typos. Made blocks for ElapsedTime more consistent with other objects. Added blocks to support Quaternion, Velocity, Orientation, AngularVelocity. Added blocks to support VuforiaTrackables, VuforiaTrackable, VuforiaLocalizer, VuforiaTrackableDefaultListener. Fixed a few blocks. Added type checking to new blocks. Updated to latest blockly. Added default variable blocks to navigation and matrix blocks. Fixed toolbox entry for openGLMatrix_rotation_withAxesArgs. When user downloads Blocks-generated op mode, only the .blk file is downloaded. When user uploads Blocks-generated op mode (.blk file), Javascript code is auto generated. Added DbgLog support. Added logging when a blocks file is read/written. Fixed bug to properly render blocks even if missing devices from configuration file. Added support for additional characters (not just alphanumeric) for the block file names (for download and upload). Added support for OpMode flavor (“Autonomous” or “TeleOp”) and group. Changes to Samples to prevent tutorial issues. Incorporated suggested changes from public pull 216 (“Replace .. paths”). Remove Servo Glitches when robot stopped. if user hits “Cancels” when editing a configuration file, clears the unsaved changes and reverts to original unmodified configuration. Added log info to help diagnose why the Robot Controller app was terminated (for example, by watch dog function). Added ability to transfer log from the controller. Fixed inconsistency for AngularVelocity Limit unbounded growth of data for telemetry. If user does not call telemetry.update() for LinearOpMode in a timely manner, data added for telemetry might get lost if size limit is exceeded. Version 2.35 (released on 16.10.06) Blockly programming mode - Removed unnecesary idle() call from blocks for new project. Version 2.30 (released on 16.10.05) Blockly programming mode: Mechanism added to save Blockly op modes from Programming Mode Server onto local device To avoid clutter, blocks are displayed in categorized folders Added support for DigitalChannel Added support for ModernRoboticsI2cCompassSensor Added support for ModernRoboticsI2cRangeSensor Added support for VoltageSensor Added support for AnalogInput Added support for AnalogOutput Fix for CompassSensor setMode block Vuforia Fix deadlock / make camera data available while Vuforia is running. Update to Vuforia 6.0.117 (recommended by Vuforia and Google to close security loophole). Fix for autonomous 30 second timer bug (where timer was in effect, even though it appeared to have timed out). opModeIsActive changes to allow cleanup after op mode is stopped (with enforced 2 second safety timeout). Fix to avoid reading i2c twice. Updated sample Op Modes. Improved logging and fixed intermittent freezing. Added digital I/O sample. Cleaned up device names in sample op modes to be consistent with Pushbot guide. Fix to allow use of IrSeekerSensorV3. Version 2.20 (released on 16.09.08) Support for Modern Robotics Compass Sensor. Support for Modern Robotics Range Sensor. Revise device names for Pushbot templates to match the names used in Pushbot guide. Fixed bug so that IrSeekerSensorV3 device is accessible as IrSeekerSensor in hardwareMap. Modified computer vision code to require an individual Vuforia license (per legal requirement from PTC). Minor fixes. Blockly enhancements: Support for Voltage Sensor. Support for Analog Input. Support for Analog Output. Support for Light Sensor. Support for Servo Controller. Version 2.10 (released on 16.09.03) Support for Adafruit IMU. Improvements to ModernRoboticsI2cGyro class Block on reset of z axis. isCalibrating() returns true while gyro is calibration. Updated sample gyro program. Blockly enhancements support for android.graphics.Color. added support for ElapsedTime. improved look and legibility of blocks. support for compass sensor. support for ultrasonic sensor. support for IrSeeker. support for LED. support for color sensor. support for CRServo prompt user to configure robot before using programming mode. Provides ability to disable audio cues. various bug fixes and improvements. Version 2.00 (released on 16.08.19) This is the new release for the upcoming 2016-2017 FIRST Tech Challenge Season. Channel change is enabled in the FTC Robot Controller app for Moto G 2nd and 3rd Gen phones. Users can now use annotations to register/disable their Op Modes. Changes in the Android SDK, JDK and build tool requirements (minsdk=19, java 1.7, build tools 23.0.3). Standardized units in analog input. Cleaned up code for existing analog sensor classes. setChannelMode and getChannelMode were REMOVED from the DcMotorController class. This is important - we no longer set the motor modes through the motor controller. setMode and getMode were added to the DcMotor class. ContinuousRotationServo class has been added to the FTC SDK. Range.clip() method has been overloaded so it can support this operation for int, short and byte integers. Some changes have been made (new methods added) on how a user can access items from the hardware map. Users can now set the zero power behavior for a DC motor so that the motor will brake or float when power is zero. Prototype Blockly Programming Mode has been added to FTC Robot Controller. Users can place the Robot Controller into this mode, and then use a device (such as a laptop) that has a Javascript enabled browser to write Blockly-based Op Modes directly onto the Robot Controller. Users can now configure the robot remotely through the FTC Driver Station app. Android Studio project supports Android Studio 2.1.x and compile SDK Version 23 (Marshmallow). Vuforia Computer Vision SDK integrated into FTC SDK. Users can use sample vision targets to get localization information on a standard FTC field. Project structure has been reorganized so that there is now a TeamCode package that users can use to place their local/custom Op Modes into this package. Inspection function has been integrated into the FTC Robot Controller and Driver Station Apps (Thanks Team HazMat… 9277 & 10650!). Audio cues have been incorporated into FTC SDK. Swap mechanism added to FTC Robot Controller configuration activity. For example, if you have two motor controllers on a robot, and you misidentified them in your configuration file, you can use the Swap button to swap the devices within the configuration file (so you do not have to manually re-enter in the configuration info for the two devices). Fix mechanism added to all user to replace an electronic module easily. For example, suppose a servo controller dies on your robot. You replace the broken module with a new module, which has a different serial number from the original servo controller. You can use the Fix button to automatically reconfigure your configuration file to use the serial number of the new module. Improvements made to fix resiliency and responsiveness of the system. For LinearOpMode the user now must for a telemetry.update() to update the telemetry data on the driver station. This update() mechanism ensures that the driver station gets the updated data properly and at the same time. The Auto Configure function of the Robot Controller is now template based. If there is a commonly used robot configuration, a template can be created so that the Auto Configure mechanism can be used to quickly configure a robot of this type. The logic to detect a runaway op mode (both in the LinearOpMode and OpMode types) and to abort the run, then auto recover has been improved/implemented. Fix has been incorporated so that Logitech F310 gamepad mappings will be correct for Marshmallow users. Release 16.07.08 For the ftc_app project, the gradle files have been modified to support Android Studio 2.1.x. Release 16.03.30 For the MIT App Inventor, the design blocks have new icons that better represent the function of each design component. Some changes were made to the shutdown logic to ensure the robust shutdown of some of our USB services. A change was made to LinearOpMode so as to allow a given instance to be executed more than once, which is required for the App Inventor. Javadoc improved/updated. Release 16.03.09 Changes made to make the FTC SDK synchronous (significant change!) waitOneFullHardwareCycle() and waitForNextHardwareCycle() are no longer needed and have been deprecated. runOpMode() (for a LinearOpMode) is now decoupled from the system's hardware read/write thread. loop() (for an OpMode) is now decoupled from the system's hardware read/write thread. Methods are synchronous. For example, if you call setMode(DcMotorController.RunMode.RESET_ENCODERS) for a motor, the encoder is guaranteed to be reset when the method call is complete. For legacy module (NXT compatible), user no longer has to toggle between read and write modes when reading from or writing to a legacy device. Changes made to enhance reliability/robustness during ESD event. Changes made to make code thread safe. Debug keystore added so that user-generated robot controller APKs will all use the same signed key (to avoid conflicts if a team has multiple developer laptops for example). Firmware version information for Modern Robotics modules are now logged. Changes made to improve USB comm reliability and robustness. Added support for voltage indicator for legacy (NXT-compatible) motor controllers. Changes made to provide auto stop capabilities for op modes. A LinearOpMode class will stop when the statements in runOpMode() are complete. User does not have to push the stop button on the driver station. If an op mode is stopped by the driver station, but there is a run away/uninterruptible thread persisting, the app will log an error message then force itself to crash to stop the runaway thread. Driver Station UI modified to display lowest measured voltage below current voltage (12V battery). Driver Station UI modified to have color background for current voltage (green=good, yellow=caution, red=danger, extremely low voltage). javadoc improved (edits and additional classes). Added app build time to About activity for driver station and robot controller apps. Display local IP addresses on Driver Station About activity. Added I2cDeviceSynchImpl. Added I2cDeviceSync interface. Added seconds() and milliseconds() to ElapsedTime for clarity. Added getCallbackCount() to I2cDevice. Added missing clearI2cPortActionFlag. Added code to create log messages while waiting for LinearOpMode shutdown. Fix so Wifi Direct Config activity will no longer launch multiple times. Added the ability to specify an alternate i2c address in software for the Modern Robotics gyro. Release 16.02.09 Improved battery checker feature so that voltage values get refreshed regularly (every 250 msec) on Driver Station (DS) user interface. Improved software so that Robot Controller (RC) is much more resilient and “self-healing” to USB disconnects: If user attempts to start/restart RC with one or more module missing, it will display a warning but still start up. When running an op mode, if one or more modules gets disconnected, the RC & DS will display warnings,and robot will keep on working in spite of the missing module(s). If a disconnected module gets physically reconnected the RC will auto detect the module and the user will regain control of the recently connected module. Warning messages are more helpful (identifies the type of module that’s missing plus its USB serial number). Code changes to fix the null gamepad reference when users try to reference the gamepads in the init() portion of their op mode. NXT light sensor output is now properly scaled. Note that teams might have to readjust their light threshold values in their op modes. On DS user interface, gamepad icon for a driver will disappear if the matching gamepad is disconnected or if that gamepad gets designated as a different driver. Robot Protocol (ROBOCOL) version number info is displayed in About screen on RC and DS apps. Incorporated a display filter on pairing screen to filter out devices that don’t use the “-“ format. This filter can be turned off to show all WiFi Direct devices. Updated text in License file. Fixed formatting error in OpticalDistanceSensor.toString(). Fixed issue on with a blank (“”) device name that would disrupt WiFi Direct Pairing. Made a change so that the WiFi info and battery info can be displayed more quickly on the DS upon connecting to RC. Improved javadoc generation. Modified code to make it easier to support language localization in the future. Release 16.01.04 Updated compileSdkVersion for apps Prevent Wifi from entering power saving mode removed unused import from driver station Corrrected "Dead zone" joystick code. LED.getDeviceName and .getConnectionInfo() return null apps check for ROBOCOL_VERSION mismatch Fix for Telemetry also has off-by-one errors in its data string sizing / short size limitations error User telemetry output is sorted. added formatting variants to DbgLog and RobotLog APIs code modified to allow for a long list of op mode names. changes to improve thread safety of RobocolDatagramSocket Fix for "missing hardware leaves robot controller disconnected from driver station" error fix for "fast tapping of Init/Start causes problems" (toast is now only instantiated on UI thread). added some log statements for thread life cycle. moved gamepad reset logic inside of initActiveOpMode() for robustness changes made to mitigate risk of race conditions on public methods. changes to try and flag when WiFi Direct name contains non-printable characters. fix to correct race condition between .run() and .close() in ReadWriteRunnableStandard. updated FTDI driver made ReadWriteRunnableStanard interface public. fixed off-by-one errors in Command constructor moved specific hardware implmentations into their own package. moved specific gamepad implemnatations to the hardware library. changed LICENSE file to new BSD version. fixed race condition when shutting down Modern Robotics USB devices. methods in the ColorSensor classes have been synchronized. corrected isBusy() status to reflect end of motion. corrected "back" button keycode. the notSupported() method of the GyroSensor class was changed to protected (it should not be public). Release 15.11.04.001 Added Support for Modern Robotics Gyro. The GyroSensor class now supports the MR Gyro Sensor. Users can access heading data (about Z axis) Users can also access raw gyro data (X, Y, & Z axes). Example MRGyroTest.java op mode included. Improved error messages More descriptive error messages for exceptions in user code. Updated DcMotor API Enable read mode on new address in setI2cAddress Fix so that driver station app resets the gamepads when switching op modes. USB-related code changes to make USB comm more responsive and to display more explicit error messages. Fix so that USB will recover properly if the USB bus returns garbage data. Fix USB initializtion race condition. Better error reporting during FTDI open. More explicit messages during USB failures. Fixed bug so that USB device is closed if event loop teardown method was not called. Fixed timer UI issue Fixed duplicate name UI bug (Legacy Module configuration). Fixed race condition in EventLoopManager. Fix to keep references stable when updating gamepad. For legacy Matrix motor/servo controllers removed necessity of appending "Motor" and "Servo" to controller names. Updated HT color sensor driver to use constants from ModernRoboticsUsbLegacyModule class. Updated MR color sensor driver to use constants from ModernRoboticsUsbDeviceInterfaceModule class. Correctly handle I2C Address change in all color sensors Updated/cleaned up op modes. Updated comments in LinearI2cAddressChange.java example op mode. Replaced the calls to "setChannelMode" with "setMode" (to match the new of the DcMotor method). Removed K9AutoTime.java op mode. Added MRGyroTest.java op mode (demonstrates how to use MR Gyro Sensor). Added MRRGBExample.java op mode (demonstrates how to use MR Color Sensor). Added HTRGBExample.java op mode (demonstrates how to use HT legacy color sensor). Added MatrixControllerDemo.java (demonstrates how to use legacy Matrix controller). Updated javadoc documentation. Updated release .apk files for Robot Controller and Driver Station apps. Release 15.10.06.002 Added support for Legacy Matrix 9.6V motor/servo controller. Cleaned up build.gradle file. Minor UI and bug fixes for driver station and robot controller apps. Throws error if Ultrasonic sensor (NXT) is not configured for legacy module port 4 or 5. Release 15.08.03.001 New user interfaces for FTC Driver Station and FTC Robot Controller apps. An init() method is added to the OpMode class. For this release, init() is triggered right before the start() method. Eventually, the init() method will be triggered when the user presses an "INIT" button on driver station. The init() and loop() methods are now required (i.e., need to be overridden in the user's op mode). The start() and stop() methods are optional. A new LinearOpMode class is introduced. Teams can use the LinearOpMode mode to create a linear (not event driven) program model. Teams can use blocking statements like Thread.sleep() within a linear op mode. The API for the Legacy Module and Core Device Interface Module have been updated. Support for encoders with the Legacy Module is now working. The hardware loop has been updated for better performance.

Overview For this assignment you will be developing and implementing : An On-Demand shortest-hop Routing (ODR) protocol for networks of fixed but arbitrary and unknown connectivity, using PF_PACKET sockets. The implementation is based on (a simplified version of) the AODV algorithm. Time client and server applications that send requests and replies to each other across the network using ODR. An API you will implement using Unix domain datagram sockets enables applications to communicate with the ODR mechanism running locally at their nodes. I shall be discussing the assignment in class on Wednesday, October 29, and Monday, November 3. The following should prove useful reference material for the assignment : Sections 15.1, 15.2, 15.4 & 15.6, Chapter 15, on Unix domain datagram sockets. PF_PACKET(7) from the Linux manual pages. You might find these notes made by a past CSE 533 student useful. Also, the following link http://www.pdbuchan.com/rawsock/rawsock.html contains useful code samples that use PF_PACKET sockets (as well as other code samples that use raw IP sockets which you do not need for this assignment, though you will be using these types of sockets for Assignment 4). Charles E. Perkins & Elizabeth M. Royer. “Ad-hoc On-Demand Distance Vector Routing.” Proceedings of the 2nd IEEE Workshop on Mobile Computing Systems and Applications, New Orleans, Louisiana, February 1999, pp. 90 - 100. The VMware environment minix.cs.stonybrook.edu is a Linux box running VMware. A cluster of ten Linux virtual machines, called vm1 through vm10, on which you can gain access as root and run your code have been created on minix. See VMware Environment Hosts for further details. VMware instructions takes you to a page that explains how to use the system. The ten virtual machines have been configured into a small virtual intranet of Ethernet LANs whose topology is (in principle) unknown to you. There is a course account cse533 on node minix, with home directory /users/cse533. In there, you will find a subdirectory Stevens/unpv13e , exactly as you are used to having on the cs system. You should develop your source code and makefiles for handing in accordingly. You will be handing in your source code on the minix node. Note that you do not need to link against the socket library (-lsocket) in Linux. The same is true for -lnsl and -lresolv. For example, take a look at how the LIBS variable is defined for Solaris, in /home/courses/cse533/Stevens/unpv13e_solaris2.10/Make.defines (on compserv1, say) : LIBS = ../libunp.a -lresolv -lsocket -lnsl -lpthread But if you take a look at Make.defines on minix (/users/cse533/Stevens/unpv13e/Make.defines) you will find only: LIBS = ../libunp.a -lpthread The nodes vm1 , . . . . . , vm10 are all multihomed : each has two (or more) interfaces. The interface ‘eth0 ’ should be completely ignored and is not to be used for this assignment (because it shows all ten nodes as if belonging to the same single Ethernet 192.168.1.0/24, rather than to an intranet composed of several Ethernets). Note that vm1 , . . . . . , vm10 are virtual machines, not real ones. One implication of this is that you will not be able to find out what their (virtual) IP addresses are by using nslookup and such. To find out these IP addresses, you need to look at the file /etc/hosts on minix. More to the point, invoking gethostbyname for a given vm will return to you only the (primary) IP address associated with the interface eth0 of that vm (which is the interface you will not be using). It will not return to you any other IP address for the node. Similarly, gethostbyaddr will return the vm node name only if you give it the (primary) IP address associated with the interface eth0 for the node. It will return nothing if you give it any other IP address for the node, even though the address is perfectly valid. Because of this, and because it will ease your task to be able to use gethostbyname and gethostbyaddr in a straightforward way, we shall adopt the (primary) IP addresses associated with interfaces eth0 as the ‘canonical’ IP addresses for the nodes (more on this below). Time client and server A time server runs on each of the ten vm machines. The client code should also be available on each vm so that it can be evoked at any of them. Normally, time clients/servers exchange request/reply messages using the TCP/UDP socket API that, effectively, enables them to receive service (indirectly, via the transport layer) from the local IP mechanism running at their nodes. You are to implement an API using Unix domain sockets to access the local ODR service directly (somewhat similar, in effect, to the way that raw sockets permit an application to access IP directly). Use Unix domain SOCK_DGRAM, rather than SOCK_STREAM, sockets (see Figures 15.5 & 15.6, pp. 418 - 419). API You need to implement a msg_send function that will be called by clients/servers to send requests/replies. The parameters of the function consist of : int giving the socket descriptor for write char* giving the ‘canonical’ IP address for the destination node, in presentation format int giving the destination ‘port’ number char* giving message to be sent int flag if set, force a route rediscovery to the destination node even if a non-‘stale’ route already exists (see below) msg_send will format these parameters into a single char sequence which is written to the Unix domain socket that a client/server process creates. The sequence will be read by the local ODR from a Unix domain socket that the ODR process creates for itself. Recall that the ‘canonical’ IP address for a vm node is the (primary) IP address associated with the eth0 interface for the node. It is what will be returned to you by a call to gethostbyname. Similarly, we need a msg_recv function which will do a (blocking) read on the application domain socket and return with : int giving socket descriptor for read char* giving message received char* giving ‘canonical’ IP address for the source node of message, in presentation format int* giving source ‘port’ number This information is written as a single char sequence by the ODR process to the domain socket that it creates for itself. It is read by msg_recv from the domain socket the client/server process creates, decomposed into the three components above, and returned to the caller of msg_recv. Also see the section below entitled ODR and the API. Client When a client is evoked at a node, it creates a domain datagram socket. The client should bind its socket to a ‘temporary’ (i.e., not ‘well-known’) sun_path name obtained from a call to tmpnam() (cf. line 10, Figure 15.6, p. 419) so that multiple clients may run at the same node. Note that tmpnam() is actually highly deprecated. You should use the mkstemp() function instead - look up the online man pages on minix (‘man mkstemp’) for details. As you run client code again and again during the development stage, the temporary files created by the calls to tmpnam / mkstemp start to proliferate since these files are not automatically removed when the client code terminates. You need to explicitly remove the file created by the client evocation by issuing a call to unlink() or to remove() in your client code just before the client code exits. See the online man pages on minix (‘man unlink’, ‘man remove’) for details. The client then enters an infinite loop repeating the steps below. The client prompts the user to choose one of vm1 , . . . . . , vm10 as a server node. Client msg_sends a 1 or 2 byte message to server and prints out on stdout the message client at node vm i1 sending request to server at vm i2 (In general, throughout this assignment, “trace” messages such as the one above should give the vm names and not IP addresses of the nodes.) Client then blocks in msg_recv awaiting response. This attempt to read from the domain socket should be backed up by a timeout in case no response ever comes. I leave it up to you whether you ‘wrap’ the call to msg_recv in a timeout, or you implement the timeout inside msg_recv itself. When the client receives a response it prints out on stdout the message client at node vm i1 : received from vm i2 <timestamp> If, on the other hand, the client times out, it should print out the message client at node vm i1 : timeout on response from vm i2 The client then retransmits the message out, setting the flag parameter in msg_send to force a route rediscovery, and prints out an appropriate message on stdout. This is done only once, when a timeout for a given message to the server occurs for the first time. Client repeats steps 1. - 3. Server The server creates a domain datagram socket. The server socket is assumed to have a (node-local) ‘well-known’ sun_path name which it binds to. This ‘well-known’ sun_path name is designated by a (network-wide) ‘well-known’ ‘port’ value. The time client uses this ‘port’ value to communicate with the server. The server enters an infinite sequence of calls to msg_recv followed by msg_send, awaiting client requests and responding to them. When it responds to a client request, it prints out on stdout the message server at node vm i1 responding to request from vm i2 ODR The ODR process runs on each of the ten vm machines. It is evoked with a single command line argument which gives a “staleness” time parameter, in seconds. It uses get_hw_addrs (available to you on minix in ~cse533/Asgn3_code) to obtain the index, and associated (unicast) IP and Ethernet addresses for each of the node’s interfaces, except for the eth0 and lo (loopback) interfaces, which should be ignored. In the subdirectory ~cse533/Asgn3_code (/users/cse533/Asgn3_code) on minix I am providing you with two functions, get_hw_addrs and prhwaddrs. These are analogous to the get_ifi_info_plus and prifinfo_plus of Assignment 2. Like get_ifi_info_plus, get_hw_addrs uses ioctl. get_hw_addrs gets the (primary) IP address, alias IP addresses (if any), HW address, and interface name and index value for each of the node's interfaces (including the loopback interface lo). prhwaddrs prints that information out. You should modify and use these functions as needed. Note that if an interface has no HW address associated with it (this is, typically, the case for the loopback interface lo for example), then ioctl returns get_hw_addrs a HW address which is the equivalent of 00:00:00:00:00:00 . get_hw_addrs stores this in the appropriate field of its data structures as it would with any HW address returned by ioctl, but when prhwaddrs comes across such an address, it prints a blank line instead of its usual ‘HWaddr = xx:xx:xx:xx:xx:xx’. The ODR process creates one or more PF_PACKET sockets. You will need to try out PF_PACKET sockets for yourselves and familiarize yourselves with how they behave. If, when you read from the socket and provide a sockaddr_ll structure, the kernel returns to you the index of the interface on which the incoming frame was received, then one socket will be enough. Otherwise, somewhat in the manner of Assignment 2, you shall have to create a PF_PACKET socket for every interface of interest (which are all the interfaces of the node, excluding interfaces lo and eth0 ), and bind a socket to each interface. Furthermore, if the kernel also returns to you the source Ethernet address of the frame in the sockaddr_ll structure, then you can make do with SOCK_DGRAM type PF_PACKET sockets; otherwise you shall have to use SOCK_RAW type sockets (although I would prefer you to use SOCK_RAW type sockets anyway, even if it turns out you can make do with SOCK_DGRAM type). The socket(s) should have a protocol value (no larger than 0xffff so that it fits in two bytes; this value is given as a network-byte-order parameter in the call(s) to function socket) that identifies your ODR protocol. The <linux/if_ether.h> include file (i.e., the file /usr/include/linux/if_ether.h) contains protocol values defined for the standard protocols typically found on an Ethernet LAN, as well as other values such as ETH_P_ALL. You should set protocol to a value of your choice which is not a <linux/if_ether.h> value, but which is, hopefully, unique to yourself. Remember that you will all be running your code using the same root account on the vm1 , . . . . . , vm10 nodes. So if two of you happen to choose the same protocol value and happen to be running on the same vm node at the same time, your applications will receive each other’s frames. For that reason, try to choose a protocol value for the socket(s) that is likely to be unique to yourself (something based on your Stony Brook student ID number, for example). This value effectively becomes the protocol value for your implementation of ODR, as opposed to some other cse 533 student's implementation. Because your value of protocol is to be carried in the frame type field of the Ethernet frame header, the value chosen should be not less than 1536 (0x600) so that it is not misinterpreted as the length of an Ethernet 802.3 frame. Note from the man pages for packet(7) that frames are passed to and from the socket without any processing in the frame content by the device driver on the other side of the socket, except for calculating and tagging on the 4-byte CRC trailer for outgoing frames, and stripping that trailer before delivering incoming frames to the socket. Nevertheless, if you write a frame that is less than 60 bytes, the necessary padding is automatically added by the device driver so that the frame that is actually transmitted out is the minimum Ethernet size of 64 bytes. When reading from the socket, however, any such padding that was introduced into a short frame at the sending node to bring it up to the minimum frame size is not stripped off - it is included in what you receive from the socket (thus, the minimum number of bytes you receive should never be less than 60). Also, you will have to build the frame header for outgoing frames yourselves (assuming you use SOCK_RAW type sockets). Bear in mind that the field values in that header have to be in network order. The ODR process also creates a domain datagram socket for communication with application processes at the node, and binds the socket to a ‘well known’ sun_path name for the ODR service. Because it is dealing with fixed topologies, ODR is, by and large, considerably simpler than AODV. In particular, discovered routes are relatively stable and there is no need for all the paraphernalia that goes with the possibility of routes changing (such as maintenance of active nodes in the routing tables and timeout mechanisms; timeouts on reverse links; lifetime field in the RREP messages; etc.) Nor will we be implementing source_sequence_#s (in the RREQ messages), and dest_sequence_# (in RREQ and RREP messages). In reality, we should (though we will not, for the sake of simplicity, be doing so) implement some sort of sequence number mechanism, or some alternative mechanism such as split-horizon for example, if we are to avoid possible scenarios of routing loops in a “count to infinity” context (I shall explain this point in class). However, we want ODR to discover shortest-hop paths, and we want it to do so in a reasonably efficient manner. This necessitates having one or two aspects of its operations work in a different, possibly slightly more complicated, way than AODV does. ODR has several basic responsibilities : Build and maintain a routing table. For each destination in the table, the routing table structure should include, at a minimum, the next-hop node (in the form of the Ethernet address for that node) and outgoing interface index, the number of hops to the destination, and a timestamp of when the the routing table entry was made or last “reconfirmed” / updated. Note that a destination node in the table is to be identified only by its ‘canonical’ IP address, and not by any other IP addresses the node has. Generate a RREQ in response to a time client calling msg_send for a destination for which ODR has no route (or for which a route exists, but msg_send has the flag parameter set or the route has gone ‘stale’ – see below), and ‘flood’ the RREQ out on all the node’s interfaces (except for the interface it came in on and, of course, the interfaces eth0 and lo). Flooding is done using an Ethernet broadcast destination address (0xff:ff:ff:ff:ff:ff) in the outgoing frame header. Note that a copy of the broadcast packet is supposed to / might be looped back to the node that sends it (see p. 535 in the Stevens textbook). ODR will have to take care not to treat these copies as new incoming RREQs. Also note that ODR at the client node increments the broadcast_id every time it issues a new RREQ for any destination node. When a RREQ is received, ODR has to generate a RREP if it is at the destination node, or if it is at an intermediate node that happens to have a route (which is not ‘stale’ – see below) to the destination. Otherwise, it must propagate the RREQ by flooding it out on all the node’s interfaces (except the interface the RREQ arrived on). Note that as it processes received RREQs, ODR should enter the ‘reverse’ route back to the source node into its routing table, or update an existing entry back to the source node if the RREQ received shows a shorter-hop route, or a route with the same number of hops but going through a different neighbour. The timestamp associated with the table entry should be updated whenever an existing route is either “reconfirmed” or updated. Obviously, if the node is going to generate a RREP, updating an existing entry back to the source node with a more efficient route, or a same-hops route using a different neighbour, should be done before the RREP is generated. Unlike AODV, when an intermediate node receives a RREQ for which it generates a RREP, it should nevertheless continue to flood the RREQ it received if the RREQ pertains to a source node whose existence it has heretofore been unaware of, or the RREQ gives it a more efficient route than it knew of back to the source node (the reason for continuing to flood the RREQ is so that other nodes in the intranet also become aware of the existence of the source node or of the potentially more optimal reverse route to it, and update their tables accordingly). However, since an RREP for this RREQ is being sent by our node, we do not want other nodes who receive the RREQ propagated by our node, and who might be in a position to do so, to also send RREPs. So we need to introduce a field in the RREQ message, not present in the AODV specifications, which acts like a “RREP already sent” field. Our node sets this field before further propagating the RREQ and nodes receiving an RREQ with this field set do not send RREPs in response, even if they are in a position to do so. ODR may, of course, receive multiple, distinct instances of the same RREQ (the combination of source_addr and broadcast_id uniquely identifies the RREQ). Such RREQs should not be flooded out unless they have a lower hop count than instances of that RREQ that had previously been received. By the same token, if ODR is in a position to send out a RREP, and has already done so for this, now repeating, RREQ , it should not send out another RREP unless the RREQ shows a more efficient, previously unknown, reverse route back to the source node. In other words, ODR should not generate essentially duplicative RREPs, nor generate RREPs to instances of RREQs that reflect reverse routes to the source that are not more efficient than what we already have. Relay RREPs received back to the source node (this is done using the ‘reverse’ route entered into the routing table when the corresponding RREQ was processed). At the same time, a ‘forward’ path to the destination is entered into the routing table. ODR could receive multiple, distinct RREPs for the same RREQ. The ‘forward’ route entered in the routing table should be updated to reflect the shortest-hop route to the destination, and RREPs reflecting suboptimal routes should not be relayed back to the source. In general, maintaining a route and its associated timestamp in the table in response to RREPs received is done in the same manner described above for RREQs. Forward time client/server messages along the next hop. (The following is important – you will lose points if you do not implement it.) Note that such application payload messages (especially if they are the initial request from the client to the server, rather than the server response back to the client) can be like “free” RREPs, enabling nodes along the path from source (client) to destination (server) node to build a reverse path back to the client node whose existence they were heretofore unaware of (or, possibly, to update an existing route with a more optimal one). Before it forwards an application payload message along the next hop, ODR at an intermediate node (and also at the final destination node) should use the message to update its routing table in this way. Thus, calls to msg_send by time servers should never cause ODR at the server node to initiate RREQs, since the receipt of a time client request implies that a route back to the client node should now exist in the routing table. The only exception to this is if the server node has a staleness parameter of zero (see below). A routing table entry has associated with it a timestamp that gives the time the entry was made into the table. When a client at a node calls msg_send, and if an entry for the destination node already exists in the routing table, ODR first checks that the routing information is not ‘stale’. A stale routing table entry is one that is older than the value defined by the staleness parameter given as a command line argument to the ODR process when it is executed. ODR deletes stale entries (as well as non-stale entries when the flag parameter in msg_send is set) and initiates a route rediscovery by issuing a RREQ for the destination node. This will force periodic updating of the routing tables to take care of failed nodes along the current path, Ethernet addresses that might have changed, and so on. Similarly, as RREQs propagate through the intranet, existing stale table entries at intermediate nodes are deleted and new route discoveries propagated. As noted above when discussing the processing of RREQs and RREPs, the associated timestamp for an existing table entry is updated in response to having the route either “reconfirmed” or updated (this applies to both reverse routes, by virtue of RREQs received, and to forward routes, by virtue of RREPs). Finally, note that a staleness parameter of 0 essentially indicates that the discovered route will be used only once, when first discovered, and then discarded. Effectively, an ODR with staleness parameter 0 maintains no real routing table at all ; instead, it forces route discoveries at every step of its operation. As a practical matter, ODR should be run with staleness parameter values that are considerably larger than the longest RTT on the intranet, otherwise performance will degrade considerably (and collapse entirely as the parameter values approach 0). Nevertheless, for robustness, we need to implement a mechanism by which an intermediate node that receives a RREP or application payload message for forwarding and finds that its relevant routing table entry has since gone stale, can intiate a RREQ to rediscover the route it needs. RREQ, RREP, and time client/server request/response messages will all have to be carried as encapsulated ODR protocol messages that form the data payload of Ethernet frames. So we need to design the structure of ODR protocol messages. The format should contain a type field (0 for RREQ, 1 for RREP, 2 for application payload ). The remaining fields in an ODR message will depend on what type it is. The fields needed for (our simplified versions of AODV’s) RREQ and RREP should be fairly clear to you, but keep in mind that you need to introduce two extra fields: The “RREP already sent” bit or field in RREQ messages, as mentioned above. A “forced discovery” bit or field in both RREQ and RREP messages: When a client application forces route rediscovery, this bit should be set in the RREQ issued by the client node ODR. Intermediate nodes that are not the destination node but which do have a route to the destination node should not respond with RREPs to an RREQ which has the forced discovery field set. Instead, they should continue to flood the RREQ so that it eventually reaches the destination node which will then respond with an RREP. The intermediate nodes relaying such an RREQ must update their ‘reverse’ route back to the source node accordingly, even if the new route is less efficient (i.e., has more hops) than the one they currently have in their routing table. The destination node responds to the RREQ with an RREP in which this field is also set. Intermediate nodes that receive such a forced discovery RREP must update their ‘forward’ route to the destination node accordingly, even if the new route is less efficient (i.e., has more hops) than the one they currently have in their routing table. This behaviour will cause a forced discovery RREQ to be responded to only by the destination node itself and not any other node, and will cause intermediate nodes to update their routing tables to both source and destination nodes in accordance with the latest routing information received, to cover the possibility that older routes are no longer valid because nodes and/or links along their paths have gone down. A type 2, application payload, message needs to contain the following type of information : type = 2 ‘canonical’ IP address of source node ‘port’ number of source application process (This, of course, is not a real port number in the TCP/UDP sense, but simply a value that ODR at the source node uses to designate the sun_path name for the source application’s domain socket.) ‘canonical’ IP address of destination node ‘port’ number of destination application process (This is passed to ODR by the application process at the source node when it calls msg_send. Its designates the sun_path name for an application’s domain socket at the destination node.) hop count (This starts at 0 and is incremented by 1 at each hop so that ODR can make use of the message to update its routing table, as discussed above.) number of bytes in application message The fields above essentially constitute a ‘header’ for the ODR message. Note that fields which you choose to have carry numeric values (rather than ascii characters, for example) must be in network byte order. ODR-defined numeric-valued fields in type 0, RREQ, and type 1, RREP, messages must, of course, also be in network byte order. Also note that only the ‘canonical’ IP addresses are used for the source and destination nodes in the ODR header. The same has to be true in the headers for type 0, RREQ, and type 1, RREP, messages. The general rule is that ODR messages only carry ‘canonical’ IP node addresses. The last field in the type 2 ODR message is essentially the data payload of the message. application message given in the call to msg_send An ODR protocol message is encapsulated as the data payload of an Ethernet frame whose header it fills in as follows : source address = Ethernet address of outgoing interface of the current node where ODR is processing the message. destination address = Ethernet broadcast address for type 0 messages; Ethernet address of next hop node for type 1 & 2 messages. protocol field = protocol value for the ODR PF_PACKET socket(s). Last but not least, whenever ODR writes an Ethernet frame out through its socket, it prints out on stdout the message ODR at node vm i1 : sending frame hdr src vm i1 dest addr ODR msg type n src vm i2 dest vm i3 where addr is in presentation format (i.e., hexadecimal xx:xx:xx:xx:xx:xx) and gives the destination Ethernet address in the outgoing frame header. Other nodes in the message should be identified by their vm name. A message should be printed out for each packet sent out on a distinct interface. ODR and the API When the ODR process first starts, it must construct a table in which it enters all well-known ‘port’ numbers and their corresponding sun_path names. These will constitute permanent entries in the table. Thereafter, whenever it reads a message off its domain socket, it must obtain the sun_path name for the peer process socket and check whether that name is entered in the table. If not, it must select an ‘ephemeral’ ‘port’ value by which to designate the peer sun_path name and enter the pair < port value , sun_path name > into the table. Such entries cannot be permanent otherwise the table will grow unboundedly in time, with entries surviving for ever, beyond the peer processes’ demise. We must associate a time_to_live field with a non-permanent table entry, and purge the entry if nothing is heard from the peer for that amount of time. Every time a peer process for which a non-permanent table entry exists communicates with ODR, its time_to_live value should be reinitialized. Note that when ODR writes to a peer, it is possible for the write to fail because the peer does not exist : it could be a ‘well-known’ service that is not running, or we could be in the interval between a process with a non-permanent table entry terminating and the expiration of its time_to_live value. Notes A proper implementation of ODR would probably require that RREQ and RREP messages be backed up by some kind of timeout and retransmission mechanism since the network transmission environment is not reliable. This would considerably complicate the implementation (because at any given moment, a node could have multiple RREQs that it has flooded out, but for which it has still not received RREPs; the situation is further complicated by the fact that not all intermediate nodes receiving and relaying RREQs necessarily lie on a path to the destination, and therefore should expect to receive RREPs), and, learning-wise, would not add much to the experience you should have gained from Assignment 2.

# All paths in this configuration file are relative to Dynmap's data-folder: minecraft_server/dynmap/ # All map templates are defined in the templates directory # To use the HDMap very-low-res (2 ppb) map templates as world defaults, set value to vlowres # The definitions of these templates are in normal-vlowres.txt, nether-vlowres.txt, and the_end-vlowres.txt # To use the HDMap low-res (4 ppb) map templates as world defaults, set value to lowres # The definitions of these templates are in normal-lowres.txt, nether-lowres.txt, and the_end-lowres.txt # To use the HDMap hi-res (16 ppb) map templates (these can take a VERY long time for initial fullrender), set value to hires # The definitions of these templates are in normal-hires.txt, nether-hires.txt, and the_end-hires.txt # To use the HDMap low-res (4 ppb) map templates, with support for boosting resolution selectively to hi-res (16 ppb), set value to low_boost_hi # The definitions of these templates are in normal-low_boost_hi.txt, nether-low_boost_hi.txt, and the_end-low_boost_hi.txt # To use the HDMap hi-res (16 ppb) map templates, with support for boosting resolution selectively to vhi-res (32 ppb), set value to hi_boost_vhi # The definitions of these templates are in normal-hi_boost_vhi.txt, nether-hi_boost_vhi.txt, and the_end-hi_boost_vhi.txt # To use the HDMap hi-res (16 ppb) map templates, with support for boosting resolution selectively to xhi-res (64 ppb), set value to hi_boost_xhi # The definitions of these templates are in normal-hi_boost_xhi.txt, nether-hi_boost_xhi.txt, and the_end-hi_boost_xhi.txt deftemplatesuffix: lowres # Map storage scheme: only uncommoent one 'type' value # filetree: classic and default scheme: tree of files, with all map data under the directory indicated by 'tilespath' setting # sqlite: single SQLite database file (this can get VERY BIG), located at 'dbfile' setting (default is file dynmap.db in data directory) # mysql: MySQL database, at hostname:port in database, accessed via userid with password # mariadb: MariaDB database, at hostname:port in database, accessed via userid with password # postgres: PostgreSQL database, at hostname:port in database, accessed via userid with password storage: # Filetree storage (standard tree of image files for maps) type: filetree # SQLite db for map storage (uses dbfile as storage location) #type: sqlite #dbfile: dynmap.db # MySQL DB for map storage (at 'hostname':'port' in database 'database' using user 'userid' password 'password' and table prefix 'prefix' #type: mysql #hostname: localhost #port: 3306 #database: dynmap #userid: dynmap #password: dynmap #prefix: "" components: - class: org.dynmap.ClientConfigurationComponent - class: org.dynmap.InternalClientUpdateComponent sendhealth: true sendposition: true allowwebchat: true webchat-interval: 5 hidewebchatip: false trustclientname: false includehiddenplayers: false # (optional) if true, color codes in player display names are used use-name-colors: false # (optional) if true, player login IDs will be used for web chat when their IPs match use-player-login-ip: true # (optional) if use-player-login-ip is true, setting this to true will cause chat messages not matching a known player IP to be ignored require-player-login-ip: false # (optional) block player login IDs that are banned from chatting block-banned-player-chat: true # Require login for web-to-server chat (requires login-enabled: true) webchat-requires-login: false # If set to true, users must have dynmap.webchat permission in order to chat webchat-permissions: false # Limit length of single chat messages chatlengthlimit: 256 # # Optional - make players hidden when they are inside/underground/in shadows (#=light level: 0=full shadow,15=sky) # hideifshadow: 4 # # Optional - make player hidden when they are under cover (#=sky light level,0=underground,15=open to sky) # hideifundercover: 14 # # (Optional) if true, players that are crouching/sneaking will be hidden hideifsneaking: false # If true, player positions/status is protected (login with ID with dynmap.playermarkers.seeall permission required for info other than self) protected-player-info: false # If true, hide players with invisibility potion effects active hide-if-invisiblity-potion: true # If true, player names are not shown on map, chat, list hidenames: false #- class: org.dynmap.JsonFileClientUpdateComponent # writeinterval: 1 # sendhealth: true # sendposition: true # allowwebchat: true # webchat-interval: 5 # hidewebchatip: false # includehiddenplayers: false # use-name-colors: false # use-player-login-ip: false # require-player-login-ip: false # block-banned-player-chat: true # hideifshadow: 0 # hideifundercover: 0 # hideifsneaking: false # # Require login for web-to-server chat (requires login-enabled: true) # webchat-requires-login: false # # If set to true, users must have dynmap.webchat permission in order to chat # webchat-permissions: false # # Limit length of single chat messages # chatlengthlimit: 256 # hide-if-invisiblity-potion: true # hidenames: false - class: org.dynmap.SimpleWebChatComponent allowchat: true # If true, web UI users can supply name for chat using 'playername' URL parameter. 'trustclientname' must also be set true. allowurlname: false # Note: this component is needed for the dmarker commands, and for the Marker API to be available to other plugins - class: org.dynmap.MarkersComponent type: markers showlabel: false enablesigns: false # Default marker set for sign markers default-sign-set: markers # (optional) add spawn point markers to standard marker layer showspawn: true spawnicon: world spawnlabel: "Spawn" # (optional) layer for showing offline player's positions (for 'maxofflinetime' minutes after logoff) showofflineplayers: false offlinelabel: "Offline" offlineicon: offlineuser offlinehidebydefault: true offlineminzoom: 0 maxofflinetime: 30 # (optional) layer for showing player's spawn beds showspawnbeds: false spawnbedlabel: "Spawn Beds" spawnbedicon: bed spawnbedhidebydefault: true spawnbedminzoom: 0 spawnbedformat: "%name%'s bed" # (optional) Show world border (vanilla 1.8+) showworldborder: true worldborderlabel: "Border" - class: org.dynmap.ClientComponent type: chat allowurlname: false - class: org.dynmap.ClientComponent type: chatballoon focuschatballoons: false - class: org.dynmap.ClientComponent type: chatbox showplayerfaces: true messagettl: 5 # Optional: set number of lines in scrollable message history: if set, messagettl is not used to age out messages #scrollback: 100 # Optional: set maximum number of lines visible for chatbox #visiblelines: 10 # Optional: send push button sendbutton: false - class: org.dynmap.ClientComponent type: playermarkers showplayerfaces: true showplayerhealth: true # If true, show player body too (only valid if showplayerfaces=true showplayerbody: false # Option to make player faces small - don't use with showplayerhealth smallplayerfaces: false # Optional - make player faces layer hidden by default hidebydefault: false # Optional - ordering priority in layer menu (low goes before high - default is 0) layerprio: 0 # Optional - label for player marker layer (default is 'Players') label: "Players" #- class: org.dynmap.ClientComponent # type: digitalclock - class: org.dynmap.ClientComponent type: link - class: org.dynmap.ClientComponent type: timeofdayclock showdigitalclock: true #showweather: true # Mouse pointer world coordinate display - class: org.dynmap.ClientComponent type: coord label: "Location" hidey: false show-mcr: false show-chunk: false # Note: more than one logo component can be defined #- class: org.dynmap.ClientComponent # type: logo # text: "Dynmap" # #logourl: "images/block_surface.png" # linkurl: "http://forums.bukkit.org/threads/dynmap.489/" # # Valid positions: top-left, top-right, bottom-left, bottom-right # position: bottom-right #- class: org.dynmap.ClientComponent # type: inactive # timeout: 1800 # in seconds (1800 seconds = 30 minutes) # redirecturl: inactive.html # #showmessage: 'You were inactive for too long.' #- class: org.dynmap.TestComponent # stuff: "This is some configuration-value" # Treat hiddenplayers.txt as a whitelist for players to be shown on the map? (Default false) display-whitelist: false # How often a tile gets rendered (in seconds). renderinterval: 1 # How many tiles on update queue before accelerate render interval renderacceleratethreshold: 60 # How often to render tiles when backlog is above renderacceleratethreshold renderaccelerateinterval: 0.2 # How many update tiles to work on at once (if not defined, default is 1/2 the number of cores) tiles-rendered-at-once: 2 # If true, use normal priority threads for rendering (versus low priority) - this can keep rendering # from starving on busy Windows boxes (Linux JVMs pretty much ignore thread priority), but may result # in more competition for CPU resources with other processes usenormalthreadpriority: true # Save and restore pending tile renders - prevents their loss on server shutdown or /reload saverestorepending: true # Save period for pending jobs (in seconds): periodic saving for crash recovery of jobs save-pending-period: 900 # Zoom-out tile update period - how often to scan for and process tile updates into zoom-out tiles (in seconds) zoomoutperiod: 30 # Control whether zoom out tiles are validated on startup (can be needed if zoomout processing is interrupted, but can be expensive on large maps) initial-zoomout-validate: true # Default delay on processing of updated tiles, in seconds. This can reduce potentially expensive re-rendering # of frequently updated tiles (such as due to machines, pistons, quarries or other automation). Values can # also be set on individual worlds and individual maps. tileupdatedelay: 30 # Tile hashing is used to minimize tile file updates when no changes have occurred - set to false to disable enabletilehash: true # Optional - hide ores: render as normal stone (so that they aren't revealed by maps) #hideores: true # Optional - enabled BetterGrass style rendering of grass and snow block sides #better-grass: true # Optional - enable smooth lighting by default on all maps supporting it (can be set per map as lighting option) smooth-lighting: true # Optional - use world provider lighting table (good for custom worlds with custom lighting curves, like nether) # false=classic Dynmap lighting curve use-brightness-table: true # Optional - render specific block names using the textures and models of another block name: can be used to hide/disguise specific # blocks (e.g. make ores look like stone, hide chests) or to provide simple support for rendering unsupported custom blocks block-alias: # "minecraft:quartz_ore": "stone" # "diamond_ore": "coal_ore" # Default image format for HDMaps (png, jpg, jpg-q75, jpg-q80, jpg-q85, jpg-q90, jpg-q95, jpg-q100, webp, webp-q75, webp-q80, webp-q85, webp-q90, webp-q95, webp-q100), # Note: any webp format requires the presence of the 'webp command line tools' (cwebp, dwebp) (https://developers.google.com/speed/webp/download) # # Has no effect on maps with explicit format settings image-format: jpg-q90 # If cwebp or dwebp are not on the PATH, use these settings to provide their full path. Do not use these settings if the tools are on the PATH # For Windows, include .exe # #cwebpPath: /usr/bin/cwebp #dwebpPath: /usr/bin/dwebp # use-generated-textures: if true, use generated textures (same as client); false is static water/lava textures # correct-water-lighting: if true, use corrected water lighting (same as client); false is legacy water (darker) # transparent-leaves: if true, leaves are transparent (lighting-wise): false is needed for some Spout versions that break lighting on leaf blocks use-generated-textures: true correct-water-lighting: true transparent-leaves: true # ctm-support: if true, Connected Texture Mod (CTM) in texture packs is enabled (default) ctm-support: true # custom-colors-support: if true, Custom Colors in texture packs is enabled (default) custom-colors-support: true # Control loading of player faces (if set to false, skins are never fetched) #fetchskins: false # Control updating of player faces, once loaded (if faces are being managed by other apps or manually) #refreshskins: false # Customize URL used for fetching player skins (%player% is macro for name) skin-url: "http://skins.minecraft.net/MinecraftSkins/%player%.png" # Control behavior for new (1.0+) compass orientation (sunrise moved 90 degrees: east is now what used to be south) # default is 'newrose' (preserve pre-1.0 maps, rotate rose) # 'newnorth' is used to rotate maps and rose (requires fullrender of any HDMap map - same as 'newrose' for FlatMap or KzedMap) compass-mode: newnorth # Triggers for automatic updates : blockupdate-with-id is debug for breaking down updates by ID:meta # To disable, set just 'none' and comment/delete the rest render-triggers: - blockupdate #- blockupdate-with-id #- lightingupdate - chunkpopulate - chunkgenerate #- none # Title for the web page - if not specified, defaults to the server's name (unless it is the default of 'Unknown Server') #webpage-title: "My Awesome Server Map" # The path where the tile-files are placed. tilespath: web/tiles # The path where the web-files are located. webpath: web # The path were the /dynmapexp command exports OBJ ZIP files exportpath: export # The network-interface the webserver will bind to (0.0.0.0 for all interfaces, 127.0.0.1 for only local access). # If not set, uses same setting as server in server.properties (or 0.0.0.0 if not specified) #webserver-bindaddress: 0.0.0.0 # The TCP-port the webserver will listen on. webserver-port: 8123 # Maximum concurrent session on internal web server - limits resources used in Bukkit server max-sessions: 30 # Disables Webserver portion of Dynmap (Advanced users only) disable-webserver: false # Enable/disable having the web server allow symbolic links (true=compatible with existing code, false=more secure (default)) allow-symlinks: true # Enable login support login-enabled: false # Require login to access website (requires login-enabled: true) login-required: false # Period between tile renders for fullrender, in seconds (non-zero to pace fullrenders, lessen CPU load) timesliceinterval: 0.0 # Maximum chunk loads per server tick (1/20th of a second) - reducing this below 90 will impact render performance, but also will reduce server thread load maxchunkspertick: 200 # Progress report interval for fullrender/radiusrender, in tiles. Must be 100 or greater progressloginterval: 100 # Parallel fullrender: if defined, number of concurrent threads used for fullrender or radiusrender # Note: setting this will result in much more intensive CPU use, some additional memory use. Caution should be used when # setting this to equal or exceed the number of physical cores on the system. #parallelrendercnt: 4 # Interval the browser should poll for updates. updaterate: 2000 # If nonzero, server will pause fullrender/radiusrender processing when 'fullrenderplayerlimit' or more users are logged in fullrenderplayerlimit: 0 # If nonzero, server will pause update render processing when 'updateplayerlimit' or more users are logged in updateplayerlimit: 0 # Target limit on server thread use - msec per tick per-tick-time-limit: 50 # If TPS of server is below this setting, update renders processing is paused update-min-tps: 18.0 # If TPS of server is below this setting, full/radius renders processing is paused fullrender-min-tps: 18.0 # If TPS of server is below this setting, zoom out processing is paused zoomout-min-tps: 18.0 showplayerfacesinmenu: true # Control whether players that are hidden or not on current map are grayed out (true=yes) grayplayerswhenhidden: true # Set sidebaropened: 'true' to pin menu sidebar opened permanently, 'pinned' to default the sidebar to pinned, but allow it to unpin #sidebaropened: true # Customized HTTP response headers - add 'id: value' pairs to all HTTP response headers (internal web server only) #http-response-headers: # Access-Control-Allow-Origin: "my-domain.com" # X-Custom-Header-Of-Mine: "MyHeaderValue" # Trusted proxies for web server - which proxy addresses are trusted to supply valid X-Forwarded-For fields trusted-proxies: - "127.0.0.1" - "0:0:0:0:0:0:0:1" joinmessage: "%playername% joined" quitmessage: "%playername% quit" spammessage: "You may only chat once every %interval% seconds." # format for messages from web: %playername% substitutes sender ID (typically IP), %message% includes text webmsgformat: "&color;2[WEB] %playername%: &color;f%message%" # Control whether layer control is presented on the UI (default is true) showlayercontrol: true # Enable checking for banned IPs via banned-ips.txt (internal web server only) check-banned-ips: true # Default selection when map page is loaded defaultzoom: 0 defaultworld: world defaultmap: flat # (optional) Zoom level and map to switch to when following a player, if possible #followzoom: 3 #followmap: surface # If true, make persistent record of IP addresses used by player logins, to support web IP to player matching persist-ids-by-ip: true # If true, map text to cyrillic cyrillic-support: false # Messages to customize msg: maptypes: "Map Types" players: "Players" chatrequireslogin: "Chat Requires Login" chatnotallowed: "You are not permitted to send chat messages" hiddennamejoin: "Player joined" hiddennamequit: "Player quit" # URL for client configuration (only need to be tailored for proxies or other non-standard configurations) url: # configuration URL #configuration: "up/configuration" # update URL #update: "up/world/{world}/{timestamp}" # sendmessage URL #sendmessage: "up/sendmessage" # login URL #login: "up/login" # register URL #register: "up/register" # tiles base URL #tiles: "tiles/" # markers base URL #markers: "tiles/" # Snapshot cache size, in chunks snapshotcachesize: 500 # Snapshot cache uses soft references (true), else weak references (false) soft-ref-cache: true # Player enter/exit title messages for map markers # # Processing period - how often to check player positions vs markers - default is 1000ms (1 second) #enterexitperiod: 1000 # Title message fade in time, in ticks (0.05 second intervals) - default is 10 (1/2 second) #titleFadeIn: 10 # Title message stay time, in ticks (0.05 second intervals) - default is 70 (3.5 seconds) #titleStay: 70 # Title message fade out time, in ticks (0.05 seocnd intervals) - default is 20 (1 second) #titleFadeOut: 20 # Enter/exit messages use on screen titles (true - default), if false chat messages are sent instead #enterexitUseTitle: true # Set true if new enter messages should supercede pending exit messages (vs being queued in order), default false #enterReplacesExits: true # Set to true to enable verbose startup messages - can help with debugging map configuration problems # Set to false for a much quieter startup log verbose: false # Enables debugging. #debuggers: # - class: org.dynmap.debug.LogDebugger # Debug: dump blocks missing render data dump-missing-blocks: false

Beowulf Clustering is formed with regular computers, sharing paralleling process among them, thus are scalable performance cluster wich can be ussed as data mining, data processing, internet server. In each of these computer are installed a open software linux distribuiton arranged into a dedicate lan area network, coneccted with a mesh swicht with fastethernet . While Beowulf are used to develop parallel programming it has to be monitored to maintain efficient infrastructure and troubleshooting in cluster system. Thus, monitoring is fundamental not only to software operations but to optimize system. The implementation of monitoring dashboard and configuration of software streaming tool require the identification of the network parameters, wich is done using linuxs networking mapping open tools. Thus a remote SSH client ussing settings, like tunneling and port fowarding can manage cluster. This work is motivated by monitoring real-time metrics of memory usage, cpu thermal, fan speed, networking bandwidth, disk write rate, remotely from outside of localhost network. display those actions in a same monitoring and by troubleshooting directives thus dashboard can be used for watching entire systems, maintaining health and performance of systems services and applications.

Zabbix user parameters for network performance monitoring on linux server/workstation

The sysctl.conf file sets Linux kernel parameters to optimize security, networking, memory, and overall system performance persistently at boot.