feat: PedroPathing Integration, OpMode Architecture Overhaul, and Subsystem Refactors

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/FtcRobotControllerActivity.java

@@ -34,8 +34,10 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import android.app.ActionBar;
 import android.app.Activity;
 import android.app.ActivityManager;
+import android.app.AlertDialog;
 import android.content.ComponentName;
 import android.content.Context;
+import android.content.DialogInterface;
 import android.content.Intent;
 import android.content.ServiceConnection;
 import android.content.SharedPreferences;
@@ -125,10 +127,10 @@ OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 import org.firstinspires.ftc.robotcore.internal.webserver.RobotControllerWebInfo;
 import org.firstinspires.ftc.robotserver.internal.programmingmode.ProgrammingModeManager;
 import org.firstinspires.inspection.RcInspectionActivity;
-import org.threeten.bp.YearMonth;
 import org.xmlpull.v1.XmlPullParserException;
 
 import java.io.FileNotFoundException;
+import java.util.ArrayList;
 import java.util.List;
 import java.util.Queue;
 import java.util.concurrent.ConcurrentLinkedQueue;
@@ -303,7 +305,7 @@ protected void onCreate(Bundle savedInstanceState) {
     setContentView(R.layout.activity_ftc_controller);
 
     preferencesHelper = new PreferencesHelper(TAG, context);
-    preferencesHelper.writeBooleanPrefIfDifferent(context.getString(R.string.pref_rc_connected), true);
+    preferencesHelper.writeBooleanPrefIfDifferent(context.getString(com.qualcomm.robotcore.R.string.pref_rc_connected), true);
     preferencesHelper.getSharedPreferences().registerOnSharedPreferenceChangeListener(sharedPreferencesListener);
 
     // Check if this RC app is from a later FTC season than what was installed previously
@@ -312,10 +314,10 @@ protected void onCreate(Bundle savedInstanceState) {
     if (ftcSeasonYearOfCurrentlyInstalledRc > ftcSeasonYearOfPreviouslyInstalledRc) {
       preferencesHelper.writeIntPrefIfDifferent(getString(R.string.pref_ftc_season_year_of_current_rc), ftcSeasonYearOfCurrentlyInstalledRc);
       // Since it's a new FTC season, we should reset certain settings back to their default values.
-      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_2_4_ghz_band), true);
-      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_obsolete_software), true);
-      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_mismatched_app_versions), true);
-      preferencesHelper.writeBooleanPrefIfDifferent(getString(R.string.pref_warn_about_incorrect_clocks), true);
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(com.qualcomm.robotcore.R.string.pref_warn_about_2_4_ghz_band), true);
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(com.qualcomm.robotcore.R.string.pref_warn_about_obsolete_software), true);
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(com.qualcomm.robotcore.R.string.pref_warn_about_mismatched_app_versions), true);
+      preferencesHelper.writeBooleanPrefIfDifferent(getString(com.qualcomm.robotcore.R.string.pref_warn_about_incorrect_clocks), true);
     }
 
     entireScreenLayout = (LinearLayout) findViewById(R.id.entire_screen);
@@ -399,7 +401,7 @@ public boolean onMenuItemClick(MenuItem item) {
     RobotLog.logDeviceInfo();
     AndroidBoard.getInstance().logAndroidBoardInfo();
 
-    if (preferencesHelper.readBoolean(getString(R.string.pref_wifi_automute), false)) {
+    if (preferencesHelper.readBoolean(getString(com.qualcomm.ftccommon.R.string.pref_wifi_automute), false)) {
       initWifiMute(true);
     }
 
@@ -504,11 +506,11 @@ protected void readNetworkType() {
     if (Device.isRevControlHub() == true) {
       networkType = NetworkType.RCWIRELESSAP;
     } else {
-      networkType = NetworkType.fromString(preferencesHelper.readString(context.getString(R.string.pref_pairing_kind), NetworkType.globalDefaultAsString()));
+      networkType = NetworkType.fromString(preferencesHelper.readString(context.getString(com.qualcomm.robotcore.R.string.pref_pairing_kind), NetworkType.globalDefaultAsString()));
     }
 
     // update the app_settings
-    preferencesHelper.writeStringPrefIfDifferent(context.getString(R.string.pref_pairing_kind), networkType.toString());
+    preferencesHelper.writeStringPrefIfDifferent(context.getString(com.qualcomm.robotcore.R.string.pref_pairing_kind), networkType.toString());
   }
 
   @Override
@@ -583,6 +585,10 @@ else if (id == R.id.action_settings) {
       startActivityForResult(settingsIntent, RequestCode.SETTINGS_ROBOT_CONTROLLER.ordinal());
       return true;
     }
+    else if (id == R.id.action_wifi_channel) {
+       showWifiChannelSelector();
+       return true;
+    }
     else if (id == R.id.action_about) {
       Intent intent = new Intent(AppUtil.getDefContext(), FtcAboutActivity.class);
       startActivity(intent);
@@ -617,6 +623,39 @@ else if (id == R.id.action_exit_app) {
    return super.onOptionsItemSelected(item);
   }
 
+    private void showWifiChannelSelector() {
+        List<Integer> channelList = new ArrayList<>();
+        channelList.add(0); // Auto
+        // 2.4 GHz
+        for (int i = 1; i <= 13; i++) {
+            channelList.add(i);
+        }
+        // Expanded range for 5GHz and other frequencies (overlapping)
+        // Includes 72-96 range specifically requested
+        for (int i = 32; i <= 177; i++) {
+            channelList.add(i);
+        }
+
+        final Integer[] channels = channelList.toArray(new Integer[0]);
+        String[] channelLabels = new String[channels.length];
+        for (int i = 0; i < channels.length; i++) {
+            channelLabels[i] = channels[i] == 0 ? "Auto" : String.valueOf(channels[i]);
+        }
+
+        AlertDialog.Builder builder = new AlertDialog.Builder(this);
+        builder.setTitle("Select WiFi Channel (Incl. Non-standard)");
+        builder.setItems(channelLabels, (dialog, which) -> {
+			int selectedChannel = channels[which];
+			preferencesHelper.writeIntPrefIfDifferent(getString(com.qualcomm.ftccommon.R.string.pref_wifip2p_channel), selectedChannel);
+			if (wifiDirectChannelChanger == null) {
+				wifiDirectChannelChanger = new WifiDirectChannelChanger();
+			}
+			wifiDirectChannelChanger.changeToChannel(selectedChannel);
+			AppUtil.getInstance().showToast(UILocation.BOTH, "Channel set to " + (selectedChannel == 0 ? "Auto" : selectedChannel));
+		});
+        builder.show();
+    }
+
   @Override
   public void onConfigurationChanged(Configuration newConfig) {
     super.onConfigurationChanged(newConfig);
@@ -703,7 +742,7 @@ private void updateUIAndRequestRobotSetup() {
       requestRobotSetup(LynxConstants.isRevControlHub()
         ? new Runnable() {
             @Override public void run() {
-              showRestartRobotCompleteToast(R.string.toastRobotSetupComplete);
+              showRestartRobotCompleteToast(com.qualcomm.ftccommon.R.string.toastRobotSetupComplete);
             }
           }
         : null);
@@ -757,7 +796,7 @@ private void requestRobotRestart() {
     shutdownRobot();
     requestRobotSetup(new Runnable() {
       @Override public void run() {
-        showRestartRobotCompleteToast(R.string.toastRestartRobotComplete);
+        showRestartRobotCompleteToast(com.qualcomm.ftccommon.R.string.toastRestartRobotComplete);
         }
       });
   }
@@ -800,10 +839,10 @@ public void onMenuVisibilityChanged(boolean isVisible) {
 
   protected class SharedPreferencesListener implements SharedPreferences.OnSharedPreferenceChangeListener {
     @Override public void onSharedPreferenceChanged(SharedPreferences sharedPreferences, String key) {
-      if (key.equals(context.getString(R.string.pref_app_theme))) {
-        ThemedActivity.restartForAppThemeChange(getTag(), getString(R.string.appThemeChangeRestartNotifyRC));
-      } else if (key.equals(context.getString(R.string.pref_wifi_automute))) {
-        if (preferencesHelper.readBoolean(context.getString(R.string.pref_wifi_automute), false)) {
+      if (key.equals(context.getString(com.qualcomm.robotcore.R.string.pref_app_theme))) {
+        ThemedActivity.restartForAppThemeChange(getTag(), getString(com.qualcomm.robotcore.R.string.appThemeChangeRestartNotifyRC));
+      } else if (key.equals(context.getString(com.qualcomm.ftccommon.R.string.pref_wifi_automute))) {
+        if (preferencesHelper.readBoolean(context.getString(com.qualcomm.ftccommon.R.string.pref_wifi_automute), false)) {
           initWifiMute(true);
         } else {
           initWifiMute(false);

FtcRobotController/src/main/java/org/firstinspires/ftc/robotcontroller/internal/PermissionValidatorWrapper.java

@@ -32,8 +32,6 @@
 import android.Manifest;
 import android.os.Bundle;
 
-import com.qualcomm.ftcrobotcontroller.R;
-
 import org.firstinspires.ftc.robotcore.internal.system.Misc;
 import org.firstinspires.ftc.robotcore.internal.system.PermissionValidatorActivity;
 
@@ -60,19 +58,19 @@ public class PermissionValidatorWrapper extends PermissionValidatorActivity {
 
     public String mapPermissionToExplanation(final String permission) {
         if (permission.equals(Manifest.permission.WRITE_EXTERNAL_STORAGE)) {
-            return Misc.formatForUser(R.string.permRcWriteExternalStorageExplain);
+            return Misc.formatForUser(com.qualcomm.robotcore.R.string.permRcWriteExternalStorageExplain);
         } else if (permission.equals(Manifest.permission.READ_EXTERNAL_STORAGE)) {
-            return Misc.formatForUser(R.string.permRcReadExternalStorageExplain);
+            return Misc.formatForUser(com.qualcomm.robotcore.R.string.permRcReadExternalStorageExplain);
         } else if (permission.equals(Manifest.permission.CAMERA)) {
-            return Misc.formatForUser(R.string.permRcCameraExplain);
+            return Misc.formatForUser(com.qualcomm.robotcore.R.string.permRcCameraExplain);
         } else if (permission.equals(Manifest.permission.ACCESS_COARSE_LOCATION)) {
-            return Misc.formatForUser(R.string.permAccessLocationExplain);
+            return Misc.formatForUser(com.qualcomm.robotcore.R.string.permAccessLocationExplain);
         } else if (permission.equals(Manifest.permission.ACCESS_FINE_LOCATION)) {
-            return Misc.formatForUser(R.string.permAccessLocationExplain);
+            return Misc.formatForUser(com.qualcomm.robotcore.R.string.permAccessLocationExplain);
         } else if (permission.equals(Manifest.permission.READ_PHONE_STATE)) {
-            return Misc.formatForUser(R.string.permReadPhoneState);
+            return Misc.formatForUser(com.qualcomm.robotcore.R.string.permReadPhoneState);
         }
-        return Misc.formatForUser(R.string.permGenericExplain);
+        return Misc.formatForUser(com.qualcomm.robotcore.R.string.permGenericExplain);
     }
 
     @Override

FtcRobotController/src/main/res/menu/ftc_robot_controller.xml

@@ -39,6 +39,13 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
     android:orderInCategory="100"
     app:showAsAction="never"
     android:title="@string/settings_menu_item"/>
+
+  <item
+    android:id="@+id/action_wifi_channel"
+    android:orderInCategory="150"
+    app:showAsAction="never"
+    android:title="@string/wifi_channel_menu_item"/>
+
   <item
     android:id="@+id/action_restart_robot"
     android:orderInCategory="200"

FtcRobotController/src/main/res/values/strings.xml

@@ -48,6 +48,7 @@ OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   <string name="restart_robot_menu_item">Restart Robot</string>
   <string name="configure_robot_menu_item">Configure Robot</string>
   <string name="about_menu_item">About</string>
+  <string name="wifi_channel_menu_item">Change WiFi Channel</string>
   <string name="exit_menu_item">Exit</string>
 
   <!-- Toast messages -->

TeamCode/build.gradle

@@ -24,19 +24,13 @@ android {
 }
 repositories {
     maven {
-        url = 'https://maven.brott.dev/'
+        url "https://repo.dairy.foundation/releases"
     }
 }
 
 dependencies {
     implementation project(':FtcRobotController')
 
-    implementation "com.acmerobotics.roadrunner:ftc:0.1.23"
-    implementation "com.acmerobotics.roadrunner:core:1.0.1"
-    implementation "com.acmerobotics.roadrunner:actions:1.0.1"
-    implementation "com.acmerobotics.dashboard:dashboard:0.4.17"
-}
-
-
-
-
+    implementation "org.solverslib:core:0.3.4" // core
+    implementation "org.solverslib:pedroPathing:0.3.3" // pedroPathing
+}