FTC RobotController(SDK) v9.1发布

FTC RobotController(SDK) v9.1发布

by 北一 张 -
Number of replies: 0

Version 9.1 (20240215-115542)

Enhancements

  • Fixes a problem with Blocks: if the user closes a Block's warning balloon, it will still be closed next time the project is opened in the Blocks editor.
  • In the Blocks editor, an alert concerning missing hardware devices is not shown if all the Blocks that use the missing hardware devices are disabled.
  • Adds Blocks to support comparing property values CRServo.Direction, DCMotor.Direction, DCMotor.Mode, DCMotor.ZeroPowerBehavior, DigitalChannel.Mode, GyroSensor.HeadingMode, IrSeekerSensor.Mode, and Servo.Direction, to the corresponding enum Block.
  • Improves OnBotJava auto-import to correctly import classes when used in certain situations.
  • Improves OnBotJava autocomplete to provide better completion options in most cases.
    • This fixes an issue where autocomplete would fail if a method with two or more formal parameters was defined.
  • In OnBotJava, code folding support was added to expand and collapse code sections
  • In OnBotJava, the copyright header is now automatically collapsed loading new files
  • For all Blocks OpMode samples, intro comments have been moved to the RunOpMode comment balloon.
  • The Clean up Blocks command in the Blocks editor now positions function Blocks so their comment balloons don't overlap other function Blocks.
  • Added Blocks OpMode sample SensorTouch.
  • Added Java OpMode sample SensorDigitalTouch.
  • Several improvements to VisionPortal
    • Adds option to control whether the stream is automatically started following a .build() call on a VisionPortal Builder
    • Adds option to control whether the vision processing statistics overlay is rendered or not
    • VisionPortals now implement the CameraStreamSource interface, allowing multiportal users to select which portal is routed to the DS in INIT by calling CameraStreamServer.getInstance().setSource(visionPortal). Can be selected via gamepad, between Camera Stream sessions.
    • Add option to AprilTagProcessor to suppress calibration warnings
    • Improves camera calibration warnings
      • If a calibration is scaled, the resolution it was scaled from will be listed
      • If calibrations exist with the wrong aspect ratio, the calibrated resolutions will be listed
    • Fixes race condition which caused app crash when calling stopStreaming() immediately followed by close() on a VisionPortal
    • Fixes IllegalStateException when calling stopStreaming() immediately after building a VisionPortal
    • Added FTC Blocks counterparts to new Java methods:
      • VisionPortal.Builder.setAutoStartStreamOnBuild
      • VisionPortal.Builder.setShowStatsOverlay
      • AprilTagProcessor.Builder.setSuppressCalibrationWarnings
      • CameraStreamServer.setSource​

Bug Fixes

  • Fixes a problem where OnBotJava does not apply font size settings to the editor.
  • Updates EasyOpenCV dependency to v1.7.1
    • Fixes inability to use EasyOpenCV CameraFactory in OnBotJava
    • Fixes entire RC app crash when user pipeline throws an exception
    • Fixes entire RC app crash when user user canvas annotator throws an exception
    • Use the modern stacktrace display when handling user exceptions instead of the legacy ESTOP telemetry message